Movement device with massage and movement integrated control function

Abstract

The utility model discloses a machine core device with massage and movement integrated control. Comprising two guide plates, and at least one of the two guide plates is provided with a rack; the massage assembly comprises a massage part, a driving rod and a movable driving gear meshed with the rack, and a massage driving gear is mounted on the driving rod; the driving assembly comprises a driving motor, and the output end of the driving motor is in driving connection with a main gear. The main gear is meshed with the movable gear set, and the movable gear set is meshed with the movable driving gear at the same time; the main gear is meshed with a massage gear set, and the massage gear set is meshed with the massage driving gear at the same time. According to the machine core device for massage and movement integrated control, the problem that the massage driving part of the massage assembly and the overall movement driving part of the massage assembly belong to two sets of control systems is solved, the cost is reduced, the structure is optimized, and miniaturization and compactness development of a movable massage device is promoted.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of massage apparatus, in particular to a massage and movement integrated control core device. BACKGROUND

[0002] With the improvement of living standards, health care is also attracting more and more attention. As one of the health care methods, massage has the effect of dredging meridians, promoting blood circulation and eliminating fatigue. With the development of massage apparatus, using massage apparatus to replace manual massage is becoming a new development trend.

[0003] At present, for the movable massage device, the massage driving part of the massage assembly and the overall movement driving part of the massage assembly belong to two sets of control systems respectively, which leads to high cost, complex structure of the massage device, and is not conducive to the miniaturization and compactness development of the movable massage device. SUMMARY

[0004] The purpose of the present application scheme is to provide a massage and movement integrated control core device, which solves the problem that the massage driving part of the massage assembly and the overall movement driving part of the massage assembly belong to two sets of control systems, reduces the cost, optimizes the structure, and promotes the miniaturization and compactness development of the movable massage device.

[0005] The massage and movement integrated control core device provided by the present application comprises: two oppositely arranged guide plates, at least one of the two guide plates is provided with a rack; a massage assembly comprising a massage part and a driving rod connected in drive, and a movement driving gear engaged with the at least one rack, the driving rod is provided with a massage driving gear; a driving assembly comprising a driving motor, at least one of the two output ends of the driving motor is drivingly connected with a main gear; wherein at least one of the main gears is engaged with at least one movement gear set one by one, and at least one of the movement gear sets is engaged with at least one of the movement driving gears one by one to drive the massage assembly to move along the extension direction of the rack; at least one of the main gears is engaged with a massage gear set, and the massage gear set is engaged with the massage driving gear to drive the driving rod to rotate, thereby driving the massage head on the driving rod to complete the massage action.

[0006] Optionally, one of the guide plates is provided with a rack, and one of the guide plates is provided with a sliding strip; the number of the main gear, the moving gear set and the moving drive gear is one; the main gear is engaged with the moving gear set, the moving gear set is engaged with the moving drive gear, and the moving drive gear is engaged with the rack; the massage assembly is further provided with a guide surface matched with the sliding strip; or, the two guide plates are provided with racks; the number of the main gears is two, the two main gears are respectively arranged on the two output ends, the two main gears are engaged with the two moving gear sets one by one, the two moving gear sets are engaged with the two moving drive gears one by one, and the two moving drive gears are engaged with the two racks one by one.

[0007] Optionally, the main gear comprises a first gear and a second gear connected coaxially, and the output end is provided with an output screw rod, and the first gear is engaged with the output screw rod; the moving gear set comprises a moving input gear, a moving intermediate gear and a moving output gear engaged in sequence, the moving input gear is engaged with the main gear, and the moving output gear is engaged with the moving drive gear.

[0008] Optionally, the moving input gear, the moving intermediate gear and the moving output gear each comprise a large gear and a small gear connected coaxially, the large gear of the moving input gear is engaged with the main gear, and the moving output gear and the moving intermediate gear and the moving intermediate gear and the moving output gear are all driven through the small gear and the large gear staggered engagement.

[0009] Optionally, the massage gear set comprises a massage input gear, a massage intermediate gear and a massage output gear engaged in sequence, the massage input gear is engaged with the main gear, and the massage output gear is engaged with the massage drive gear.

[0010] Optionally, the massage drive gear is a bevel gear; the massage input gear and the massage intermediate gear each comprise a large gear and a small gear connected coaxially, the large gear of the massage input gear is engaged with the second gear, the small gear of the massage input gear is engaged with the large gear of the massage intermediate gear, the small gear of the massage intermediate gear is engaged with the shaft surface gear of the massage output gear, the end surface of the massage output gear is a bevel tooth surface, and the bevel tooth surface of the massage output gear is engaged with the massage drive gear.

[0011] Optionally, the massage part comprises a support, a connecting arm and an elastic return member; the support is mounted on the driving rod; the connecting arm is rotatably connected to the support, the connecting arm comprises a first branch arm and a second branch arm, the first branch arm and the second branch arm are both provided with the massage head; the elastic return member is mounted on the support, one end of the elastic return member extends to be connected to the connecting arm, the massage head is pressed to drive the connecting arm to rotate when massaging, the elastic return member is deformed under force when the connecting arm rotates and provides reverse support to the connecting arm, so that the massage head is attached to the massage part.

[0012] Optionally, a positioning groove is formed in the support, the elastic return member comprises a coil spring, the coil spring comprises a return main body and a limiting end and a connecting end located on the return main body, the return main body is at least partially located in the positioning groove, the limiting end is limited to prevent the coil spring from rotating, and the connecting end extends out of the positioning groove and is connected to the connecting arm.

[0013] Optionally, the massage assembly further comprises a knocking unit, the knocking unit comprises a knocking motor, a connecting shaft, a transmission wheel mounted on the connecting shaft and a knocking part; the knocking motor is in transmission connection with the transmission wheel; the knocking part comprises a ball head rod and an eccentric sleeve mounted on the connecting shaft, a connecting sleeve is provided on the outer periphery of the eccentric sleeve, the ball head rod is provided on one side of the support, the first end of the ball head rod is hinged to the connecting sleeve, and the second end of the ball head rod is hinged to the support through a ball head; preferably, the number of the massage parts is two, the two massage parts are respectively mounted on the two ends of the driving rod, the massage driving gear is mounted between the two ends of the driving rod, and the two supports are both provided with a hinge part hinged to the ball head; the number of the knocking parts is two, and the two eccentric sleeves are respectively mounted on the two ends of the connecting shaft.

[0014] Optionally, a bearing is mounted between the eccentric sleeve and the connecting sleeve and is movably connected through the bearing.

[0015] Optionally, a controller and a motion element are provided on the massage assembly, two sides of the support are oppositely provided with a first signal transmission member and a second signal transmission member in communication connection with the controller, and the first signal transmission member and the second signal transmission member are respectively located on the two sides of the connecting arm, and the signal transmission between the first signal transmission member and the second signal transmission member can be switched between two states of conduction and cut-off during the change of the position of the connecting arm relative to the support in the rotating movement; the motion element comprises at least one of the driving motor and the knocking motor.

[0016] Optionally, the first ends of the two guide plates in the first direction define first positioning ends, and the second ends of the two guide plates in the first direction define second positioning ends; the device further comprises a guide assembly, the guide assembly comprising a restoring member and a guide belt; wherein the restoring member comprises a limiting shaft and a connecting piece connected to each other, the connecting piece being arranged at the first positioning end and being telescopically arranged, the first end of the guide belt being mounted at the second positioning end, and the second end of the guide belt extending to the first positioning end and being folded back to the massage assembly after being arranged around the limiting shaft.

[0017] Optionally, the two sides of the massage assembly are each provided with a clamping opening, and the two guide plates are arranged to pass through the two clamping openings respectively; preferably, at least one of the upper surface between the clamping opening and the upper surface of the guide plate and the lower surface between the clamping opening and the lower surface of the guide plate is provided with an anti-wear pad.

[0018] The above technical scheme has the following beneficial effects:

[0019] The massage and movement integrated control core device provided in the application can simultaneously drive the massage heads on the massage part to rotate and knead massage and drive the massage assembly to move along the extension direction of the rack, and the massage driving gear and the movement driving gear on the driving rod do not interfere with each other when rotating, thereby increasing the flexibility of the system in controlling the massage of the massage assembly and the overall movement of the massage assembly, solving the problem that the massage driving member of the massage assembly and the overall movement driving member of the massage assembly belong to two sets of control systems, reducing the cost, optimizing the structure, and promoting the miniaturization and compactness development of the movable massage device. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 FIG. 1 is a structural schematic diagram of a massage and movement integrated control core device according to an embodiment of the application.

[0021] Figure 2 FIG. 2 is a top view of the massage and movement integrated control core device according to an embodiment of the application.

[0022] Figure 3 FIG. 3 is a structural schematic diagram of the massage assembly, the driving assembly, and the guide plate driving cooperation according to an embodiment of the application.

[0023] Figure 4 FIG. 4 is a structural schematic diagram of the driving rod of the massage assembly, the driving assembly, and the guide plate driving cooperation according to an embodiment of the application.

[0024] Figure 5 FIG. 5 is a structural schematic diagram of the driving cooperation between the driving assembly and the guide plate according to an embodiment of the application.

[0025] Figure 6Structure diagram of the massage driving gear mounted on the driving rod in an embodiment of the present application.

[0026] Figure 7 Structure diagram of the driving assembly adapted to the driving rod in an embodiment of the present application.

[0027] Figure 8 Top side view of the driving assembly in an embodiment of the present application.

[0028] Figure 9 Bottom side view of the driving assembly in an embodiment of the present application.

[0029] Figure 10 Top view of the driving assembly in an embodiment of the present application.

[0030] Figure 11 Top view of the moving gear set engaged with the main gear in an embodiment of the present application.

[0031] Figure 12 Bottom view of the moving gear set engaged with the main gear in an embodiment of the present application.

[0032] Figure 13 Top view of the moving gear set engaged with the main gear in an embodiment of the present application.

[0033] Figure 14 Structure diagram of the massage part in an embodiment of the present application.

[0034] Figure 15 Structure diagram of the connecting arm and the elastic reset member located on the support in an embodiment of the present application.

[0035] Figure 16 Exploded view of the massage part in an embodiment of the present application.

[0036] Figure 17 Structure diagram of the two supports connected through the driving rod in an embodiment of the present application.

[0037] Figure 18A Structure diagram of the connecting arm provided in two parts in an embodiment of the present application.

[0038] Figure 18B Structure diagram of the support with two clamping grooves in an embodiment of the present application.

[0039] Figure 19 Structure diagram of the knocking unit in an embodiment of the present application.

[0040] Figure 20 Structure diagram of the knocking unit provided in the massage assembly in an embodiment of the present application.

[0041] Figure 21 is an exploded view of the massage part and the knocking part in an embodiment of the present application.

[0042] Figure 22 is an exploded view of the knocking part in an embodiment of the present application.

[0043] Figure 23 is a structural schematic view of the guide plate in an embodiment of the present application.

[0044] Figure 24 is a top view of the guide plate in an embodiment of the present application.

[0045] Figure 25 is a partial enlarged view of the guide plate at the first positioning end in an embodiment of the present application.

[0046] Figure 26 is a structural schematic view of the guide plate installed between the first positioning end and the second positioning end in an embodiment of the present application.

[0047] Figure 27 is an overall view of the massage assembly in an embodiment of the present application.

[0048] Figure 28 is a side view of the massage assembly in an embodiment of the present application.

[0049] Figure 29 is a front view of the massage assembly in an embodiment of the present application.

[0050] Figure 30 is a partial enlarged view of the A in the middle. Figure 29

[0051] Figure 31 is a bottom view of the massage assembly in an embodiment of the present application.

[0052] Figure 32 is a bottom view of the massage assembly in an embodiment of the present application.

[0053] Figure 33 is an exploded view of the massage assembly in an embodiment of the present application.

[0054] Reference Signs

[0055] 1 - frame, 10 - first positioning end, 11 - second positioning end, 12 - guide plate, 120 - rack, 121 - guide groove, 13 - positioning cross plate, 130 - limiting groove, 131 - mounting groove, 14 - pressing plate.

[0056] ​2-massage assembly, 20-driving rod, 21-moving driving gear, 22-massage driving gear, 23-clamping opening, 24-wear-resistant pad, 25-guiding block, 250-roller, 26-guiding piece, 260-guiding cavity, 27-housing, 270-upper housing, 271-lower housing, 28-supporting plate.

[0057] 3-massage part, 30-stand, 300-positioning groove, 301-clamping slot, 302-turning hole, 303-cover plate, 304-first signal transmission piece, 305-rotation shaft, 306-mounting hole, 307-knocking hole, 31-connecting arm, 310-first branch arm, 311-second branch arm, 312-clamping hook, 3120-clamping piece, 3121-clamping flange, 32-elastic return piece, 320-coil spring, 3200-return main body, 3201-limiting end, 3202-connecting end, 3203-clamping port, 33-massage head.

[0058] 4-knocking unit, 40-knocking motor, 41-connecting shaft, 42-driving wheel, 43-knocking part, 430-ball head rod, 431-ball head, 432-eccentric sleeve, 433-connecting sleeve, 4330-ear seat, 44-belt, 45-bearing, 46-hinge shaft, 47-shaft sleeve.

[0059] 5-driving assembly, 50-driving motor, 501-output screw rod, 51-main gear, 510-first gear, 511-second gear, 52-moving gear set, 520-moving input gear, 521-moving intermediate gear, 522-moving output gear, 53-massage gear set, 530-massage input gear, 531-massage intermediate gear, 532-massage output gear, 5320-tapered tooth surface.

[0060] 6-guiding assembly, 60-recovery piece, 600-limiting shaft, 601-connecting piece, 602-first connecting plate, 603-second connecting plate, 604-mounting shaft, 605-guiding shaft, 61-guiding belt. DETAILED DESCRIPTION

[0061] The specific embodiments of the present application will be further described in conjunction with the accompanying drawings.

[0062] It is easy to understand that, according to the technical scheme of the present application, a person skilled in the art can replace various structural modes and implementation modes without changing the essential spirit of the present application. Therefore, the following specific embodiments and drawings are only exemplary descriptions of the technical scheme of the present application, and should not be regarded as the whole or as a limitation or restriction on the technical scheme of the present application.

[0063] The up, down, left, right, front, back, front, back, top, bottom and other orientation terms mentioned or possibly mentioned in the specification are defined with respect to the structure shown in the drawings, and they are relative concepts, so they can change accordingly according to different positions and different use states. Therefore, these or other orientation terms should not be interpreted as restrictive terms.

[0064] As shown in Figures 1 to 3 The application provides a massage and movement integrated control core device, which comprises two oppositely arranged guide plates 12, a massage assembly 2 and a driving assembly 5.

[0065] As shown in Figures 4 to 5 At least one of the two guide plates 12 is provided with a rack 120.

[0066] As shown in Figures 3 to 6 The massage assembly 2 comprises a massage part 3 and a driving rod 20 connected in driving mode, and a movement driving gear 21 engaged with at least one of the racks 120, respectively. The driving rod 20 is provided with a massage driving gear 22.

[0067] As shown in Figure 7 The driving assembly 5 comprises a driving motor 50, at least one of the two output ends of the driving motor 50 is provided with a main gear 51 connected in driving mode. In the driving assembly 5, at least one of the main gears 51 is engaged with at least one of the movement gear sets 52 one by one, and at least one of the movement gear sets 52 is simultaneously engaged with at least one of the movement driving gears 21 one by one, so as to drive the massage assembly 2 to move along the extension direction of the rack 120.

[0068] At least one of the main gears 51 is engaged with a massage gear set 53, and the massage gear set 53 is simultaneously engaged with the massage driving gear 22, so as to drive the driving rod 20 to rotate, and then drive the massage head 33 on the driving rod 20 to complete the massage action.

[0069] Figure 7 In the embodiment shown, one main gear 51 is simultaneously connected with the movement gear set 52 and the massage gear set 53, which is beneficial to further reduce the volume of the driving assembly 5, reduce the required driving components, and reduce the cost.

[0070] The at least one rack 120 provides a moving basis for the massage assembly 2, at least one moving drive gear 21 on the massage assembly 2 is engaged with the at least one rack 120 one by one, and the drive assembly 5 drives the moving drive gear 21, thereby driving the massage assembly 2 to move along the extension direction of the rack 120, in the process, the driving rod 20 on the massage assembly 2 rotates under the drive of the massage drive gear 22, and drives the massage head 33 to act to massage the body.

[0071] As an optional embodiment of the moving drive gear 21, the moving drive gear 21 includes a large gear and a small gear coaxially connected (the outer diameter of the large gear is larger than that of the small gear), the large gear is engaged with the moving gear set 52, and the small gear is engaged with the rack 120, so as to drive the massage assembly 2 to move along the direction of the rack 120 through the driving force of the moving gear set 52.

[0072] In the embodiment of the application, two racks 120 can be arranged in parallel, the drive assembly 5 is provided with output ends at both ends of the drive motor 50, and each of the output ends is engaged with a main gear 51 as a power output, the two main gears 51 are engaged with a moving gear set 52 respectively, the moving gear set 52 is engaged with the moving drive gear 21 on the massage assembly 2 and drives the massage assembly 2 to move along the extension direction of the two racks 120 through the engagement of the moving drive gear 21 and the rack 120; at least one main gear 51 is engaged with a massage gear set 53, the massage gear set 53 is engaged with the massage drive gear 22 on the driving rod 20 to drive the driving rod 20 to rotate along the axis thereof, and the driving rod 20 drives the massage part 3 to rotate, and as an embodiment, the driving rod 20 can be arranged to extend in the horizontal direction and drive the massage head 33 to swing through an eccentric member, so as to perform swinging and pinching massage on the user.

[0073] The application drives the massage head 33 on the massage part 3 to massage and the massage assembly 2 to move along the extension direction of the rack 120 through one drive motor 50, and the massage drive gear 22 on the driving rod 20 and the moving drive gear 21 do not interfere with each other in rotation, which increases the flexibility of the system in controlling the massage of the massage assembly 2 and the overall movement of the massage assembly 2, solves the problem that the massage driving member of the massage assembly 2 and the overall movement driving member of the massage assembly 2 belong to two sets of control systems, reduces the cost, optimizes the structure, and promotes the miniaturization and compactness development of the movable massage device.

[0074] In one of the optional embodiments in which the guide plates 12 cooperate with the driving assembly 5, a rack 120 is arranged on one of the guide plates 12, and one of the guide plates 12 is arranged as a slide. The number of the main gears 51, the moving gear sets 52 and the moving driving gears 21 is one, the main gears 51 are engaged with the moving gear sets 52, the moving gear sets 52 are engaged with the moving driving gears 21, and the moving driving gears 21 are engaged with the rack 120. The massage assembly 2 is further provided with a guide surface adapted to the slide. In the embodiment, the movement of the massage assembly 2 is driven by the engagement between the rack 120 and the moving driving gears 21, and the movement is guided by the adaptation between the slide and the guide surface on the massage assembly 2.

[0075] The guide surface can be an inner side surface extending along the length direction of the guide plate 12, and the outer side surface of the slide abuts against the guide surface to achieve the guidance. The guide surface can also be an inner groove surface in a groove structure extending along the length direction of the guide plate 12, and the slide is at least partially slidably arranged in the groove structure and moves along the groove structure.

[0076] In another optional embodiment in which the guide plates 12 cooperate with the driving assembly 5, racks 120 are arranged on both of the guide plates 12. The number of the main gears 51 is two, and the two main gears 51 are arranged at the two output ends respectively. The two main gears 51 are engaged with the two moving gear sets 52 one by one, the two moving gear sets 52 are engaged with the two moving driving gears 21 one by one, and the two moving driving gears 21 are engaged with the two racks 120 one by one. The two output ends of the same driving motor 50 synchronously drive the two moving gear sets 52 to move on the racks 120, which increases the stability of the movement of the massage assembly 2.

[0077] In one of the optional driving modes of the main gears 51, the moving gear sets 52 and the moving driving gears 21, the main gears 51 include coaxially connected first gears 510 and second gears 511, and the output ends are provided with output screws 501, and the first gears 510 are engaged with the output screws 501. As shown in FIG. 5, the output screws 501 can be used as the output shafts of the driving motor 50, and two output screws 501 are installed at the two ends of the driving motor 50 to output power. Figure 7 As shown in FIG. 6, the output screws 501 are used as the output shafts of the driving motor 50, and two output screws 501 are installed at the two ends of the driving motor 50 to output power. Figures 8 to 13As shown, the moving gear set 52 includes moving input gear 520, moving intermediate gear 521 and moving output gear 522 which are engaged in sequence, the moving input gear 520 is engaged with the main gear 51 to rotate under the driving of the main gear 51, through the speed regulation of the moving intermediate gear 521, finally through the moving output gear 522 to drive the moving drive gear 21 engaged therewith to rotate, the moving drive gear 21 is engaged with the rack 120, and then rotates along the rack 120, which drives the overall movement of the massage assembly 2 in the process, stable and reliable.

[0078] In an alternative driving mode of the moving gear set 52, the moving input gear 520, the moving intermediate gear 521 and the moving output gear 522 all include coaxially connected large gear and small gear (the outer diameter of the large gear is larger than that of the small gear), the large gear of the moving input gear 520 is engaged with the main gear 51, and the moving output gear 522 and the moving intermediate gear 521, and the moving intermediate gear 521 and the moving output gear 522 are all driven through the small gear and the large gear staggered engagement, for example, as shown in Figures 7 to 13 The small gear of the moving input gear 520 is engaged with the large gear of the moving intermediate gear 521, the small gear of the moving intermediate gear 521 is engaged with the large gear of the moving output gear 522, the small gear of the moving output gear 522 is engaged with the large gear of the moving drive gear 21, and the small gear of the moving drive gear 21 is engaged with the rack 120, so as to reduce the volume of the driving assembly 5.

[0079] In an alternative driving mode of the main gear 51, the massage gear set 53 and the massage drive gear 22, as shown in Figures 7 to 10 The massage gear set 53 includes massage input gear 530, massage intermediate gear 531 and massage output gear 532 which are engaged in sequence, the massage input gear 530 is engaged with the main gear 51, and the massage output gear 532 is engaged with the massage drive gear 22 through the speed regulation and rotation transmission of the massage intermediate gear 531, the massage output gear 532 is engaged with the massage drive gear 22, which drives the rotation of the massage drive gear 22 and then drives the rotation of the driving rod 20, the driving rod 20 drives the rotation of the massage part 3 installed thereon, and realizes kneading massage.

[0080] In an alternative driving mode of the massage gear set 53, as shown in Figure 6 And Figure 7As shown, the massage drive gear 22 is a bevel gear. Both the massage input gear 530 and the massage intermediate gear 531 include a large gear and a small gear coaxially connected (the outer diameter of the large gear is larger than the outer diameter of the small gear). The large gear of the massage input gear 530 meshes with the second gear 511, and the small gear of the massage input gear 530 meshes with the large gear of the massage intermediate gear 531. The small gear of the massage intermediate gear 531 meshes with the axial gear of the massage output gear 532. The end face of the massage output gear 532 is a bevel tooth surface 5320, and the bevel tooth surface 5320 of the massage output gear 532 meshes with the massage drive gear 22. In this embodiment, the massage input gear 530 receives the drive of the main gear 51 and transmits the rotation to the massage output gear 532 after being changed by the massage intermediate gear 531. The massage output gear 532 is driven by the bevel gear of the massage drive gear 22 through the bevel tooth surface 5320 on its own end face, realizing the rotation reversal. That is, the rotation axis 305 of the massage part 3 is perpendicular to the movement direction of the massage component 2, so as to achieve a better massage effect.

[0081] The following describes the detailed structure of massage component 2, such as... Figures 14 to 16 As shown, the massage unit 3 in the massage assembly 2 includes a support 30, a connecting arm 31, and an elastic reset member 32. The support 30 is mounted on the drive rod 20; the connecting arm 31 is rotatably connected to the support 30, and the connecting arm 31 includes a first arm 310 and a second arm 311, both of which are equipped with massage heads 33; the elastic reset member 32 is mounted on the support 30, and one end of the elastic reset member 32 extends to engage, abut, or be fixedly connected to the connecting arm 31. When the massage head 33 massages, it is pressed, causing the connecting arm 31 to rotate relative to the support 30. When the connecting arm 31 rotates, the elastic reset member 32 deforms under force and provides reverse support to the connecting arm 31, so that the massage head 33 fits against the massage area.

[0082] Among them, such as Figure 17 As shown, the support 30 is mounted on the drive rod 20, which provides positioning and support for the support 30. Through the movement of the massage component 2, kneading massage of multiple parts can be achieved.

[0083] The elastic reset member 32 in the embodiment of the application can be a spring, a corrugated elastic body, rubber, etc. When the massage head 33 on the connecting arm 31 is pressed, the massage head 33 is pressed and drives the connecting arm 31 to rotate in the force direction, avoiding the discomfort of the user caused by hard support during massage, and improving the comfort of the user. Meanwhile, the connecting arm 31 after rotation presses the elastic reset member 32 to make the elastic reset member 32 deform, and the deformed elastic reset member 32 generates reverse support force to the connecting arm 31 due to the restoring force, and then the massage head 33 is attached to the massage part, improving the massage effect.

[0084] In one optional embodiment of the mounting structure of the elastic reset member 32, the support 30 is provided with a positioning groove 300, the elastic reset member 32 includes a coil spring 320, the coil spring 320 includes a reset body 3200 and a limiting end 3201 and a connecting end 3202 on the reset body 3200, the reset body 3200 is at least partially located in the positioning groove 300, the limiting end 3201 is limited to prevent the coil spring 320 from rotating, and the connecting end 3202 extends out of the positioning groove 300 and abuts against, is clamped with, or is fixedly connected with the connecting arm 31. As shown in Figure 16 the limiting end 3201 can be a rod-shaped structure, and the groove wall of the positioning groove 300 can be provided with a limiting opening, or a limiting groove, or a limiting block. The limiting end 3201 is abutted against, clamped with, or fixedly connected with one side of the limiting opening, or the limiting groove, or the limiting block, and cannot move, so that the reset body 3200 of the coil spring 320 cannot rotate to generate reverse restoring force after being acted on by the connecting arm 31, and the reverse support force is transmitted to the connecting arm 31 through the connecting end 3202 to provide reverse support force to the connecting arm 31.

[0085] In one specific connection mode of the connecting arm 31 and the elastic reset member 32, as shown in Figure 16 the side of the connecting arm 31 is provided with a clamping hook 312, the connecting end 3202 is provided with a clamping opening 3203, and the clamping hook 312 is clamped on the clamping opening 3203. In the embodiment of the application, the clamping hook 312 is hooked on the clamping opening 3203 to realize clamping, abutting, or fixed connection of the connecting arm 31 and the coil spring 320. When the connecting arm 31 rotates, the clamping hook 312 drives the clamping opening 3203 to rotate, and at this time the coil spring 320 is subjected to a rotating force.

[0086] In one specific connection mode of the connecting arm 31 and the elastic reset member 32, as shown in Figures 14 to 16 the clamping hook 312 includes a clamping piece 3120, the end of the clamping piece 3120 is bent to define a clamping flange 3121, the clamping piece 3120 penetrates through the clamping opening 3203, and the clamping flange 3121 extends out of the clamping opening 3203. As shown inFigure 16 As shown, the card interface 3203 in the embodiment of the present application can be U-shaped or rectangular, the card connecting piece 3120 is arranged through the card interface 3203 and abuts against the lower edge of the card interface 3203, and the card connecting flange 3121 is folded downwardly out of the card interface 3203, so that the card connecting hook 312 is stably arranged outside the card interface 3203, as shown in Figures 14 to 15 When the connecting arm 31 is forced to rotate downwardly and press the lower edge of the card interface 3203, the coil spring 320 applies a reverse force to the connecting arm 31 through the lower edge of the card interface 3203.

[0087] In an alternative embodiment of the connecting arm 31, the first branch arm 310 and the second branch arm 311 are integrally arranged, and the connecting end 3202 is connected to the first branch arm 310 or the second branch arm 311. Please refer to Figures 14 to 17 In the embodiment of the present application, the connecting arm 31 is integrally V-shaped, the two massage heads 33 are located at the two ends of the connecting arm 31, and the first branch arm 310 and the second branch arm 311 are respectively integrally formed on the two sides of the connecting arm 31. The middle part of the connecting arm 31 can be rotatably connected to the rotating hole 302 in the support 30 through the rotating shaft 305, and the connecting arm 31 rotates as a whole around the rotating shaft 305 under force, so as to adhere to the massage part, and the two massage heads 33 maintain consistency in movement.

[0088] In another alternative embodiment of the connecting arm 31, as shown in Figure 18A The first branch arm 310 and the second branch arm 311 are separately arranged, the first branch arm 310 and the second branch arm 311 are respectively rotatably arranged on the support 30, and the number of the coil springs 320 is two, and the two connecting ends 3202 are respectively connected to the first branch arm 310 and the second branch arm 311. In the embodiment, the first branch arm 310 and the second branch arm 311 are respectively rotatably connected to the two rotating holes in the support 30 through a rotating shaft, and the first branch arm 310 and the second branch arm 311 can rotate according to their own force under force, which is beneficial to increase the massage comfort of the user, and the two coil springs 320 can better adhere to the massage part at the same time. The rotating hole can be arranged in the positioning groove 300 to increase the compactness of the structure.

[0089] The connecting arm 31 and the elastic reset member 32 can be connected through the present embodiment, two positioning grooves 300 are arranged on the support 30, two coil springs 320 are arranged in the two positioning grooves 300 in one-to-one correspondence, and two connecting ends 3202 are respectively connected to the first branch arm 310 and the second branch arm 311. As shown in Figure 18AAs shown, the first supporting arm 310 and the second supporting arm 311 are respectively supported by two coil springs 320, which can provide reverse support to the first supporting arm 310 and the second supporting arm 311 respectively when the first supporting arm 310 and the second supporting arm 311 rotate, so that the two massage heads 33 are effectively attached to the massage part 3, and the kneading massage effect is improved.

[0090] In the embodiment where the support 30 is matched with the connecting arm 31, two clamping grooves 301 are formed on the support 30, and one end of the first supporting arm 310 and one end of the second supporting arm 311 are respectively rotatably clamped in the two clamping grooves 301. As shown, Figure 18A and Figure 18B As shown, the first supporting arm 310 and the second supporting arm 311 are symmetrically or approximately symmetrically arranged on the support 30, and the two are connected and work in a similar manner. Taking the first supporting arm 310 as an example, a continuous notch is formed between the top and the outer side of the clamping groove 301, so that the first supporting arm 310 can be rotated from the vertical direction or the inclined direction (as shown) Figure 18A to the horizontal direction, the rotating shaft 305 of the first supporting arm 310 is rotatably connected to the rotating hole 302 formed in the groove wall of the clamping groove 301, and the thickness of the end of the first supporting arm 310 away from the massage head 33 is slightly smaller than the width of the clamping groove 301, so that the first supporting arm 310 can not only rotate smoothly in the first clamping groove 301, but also be limited in the front and back directions by the groove wall of the clamping groove 301, thereby increasing the rotation stability of the first supporting arm 310.

[0091] The positioning groove 300 is buckled with a cover plate 303, and the reset body 3200 is defined between the positioning groove 300 and the cover plate 303. The cover plate 303 protects and limits the reset body 3200 of the coil spring 320.

[0092] In an optional embodiment, the number of supports 30 is two, and the two supports 30 are arranged along the axial direction of the driving rod 20 and are installed on the driving rod 20. As shown, Figure 17 The two supports 30 can realize synchronous motion through the connection of the driving rod 20, and the four massage heads 33 can massage at the same time, thereby expanding the massage range.

[0093] In an optional embodiment, as shown, Figures 19 to 20As shown, the massage assembly 2 further comprises a knocking unit 4, which comprises a knocking motor 40, a connecting shaft 41, a transmission wheel 42 mounted on the connecting shaft 41, and a knocking part 43. The knocking motor 40 is in transmission connection with the transmission wheel 42; the knocking part 43 comprises a ball head rod 430 and an eccentric sleeve 432 mounted on the connecting shaft 41, the outer periphery of the eccentric sleeve 432 is sleeved with a connecting sleeve 433, the ball head rod 430 is arranged on one side of the support 30 and is hinged to the support 30 through a ball head 431, the other end of the ball head rod 430 is hinged to the connecting sleeve 433, the connecting sleeve 433 is eccentrically swung relative to the connecting shaft 41 under the driving of the eccentric sleeve 432, so as to drive the ball head rod 430 to make a tight reciprocating motion in the direction close to the support 30, so as to drive the support 30 and the massage heads 33 thereon to realize the knocking massage effect.

[0094] Preferably, in one optional embodiment in which the massage part 3 is adapted to the knocking part 43, as shown in Figures 20 to 21 As shown, the number of the massage parts 3 is two, the two massage parts 3 are respectively mounted on the two ends of the driving rod 20, the massage driving gear 22 is mounted between the two ends of the driving rod 20, and the two supports 30 are provided with hinging parts hinged to the ball heads 431.

[0095] In one optional embodiment in which the ball head 431 is hinged to the support 30, the hinging part comprises a knocking hole 307 formed in the support 30, the ball head 431 is located in the knocking hole 307, and the ball head 431 drives the support 30 to deflect when making a reciprocating motion in the knocking hole 307, so as to realize the effect of knocking the massage part, and the two ball head rods 430 drive the four massage heads 33 on the two supports 30 to knock the massage part, which is beneficial to increase the massage effect. In another optional embodiment in which the ball head 431 is hinged to the support 30, the hinging part comprises a rotating shaft arranged on the support 30, and the ball head 431 is rotationally connected to the rotating shaft, and the ball head 431 drives the support 30 and the massage heads 33 thereon to realize the knocking massage effect when the ball head rod 430 makes a tight reciprocating motion in the direction close to the support 30.

[0096] As shown in Figures 21 to 22 In one optional embodiment in which the other end of the ball head rod 430 is hinged to the connecting sleeve 433, the outer periphery of the connecting sleeve 433 is provided with an ear seat 4330, the other end of the ball head rod 430 is hinged to the ear seat 4330 of the connecting sleeve 433 through a hinging shaft 46 and a shaft sleeve 47, when the knocking motor 40 drives the transmission wheel 42 to rotate, the transmission wheel 42 drives the eccentric sleeve 432 to rotate through the connecting shaft 41, and the eccentric sleeve 432 drives the ball head 431 of the ball head rod 430 to move through the connecting sleeve 433.

[0097] The output end of the knocking motor 40 and the transmission wheel 42 can be connected by the belt 44, which is stable and reliable.

[0098] As shown in the embodiment of the application, the eccentric sleeve 432 and the connecting sleeve 433 are connected by the bearing 45, which is stable and reliable. Figures 21 to 22

[0099] In an optional embodiment, the massage assembly 2 is provided with a controller and an action element, the first signal transmission member 304 and the second signal transmission member in communication connection with the controller are respectively arranged on the two opposite sides of the support 30, and the first signal transmission member 304 and the second signal transmission member are respectively located on the two sides of the connecting arm 31, and in the process of the position change of the connecting arm 31 rotating relative to the support 30, the signal transmission between the first signal transmission member 304 and the second signal transmission member can be switched between the two states of conduction and cut-off, and the action element includes at least one of the driving motor 50 and the knocking motor 40. For example, when the connecting arm 31 rotates to block the signal transmission path of the first signal transmission member 304 and the second signal transmission member, the signal transmission between the first signal transmission member 304 and the second signal transmission member is interrupted and a signal interruption signal is transmitted to the controller, and the controller controls the action of the action element. Wherein, the first signal transmission member 304 and the second signal transmission member can be an infrared light generator and an infrared light receiver respectively, and the signal is stable and cost-effective.

[0100] When the action unit includes the driving motor 50, the controller can control the driving motor 50 to work when the connecting arm 31 rotates, so as to drive the massage assembly 2 to move along the rack 120.

[0101] When the action unit includes the knocking motor 40, the controller can control the knocking motor 40 to work when the connecting arm 31 rotates, so as to drive the massage head 33 to knock the massage part.

[0102] In addition, the action element can also be a heating element, an air bag and the like, to realize heating of the massage part and extension and contraction of the massage head.

[0103] The setting mode of the guide plates 12 is introduced below. The first ends of the two guide plates 12 along the first direction define the first positioning end 10, and the second ends of the two guide plates 12 along the first direction define the second positioning end 11. In the embodiment of the application, the first direction can be the length direction or the width direction of the guide plate 12.

[0104] As shown in the embodiment of the application, the eccentric sleeve 432 and the connecting sleeve 433 are connected by the bearing 45, which is stable and reliable. Figure 24 and Figure 25 ​As shown, the guiding assembly 6 comprises a restoring member 60 and a guiding belt 61; wherein the restoring member 60 comprises a limiting shaft 600 and a connecting member 601 connected with each other, the connecting member 601 is arranged on the first positioning end 10 and is arranged in an extendable manner, the first end of the guiding belt 61 is mounted on the second positioning end 11, the second end of the guiding belt 61 extends to the first positioning end 10 and is folded back to be mounted on the massage assembly 2 after being arranged around the limiting shaft 600. Wherein the limiting shaft 600 can be arranged on a mounting seat, and the connecting member 601 is connected with the mounting seat.

[0105] The first positioning end 10, the second positioning end 11 and the two guiding plates 12 together define a cavity structure for the movement of the massage assembly 2. At least part of the structure of the massage assembly 2 and at least part of the structure of the driving assembly 5 are arranged in the shell of the massage assembly 2, and the shell of the massage assembly 2 can be formed by buckling the upper shell 270 and the lower shell 271, as shown in the figure. Figure 33 As shown, the upper shell 270 can comprise two split shells that are spliced together, so as to facilitate the convenient installation of the internal components of the massage assembly 2 in the shell.

[0106] The guiding belt 61 plays a guiding role in the movement of the massage assembly 2, so as to make the massage assembly 2 move along the length direction of the guiding plate 12, while limiting the movement of the massage assembly 2 in a direction deviating from the length direction of the guiding plate 12, effectively increasing the stability of the movement of the massage assembly 2 and improving the massage effect. The connecting member 601 of the restoring member 60 generates elastic restoring force through elastic extension and contraction, so as to make the guiding belt 61 in a tensioned state, thereby increasing the stability of the movement of the massage assembly 2.

[0107] In an optional embodiment of the guiding assembly 6, the number of the restoring member 60 and the guiding belt 61 is both two, the first end of the two guiding belts 61 is respectively mounted on the two guiding plates 12, and the second end of the two guiding belts 61 is folded back to be mounted on the massage main body 2 after being arranged around the two limiting shafts 600. In the embodiment of the present application, one restoring member 60 and guiding belt 61 are mounted on each of the two guiding plates 12, so as to make the two guiding belts 61 in a tensioned state through the elastic restoring force generated by the elastic extension and contraction of the connecting member 601, thereby increasing the stability of the movement of the massage assembly 2. In the embodiment of the present application, the guiding belt 61 plays a guiding role in the movement of the massage assembly 2 along the length direction of the rack 120, so as to avoid the deviation of the massage assembly 2 from the rack 120, and the restoring member 60 plays a guiding role in the guiding belt 61, thereby jointly increasing the stability of the movement of the massage assembly 2 on the guiding plate 12 and improving the massage stability and massage effect of the massage assembly 2.

[0108] In an alternative embodiment of the guide belt 61, the guide belt 61 is further wrapped with a conductive wire, one end of the conductive wire is electrically connected with the massage assembly 2 to provide power for the operation of the massage assembly 2, and the other end is electrically connected with an external charging port or an assembler. The guide belt 61 is preferably made of flexible material, which can well protect the conductive wire and also adapt to the repeated bending of the guide belt 61 during the reciprocating movement of the massage assembly 2, thereby avoiding the breakage of the conductive wire and prolonging the service life.

[0109] In an alternative embodiment in which the massage assembly 2 is adapted to the guide plate 12, as shown in Figures 27 to 30 Fig. 4, the two sides of the massage assembly 2 are provided with clamping openings 23, and the two guide plates 12 are respectively arranged through the two clamping openings 23. By clamping the two guide plates 12 through the two clamping openings 23 on the two sides of the massage assembly 2, the massage assembly 2 can be positioned between the two guide plates 12, which is conducive to further increasing the stability of the movement of the massage assembly 2 on the guide plate 12.

[0110] As an alternative embodiment of the clamping opening 23, two support plates 28 are respectively buckled below the housings 27 on the two sides of the massage assembly 2 to define the two clamping openings 23.

[0111] As another alternative embodiment of the clamping opening 23, two support plates 28 are respectively integrally formed below the housings 27 on the two sides of the massage assembly 2 to define the two clamping openings 23.

[0112] In an alternative embodiment, at least one anti-abrasion pad 24 is arranged between the upper surface of the clamping opening 23 and the upper surface of the guide plate 12, and between the lower surface of the clamping opening 23 and the lower surface of the guide plate 12. The anti-abrasion pad 24 can be made of rubber or silicone, and two anti-abrasion pads 24 are arranged along the length direction of the massage assembly 2. The anti-abrasion pad 24 is installed in the clamping groove 301 of the support plate 28 and at least partially protrudes from the support plate 28 to support and protect the guide plate 12 from abrasion, thereby effectively reducing the friction between the massage assembly 2 and the guide plate 12 during movement. Figure 30 In the embodiment shown in the figure, the anti-abrasion pad 24 is arranged on the lower surface of the clamping opening 23 (the support plate 28) to reduce the friction between the lower surface of the clamping opening 23 and the lower surface of the guide plate 12. In addition, the anti-abrasion pad 24 can also be arranged on the upper surface of the clamping opening 23 (the housing) to reduce the friction between the upper surface of the clamping opening 23 and the upper surface of the guide plate 12.

[0113] In an optional embodiment where the massage assembly 2 is adapted to the guide plate 12, the guide plate 12 is provided with a guide groove 121 extending in the same direction as the rack 120, the upper surface of the clamping opening 23 or the lower surface of the clamping opening 23 is provided with a guide block 25 limited in the guide groove 121, and a roller 250 is arranged in the guide block 25 and protrudes from the guide block 25 to roll against the groove bottom of the guide groove 121. In this embodiment, the roller 250 is rotatably connected to the cavity structure of the guide block 25 by a rolling shaft, and the roller 250 at least partially abuts against the groove bottom of the guide groove 121 to roll, which not only plays a guiding role in moving the massage assembly 2, but also helps to reduce the friction between the clamping opening 23 and the guide plate 12. As shown in Figures 30 to 32 , in an optional embodiment, the guide block 25 is arranged on the upper surface of the clamping opening 23, the guide groove 121 is arranged on the upper surface of the guide plate 12, the guide block 25 is arranged in the guide groove 121, and the roller 250 contacts the groove bottom of the guide groove 121 and rolls in the guide groove 121 to reduce the friction between the upper surface of the clamping opening 23 and the upper surface of the guide plate 12.

[0114] In an optional embodiment where the massage assembly 2 is adapted to the guide plate 12, the top of each side of the massage assembly 2 is provided with a guide piece 26, the guide piece 26 is provided with a guide cavity 260 extending through in the extension direction of the rack 120, and the two guide belts 61 are respectively arranged through the two guide cavities 260. As shown in Figure 27 , Figure 30 , the guide piece 26 is a U-shaped piece with an opening facing the shell, and is integrally formed or bolted on the massage assembly 2, the guide cavity 260 plays a guiding role in the extension direction of the rack 120 for the guide belts 61 arranged therethrough, prevents the massage assembly 2 from deviating from the rack 120, and further increases the stability of the massage assembly 2 moving on the guide plate 12.

[0115] In an optional embodiment of the return piece 60, the return piece 60 further includes oppositely arranged first and second connecting plates 602 and 603, the limiting shaft 600 is rotatably connected between the first and second connecting plates 602 and 603, and a mounting shaft 604 is further arranged between the first and second connecting plates 602 and 603, and the first end of the connecting piece 601 in the length direction is mounted on the mounting shaft 604. As shown in Figure 25 , the limiting shaft 600 and the mounting shaft 604 are both arranged between the first and second connecting plates 602 and 603 and along the extension direction of the rack 120, the limiting shaft 600 supports the guide belts 61, and the mounting shaft 604 is connected with the connecting piece 601 to limit the whole return piece 60, so that the limiting shaft 600 always stably supports and reverses the guide belts 61 during the movement of the massage assembly 2.

[0116] Optionally, the restoring member 60 further comprises a guide shaft 605 arranged on the guide plate 12 or the first positioning end 10, and the second end of the connecting member 601 is wound on or limited on the guide plate 12 after being arranged around the guide shaft 605.

[0117] When the second end of the connecting member 601 is arranged around the guide shaft 605 in the form of the coil spring 320, the coil spring 320 is fixedly sleeved on the guide shaft 605, and the second end of the connecting member 601 is connected to the outer end of the coil spring 320. When the massage assembly 2 is located at the first positioning end 10, the connecting member 601 is in a free state or has a small amount of stretching, and the connecting member 601 is stably wound on the guide shaft 605. When the massage assembly 2 moves towards the second positioning end 11, the connecting member 601 is stretched and partially rotated to be separated from the guide shaft 605, and at this time, the coil spring 320 is in a stretched state to tension the connecting member 601. When the massage assembly 2 returns to the first positioning end 10, the connecting member 601 is gradually wound on the guide shaft 605 again under the restoring force of the coil spring 320. In an optional embodiment, the working principle of the coil spring 320 in the embodiment of the present application is the same as or similar to that of a vehicle safety belt winder. The connecting member 601 can be pulled out of the guide shaft 605 or wound on the guide shaft 605 under the action of the coil spring 320.

[0118] As shown in Figure 5 When the second end of the connecting member 601 is arranged around the guide shaft 605 and then limited (clamped or bonded, etc.) below the guide plate 12, the connecting member 601 is an elastic band such as a rubber band or a silica gel band. When the massage assembly 2 is located at the first positioning end 10, the connecting member 601 is in a free state or has a small amount of stretching. When the massage assembly 2 moves towards the second positioning end 11, the connecting member 601 is stretched and deformed, and at this time, the connecting member 601 is in a tensioned state. When the massage assembly 2 returns to the first positioning end 10, the connecting member 601 gradually recovers the deformation under the elastic restoring force of itself.

[0119] In an optional embodiment, the first positioning end 10 and the second positioning end 11 are both provided with positioning horizontal plates 13, both ends of the guide plate 12 are respectively mounted on the two positioning horizontal plates 13, the positioning horizontal plates 13 are provided with limiting grooves 130 and mounting grooves 131, the mounting shaft 604 is rotationally connected in the mounting grooves 131, the limiting grooves 130 are located between the guide shaft 605 and the mounting shaft 604, a pressing plate 14 is mounted above the limiting grooves 130, and the connecting member 601 passes through between the limiting grooves 130 and the pressing plate 14. Figures 1 to 5, Figures 23 to 24 、 Figure 26 The pressing plate 14 and the limiting groove 130 limit the connecting piece 601, so that the connecting piece 601 is smoothly connected with the guide shaft 605.

[0120] In an optional embodiment, the guide belt 61 is provided with a power line, the massage assembly 2 is provided with a circuit line electrically connected with the driving motor 50, and the power line is connected with the circuit line. The power line is hidden in the guide belt 61, and the power line is connected with the circuit line at the second end of the guide belt 61 and the connection position of the massage assembly 2. The power line can supply power to the massage assembly 2 in the moving state, and can also avoid the line from being exposed, thereby increasing the safety of the power line in the power supply. Further, the second positioning end 11 of the guide belt 61 is provided with a power interface on the frame 1, the power line extends to the power interface, and the power line is connected with the power supply through the power interface, so as to supply power to the driving motor 50 on the massage assembly 2.

[0121] According to the needs, the above technical solutions can be combined to achieve the best technical effect.

[0122] The above is only the principle and the preferred embodiment of the present application. It should be noted that, for those skilled in the art, on the basis of the principles of the present application, a number of other variants can also be made, which should also be considered as the protection scope of the present application.

Claims

1. A mechanism device for integrated control of massage and movement, characterized by, The massage device comprises: two oppositely arranged guide plates, at least one of which is provided with a rack; a massage assembly comprising a massage part and a driving rod connected by driving, and a moving driving gear engaged with at least one of the racks, the driving rod being provided with a massage driving gear; a driving assembly comprising a driving motor, at least one of the two output ends of the driving motor being provided with a main gear; wherein at least one of the main gears is engaged with at least one of the moving gear sets one by one, and at least one of the moving gear sets is simultaneously engaged with at least one of the moving driving gears one by one to drive the massage assembly to move along the extension direction of the rack; at least one of the main gears is engaged with a massage gear set, and the massage gear set is simultaneously engaged with the massage driving gear to drive the driving rod to rotate, thereby driving the massage head on the driving rod to complete the massage action.

2. The massage and movement integrated control movement core device according to claim 1, characterized in that, one of the guide plates is provided with a rack, and the other guide plate is provided with a sliding bar; the number of the main gears, the moving gear sets and the moving driving gears is one, the main gear is engaged with the moving gear set, the moving gear set is engaged with the moving driving gear, and the moving driving gear is engaged with the rack; the massage assembly is further provided with a guide surface matched with the sliding bar; or, both of the guide plates are provided with racks, the number of the main gears is two, the two main gears are arranged at the two output ends respectively, the two main gears are engaged with the two moving gear sets one by one, the two moving gear sets are engaged with the two moving driving gears one by one, and the two moving driving gears are engaged with the two racks one by one.

3. The massage and movement integrated control movement core device according to claim 1, characterized in that, the main gear comprises a first gear and a second gear connected coaxially, the output end is provided with an output screw, and the first gear is engaged with the output screw; the moving gear set comprises a moving input gear, a moving intermediate gear and a moving output gear engaged in sequence, the moving input gear is engaged with the main gear, and the moving output gear is engaged with the moving driving gear.

4. The massage and movement integrated control movement core device according to claim 3, characterized in that, the moving input gear, the moving intermediate gear and the moving output gear each comprise a large gear and a small gear connected coaxially, the large gear of the moving input gear is engaged with the main gear, and the moving output gear and the moving intermediate gear and the moving intermediate gear and the moving output gear are all transmitted by the small gear and the large gear through staggered engagement.

5. The massage and movement integrated control movement core device according to claim 3, characterized in that, the massage gear set comprises a massage input gear, a massage intermediate gear and a massage output gear engaged in sequence, the massage input gear is engaged with the main gear, and the massage output gear is engaged with the massage driving gear.

6. The massage and movement integrated control movement core device according to claim 5, characterized in that, the massage driving gear is a conical gear; The massage input gear and the massage intermediate gear each comprise a large gear and a small gear coaxially connected, the large gear of the massage input gear is engaged with the second gear, the small gear of the massage input gear is engaged with the large gear of the massage intermediate gear, the small gear of the massage intermediate gear is engaged with the face gear of the massage output gear, the end face of the massage output gear is a tapered gear face, and the tapered gear face of the massage output gear is engaged with the massage driving gear.

7. The massage and movement integrated control movement core device according to claim 1, characterized in that, The massage part comprises a support, a connecting arm and an elastic return member; The support is mounted on the driving rod; The connecting arm is rotatably connected to the support, the connecting arm comprises a first branch arm and a second branch arm, and the first branch arm and the second branch arm are each provided with the massage head; The elastic return member is mounted on the support, one end of the elastic return member extends to be connected to the connecting arm, the massage head is pressed to drive the connecting arm to rotate when the massage head massages, the elastic return member is deformed under force when the connecting arm rotates and provides reverse support to the connecting arm, so that the massage head is attached to the massage part.

8. The massage and movement integrated control movement core device according to claim 7, characterized in that, A positioning groove is formed in the support, the elastic return member comprises a coil spring, the coil spring comprises a return main body, a limiting end and a connecting end on the return main body, the return main body is at least partially located in the positioning groove, the limiting end is limited to prevent the coil spring from rotating, and the connecting end extends out of the positioning groove and is connected to the connecting arm.

9. The massage and movement integrated control movement core device according to claim 8, characterized in that, The massage assembly further comprises a knocking unit, the knocking unit comprises a knocking motor, a connecting shaft, a transmission wheel mounted on the connecting shaft and a knocking part; The knocking motor is in transmission connection with the transmission wheel; The knocking part comprises a ball head rod and an eccentric sleeve mounted on the connecting shaft, a connecting sleeve is sleeved on the outer periphery of the eccentric sleeve, the ball head rod is arranged on one side of the support, a first end of the ball head rod is hinged to the connecting sleeve, and a second end of the ball head rod is hinged to the support through a ball head; Preferably, the number of the massage parts is two, the two massage parts are respectively mounted on the two ends of the driving rod, the massage driving gear is mounted between the two ends of the driving rod, and the two supports are each provided with a hinge part hinged to the ball head; The number of the knocking parts is two, and the two eccentric sleeves are respectively mounted on the two ends of the connecting shaft.

10. The massage and movement integrated control movement core device according to claim 9, characterized in that, A bearing is mounted between the eccentric sleeve and the connecting sleeve and is movably connected through the bearing.

11. The massage and movement integrated control movement core device according to claim 10, characterized in that, A controller and a motion element are arranged on the massage assembly, two sides of the support arranged opposite to each other are respectively provided with a first signal transmission member and a second signal transmission member in communication connection with the controller, and the first signal transmission member and the second signal transmission member are respectively located on the two sides of the connecting arm and can switch between two states of signal transmission conduction and cut-off during the change of the position of the connecting arm relative to the support in the rotating movement; The motion element comprises at least one of the driving motor and the knocking motor.

12. The massage and movement integrated control movement core device according to any one of claims 1-11, characterized in that, Two first positioning ends are defined by first ends of the two guide plates in the first direction, and two second positioning ends are defined by second ends of the two guide plates in the first direction; The guiding assembly comprises a restoring member and a guide belt; The restoring member comprises a limiting shaft and a connecting member connected to each other, the connecting member is arranged at the first positioning end and is retractable, the first end of the guide belt is mounted at the second positioning end, the second end of the guide belt extends to the first positioning end, is folded back after winding around the limiting shaft, and is mounted on the massage assembly.

13. The massage and movement integrated control movement core device according to claim 12, characterized in that, Two clamping openings are arranged on two sides of the massage assembly, and the two guide plates pass through the two clamping openings respectively. Preferably, at least one anti-abrasion pad is arranged between the upper surface of the clamping opening and the upper surface of the guide plate, and between the lower surface of the clamping opening and the lower surface of the guide plate.

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