Self-adaptive massage machine core based on force perception

Abstract

The utility model discloses a self-adaptive massage machine core based on force perception, which comprises a rack and a massage mechanism, and the massage mechanism is provided with a pair of massage arms and massage wheels which are symmetrically arranged; a fixed frame and a sliding seat capable of moving along the fixed frame are arranged on the rack, and a knocking driving unit is arranged on the sliding seat. Through the force sensing module arranged between the fixed frame and the sliding seat, the displacement amount of the sliding seat caused by stress of the massage arm is detected in real time, so that the current massage force is judged. The movement is configured to control the pair of massage arms to be opened outwards when sensing the force change according with the shoulder characteristics; when the force change according with the characteristics of the waist and the back is sensed, the pair of massage arms is controlled to gather towards the middle part. The massage machine core can automatically recognize massage strength of different body parts and adjust massage postures in a self-adaptive mode, the problem that an existing massage machine core cannot sense the strength, so that massage is too light or too heavy is effectively solved, and the massage experience of a user is remarkably improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of massage machine core, especially to a self -adaptation massage machine core based on force perception. BACKGROUND

[0002] The core functional component of massage chair and various massage appliances is massage machine core, which usually contains massage arm and massage wheel that can perform kneading, knocking and other actions. The existing massage machine core mostly relies on pre-set programs to work, and these programs are developed based on standard human body model, and different massage methods and force are simulated by controlling the running parameters of the motor.

[0003] However, due to the significant differences in height, weight, body shape and muscle state among users, fixed programs are difficult to meet the actual needs of all individuals. For users with wide shoulders, obvious back curve or thin body shape, the existing machine core often cannot make the massage wheel closely fit the body curve, which easily leads to uneven distribution of massage force, and the problems of local massage being too heavy or too light, and poor user experience.

[0004] To solve this problem, some improvement schemes have appeared in the prior art. For example, some products provide multiple sets of pre-set programs for users to choose from, or add simple pressure sensing elements to the machine core. However, these schemes still have obvious limitations: multiple programs still need to be selected by the user, and cannot realize real automatic adaptation; cannot identify the specific body area where the massage machine core is located (such as the mechanical characteristics of the shoulder and waist are different), and thus cannot drive the massage mechanism to make adaptive and differentiated posture adjustment (such as automatically opening the massage arm to expand the coverage area at the shoulder, and gathering the massage arm to increase the deep pressing effect at the waist).

[0005] Therefore, it is necessary to develop an intelligent machine core that can accurately perceive the massage force in real time, and automatically adjust the posture of the massage mechanism according to the characteristics of different body parts identified, which is the key to improving the adaptability of massage equipment and user experience. UTILITY MODEL CONTENT

[0006] The utility model aims at overcoming the shortcomings and deficiencies in the prior art, and provides a self -adaptation massage machine core based on force perception.

[0007] To achieve the above object, the utility model provides the following technical scheme: A kind of adaptive massage machine core based on force perception, including rack and the massage mechanism installed on it, the massage mechanism has a pair of massage arms being arranged symmetrically and a pair of massage wheels installed at the end of each massage arm, rotating shaft is equipped on the rack and kneading drive unit driving the rotating shaft rotation, each massage arm is respectively eccentric transmission connection with rotating shaft;Fixed frame and the sliding seat movable along its length direction are equipped on the rack, the sliding seat is equipped with knock driving unit for driving massage arm and massage wheel to execute knocking motion, when massage arm is subjected to forward or backward external pressure, the sliding seat can be moved along fixed frame forward and backward by the knock driving unit push;It further includes force sensing module for detecting the displacement of sliding seat to judge massage force, the force sensing module includes sensor fixed on the sliding seat and reference block provided on fixed frame, the sensor moves with the sliding seat, for sensing the relative displacement between sensor and reference block;When massage machine core moves on human body and feels the massage force change meeting shoulder characteristics by the force sensing module, a pair of massage arms can be controlled to execute outward adjustment action of stretching out;When the massage force change meeting waist and back characteristics is sensed, a pair of massage arms can be controlled to execute adjustment action of gathering to middle part.

[0008] By adopting the above technical scheme, by setting force sensing module, the massage machine core can detect the force change of massage arm due to contacting different parts of human body in real time, and quantize it as displacement signal of sliding seat.Based on the signal, the machine core can accurately judge whether current massage force is suitable, and can further identify the characteristic force mode of different body regions such as shoulder, waist and back.On this basis, the machine core can automatically control a pair of massage arms to execute posture adjustment of outward stretching out or gathering to middle part, so as to realize more close covering at shoulder and more concentrated deep pressing at waist and back.This solves the problem that existing massage machine core cannot perceive individual difference of user and leads to uneven massage force, realizes truly adaptive massage, and significantly improves comfort and user experience.

[0009] As a preferred technical scheme of the utility model, the fixed frame includes two mounting seats arranged at both ends of the rack and two guide rods and a screw rod located between the two mounting seats;The two guide rods are symmetrically arranged and form guiding cooperation with the sliding seat;The screw rod is located between the two guide rods, forms threaded transmission cooperation with the reference block, and is driven by an independent power source;A containing groove extending along the moving direction of the sliding seat is formed in the sliding seat, the reference block is slidably arranged in the containing groove, a magnet is arranged on the reference block, and upper and lower reset elastic components are respectively arranged between the two ends of the magnet and the inner wall of the containing groove;In the initial state, the elastic reset forces provided by the upper and lower reset elastic components are balanced with each other, so that the reference block is stably kept at the central position of the containing groove.

[0010] By adopting the technical scheme, the movement precision and stability of the sliding seat are remarkably improved by adopting the structure that two guide rods and a screw rod are integrated on the fixing frame.

[0011] As a preferred technical scheme of the utility model, the upper reset elastic assembly comprises two upper springs symmetrically arranged on both sides of the reference block, and the lower reset elastic assembly comprises two lower springs symmetrically arranged on both sides of the reference block.

[0012] By adopting the technical scheme, the upper and lower reset elastic assemblies adopt the symmetrically arranged spring structure, so that the reset response of the reference block is more linear and balanced when the reference block is stressed in the accommodating groove.

[0013] As a preferred technical scheme of the utility model, the rack is further provided with a walking mechanism, the walking mechanism comprises a walking motor and a walking shaft, the walking shaft is arranged at one end of the rack opposite to the rotating shaft, two mounting seats are located below the walking shaft and the rotating shaft, a cover plate connecting the two mounting seats is arranged above the walking shaft and the rotating shaft, the walking shaft and the rotating shaft are parallel to each other, and walking wheels are arranged at both ends of the walking shaft.

[0014] By adopting the technical scheme, the overall rigidity and structural integrity of the massage core are enhanced by integrating the walking mechanism, the fixing frame and the massage mechanism on the unified rack and reinforcing the same by the mounting seat and the cover plate.

[0015] As a preferred technical scheme of the utility model, the knocking driving unit comprises a knocking shaft and a knocking driving motor, the knocking shaft is arranged in parallel with the rotating shaft and is rotatably supported on the sliding seat, the knocking driving motor is fixed on the sliding seat, the output end of the knocking driving motor is in transmission connection with the knocking shaft and is used for driving the knocking shaft to rotate, an eccentric shaft section is formed on the knocking shaft, the eccentric shaft section is sleeved with a knocking bearing seat, the knocking bearing seat is connected with the massage arm through a universal connecting rod assembly, one end of the universal connecting rod assembly is hinged with the knocking bearing seat, the other end of the universal connecting rod assembly is hingedly connected with the massage arm ball, when the knocking shaft rotates, the massage arm and the massage wheel are driven to generate reciprocating knocking actions through the transmission of the eccentric shaft section, the knocking bearing seat and the universal connecting rod assembly.

[0016] By adopting the above technical scheme, the knocking driving unit adopts the design of the eccentric shaft section matched with the universal connecting rod assembly, and efficiently converts the rotating motion of the knocking motor into the reciprocating linear knocking action of the massage arm. The use of the universal connecting rod assembly (especially the ball hinge connection) ensures the smoothness and stability of the knocking action. The structural arrangement on the sliding seat realizes the modularization of the knocking driving unit, and makes the response to the force change more sensitive. BRIEF DESCRIPTION OF DRAWINGS

[0017] Fig. 1 is the structural schematic view of the massage machine core of the utility model;

[0018] Fig. 2 is the structural schematic view of the fixed frame in the utility model;

[0019] Fig. 3 is the structural schematic view of the fixed frame in the utility model.

[0020] Fig. 1 is the structural schematic view of the utility model; Fig. 2 is the structural schematic view of the utility model; Fig. 3 is the structural schematic view of the utility model; Fig. 4 is the structural schematic view of the utility model; Fig. 5 is the structural schematic view of the utility model; Fig. 6 is the structural schematic view of the utility model; Fig. 7 is the structural schematic view of the utility model; Fig. 8 is the structural schematic view of the utility model; Fig. 9 is the structural schematic view of the utility model; Fig. 10 is the structural schematic view of the utility model; Fig. 11 is the structural schematic view of the utility model; Fig. 12 is the structural schematic view of the utility model. DETAILED DESCRIPTION

[0021] In order to make the technical means, creative features, purposes and effects realized by the utility model easy to understand, the utility model is further described below in combination with specific embodiments and drawings, but the following embodiments are only preferred embodiments of the utility model and not all. Based on the embodiments in the embodiments, other embodiments obtained by those skilled in the art without creative labor all belong to the protection scope of the utility model.

[0022] The specific embodiments of the utility model are described below with reference to the drawings.

[0023] As Figs. 1 to 3 The utility model discloses a kind of adaptive massage machine cores based on force perception, including rack 1 and the massage mechanism installed on it, the massage mechanism has a pair of massage arms 2 being symmetrically arranged and a pair of massage wheels 3 installed on each massage arm 2 end, rotating shaft 24 and kneading drive unit for driving the rotating shaft 24 rotation are equipped on the rack 1, each massage arm 2 is eccentric transmission connection with rotating shaft 24;Fixed frame 8 and the sliding seat 4 movable along its length direction are equipped on the rack 1, the sliding seat 4 is equipped with knock drive unit for driving massage arm 2 and massage wheel 3 to execute knock motion, when massage arm 2 is subjected to forward or backward external pressure, the sliding seat 4 can be moved along fixed frame 8 forward and backward by the knock drive unit push the sliding seat 4;It also includes force sensing module 5 for detecting the displacement of sliding seat 4 to judge massage force, the force sensing module 5 includes sensor 6 fixed on the sliding seat 4 and reference block 7 equipped on fixed frame 8, the sensor 6 moves with sliding seat 4, for inductive relative displacement between sensor 6 and reference block 7;Wherein, when massage machine core moves on human body and through the force sensing module 5 is perceived to meet the shoulder characteristics of massage force variation, a pair of massage arms 2 can be controlled to execute the adjustment action of outward stretching;When it is perceived to meet the lumbar characteristics of massage force variation, a pair of massage arms 2 can be controlled to execute the adjustment action of gathering to middle part.

[0024] In the embodiment, the sensor 6 is specifically implemented as a commercially available detection plate, which integrates a conventional Hall switch. The detection plate is fixed to the sliding seat 4 and moves therewith, and the reference block 7 is provided with a permanent magnet. When the massage arm 2 is forced to cause the displacement of the sliding seat 4, the relative movement occurs between the detection plate and the reference block 7, the distance between them changes, and then the magnetic field strength at the position of the Hall switch changes. The Hall switch converts the magnetic field change into an electrical signal and transmits it to the controller, and the controller can accurately calculate the real-time displacement of the sliding seat 4 by processing the signal, and then judge the current massage force. Based on the force information, the controller can drive the corresponding actuator (such as a motor driving screw 11 or a motor adjusting the posture of the machine core) to make the massage machine core execute the action adjustment suitable for it.

[0025] In the embodiment, the eccentric transmission connection between the rotating shaft 24 and the massage arm 2 is achieved by using a mechanical structure common and mature in the prior art. Specifically, an eccentric sleeve is fixedly installed on the rotating shaft 24, and the massage arm 2 is arranged outside the eccentric sleeve through a swing arm bearing sleeve. When the rotating shaft 24 is driven to rotate by the kneading driving unit, the massage arm 2 is driven to periodically swing, thereby realizing the kneading action on the human body part. The eccentric transmission mode has simple structure and reliable operation, and is a conventional technical means for kneading massage function in the field, and is not the core improvement of the present application.

[0026] The core improvement of the present application lies in the mechanical structure design and physical sensing mechanism of the massage core, rather than the control circuit or software programming. Specifically, a mechanical detection mechanism including the force sensing module 5, the slidable reference block 7 and the reset elastic component is creatively designed, and a knocking driving mechanism combining eccentric transmission and universal connecting rod is creatively designed. These hardware structures enable the massage core to realize real-time sensing of the force change in the massage process through pure mechanical displacement and mechanical response, and to drive the massage arm 2 to make adaptive physical posture adjustment. The realization of the self-adaptive function fundamentally originates from the physical properties and response logic of the above-mentioned mechanical structure, and the control circuit and program involved are only conventional prior art means for driving the execution components (such as motors) and reading the sensor 6 signals, and are not the technical contribution claimed by the present application.

[0027] By arranging the force sensing module 5, the massage core can detect the force change of the massage arm 2 due to contact with different parts of the human body in real time, and quantify it as a displacement signal of the sliding seat 4. Based on the signal, the core can accurately judge whether the current massage force is suitable, and can further identify the characteristic force mode of different body regions such as shoulders and waist. On this basis, the core can automatically control a pair of massage arms 2 to perform posture adjustment of outward stretching or gathering to the middle, thereby realizing more conformable coverage on the shoulders and more concentrated deep pressing on the waist. This solves the problem that the existing massage core cannot sense the individual differences of users and leads to uneven massage force, realizes truly adaptive massage, and significantly improves the comfort and user experience.

[0028] The fixed frame 8 comprises two mounting seats 9 arranged at both ends of the frame 1, two guide rods 10 and a screw rod 11 arranged between the two mounting seats 9; the two guide rods 10 are symmetrically arranged and are in guiding cooperation with the sliding seat 4; the screw rod 11 is arranged between the two guide rods 10 and is in threaded transmission cooperation with the reference block 7 and is driven by an independent power source; the sliding seat 4 is provided with a containing groove 12 extending along the moving direction of the sliding seat 4, the reference block 7 is slidingly arranged in the containing groove 12, the reference block 7 is provided with a magnet 13 and the two ends of the reference block 7 and the inner walls of the containing groove 12 are respectively provided with upper and lower reset elastic components; in the initial state, the elastic reset forces provided by the upper and lower reset elastic components are balanced with each other, so that the reference block 7 is stably kept at the central position of the containing groove 12.

[0029] By adopting the structure that the two guide rods 10 and the screw rod 11 are integrated on the fixed frame 8, the movement accuracy and stability of the sliding seat 4 are significantly improved. The guide rods 10 provide rigid guidance to prevent the sliding seat 4 from deviating during movement; the threaded transmission cooperation between the screw rod 11 and the reference block 7 realizes accurate and controllable adjustment of the position of the reference block 7. The arrangement of the containing groove 12 and the reset elastic components enables the reference block 7 to be automatically centered when not under force, thereby establishing a stable and reliable initial reference for force detection. The structure ensures the detection accuracy of the force sensing module 5.

[0030] The upper reset elastic component comprises two upper springs 14 symmetrically arranged at both sides of the reference block 7; the lower reset elastic component comprises two lower springs 15 symmetrically arranged at both sides of the reference block 7; the two ends of the reference block 7 are respectively provided with spring grooves 23 for accommodating the corresponding springs, and the inner walls of the opposite sides of the containing groove 12 are respectively provided with strip-shaped grooves 16 for embedding the upper springs 14 and the lower springs 15.

[0031] The symmetrically arranged spring structure of the upper and lower reset elastic components enables the reference block 7 to have more linear and balanced reset response when it is under force in the containing groove 12. The symmetrically arranged springs can effectively offset the lateral force and prevent the reference block 7 from being stuck or tilted during sliding, thereby ensuring that the reference block 7 always moves smoothly along the preset path. The cooperation design of the spring grooves 23 and the strip-shaped grooves 16 not only provides a reliable mounting position for the springs, but also restricts the movement direction of the springs.

[0032] The frame 1 is further provided with a walking mechanism, the walking mechanism comprises a walking motor 17 and a walking shaft 18, the walking shaft 18 is arranged at one end of the frame 1 opposite to a rotating shaft 24, the two mounting seats 9 are respectively arranged below the walking shaft 18 and the rotating shaft 24, a cover plate 19 connecting the two mounting seats 9 is arranged above the walking shaft 18 and the rotating shaft 24, the walking shaft 18 and the rotating shaft 24 are parallel to each other, and walking wheels 20 are arranged at both ends of the walking shaft 18.

[0033] The walking mechanism is integrated with the fixed frame 8 and the massage mechanism on the unified rack 1, and the overall rigidity and structural integrity of the massage core are enhanced by using the mounting seat 9, the cover plate 19 and the like for reinforcement. The walking mechanism enables the massage core to move along the long axis direction of the human back, thereby realizing a wide range of massage coverage; and the connection mode of the fixed frame 8 and the mounting seat 9 simplifies the overall assembly process. The integrated design enables the core to realize the one-dimensional plane kneading, knocking and walking compound motion while maintaining the compact size and reliable operation performance.

[0034] The knocking driving unit comprises a knocking shaft 21 and a knocking driving motor, the knocking shaft 21 is arranged in parallel with the rotating shaft 24 and is rotatably supported on the sliding seat 4; the knocking driving motor is fixedly arranged on the sliding seat 4, the output end of the knocking driving motor is in transmission connection with the knocking shaft 21, and the knocking driving motor is used for driving the knocking shaft 21 to rotate; an eccentric shaft section is formed on the knocking shaft 21, and a knocking shaft bearing is sleeved on the eccentric shaft section; the knocking shaft bearing is connected with the massage arm 2 through a universal connecting rod assembly 22, one end of the universal connecting rod assembly 22 is hinged with the knocking shaft bearing, and the other end of the universal connecting rod assembly 22 is connected with the massage arm 2 through a spherical hinge; when the knocking shaft 21 rotates, the massage arm 2 and the massage wheel 3 are driven to generate the reciprocating knocking action through the transmission of the eccentric shaft section, the knocking shaft bearing and the universal connecting rod assembly 22. In the embodiment, the knocking driving unit is a conventional technology in the field of massage chairs, and therefore the corresponding technical features of the present application are not marked.

[0035] The knocking driving unit adopts the design of the eccentric shaft section matched with the universal connecting rod assembly 22, so as to efficiently convert the rotary motion of the knocking motor into the reciprocating linear knocking action of the massage arm 2. The use of the universal connecting rod assembly 22 (especially the spherical hinge connection) ensures the smoothness and stability of the knocking action. The structural arrangement on the sliding seat 4 realizes the modularization of the knocking driving unit, so that the response to the force change is more sensitive.

[0036] The basic principle, main features and advantages of the utility model are shown and described above. It should be understood by those skilled in the art that the utility model is not limited by the above embodiments, the above embodiments and the description in the specification are only preferred examples of the utility model, and are not used to limit the utility model, various changes and improvements of the utility model can be made without departing from the spirit and scope of the utility model, these changes and improvements all fall within the scope of the utility model claimed, and the scope of protection of the utility model is defined by the appended claims and their equivalents.

Claims

1. An adaptive massage mechanism based on force sensing, comprising a frame (1) and a massage mechanism mounted thereon, the massage mechanism having a pair of symmetrically arranged massage arms (2) and a pair of massage rollers (3) mounted at the ends of each massage arm (2), the frame (1) being provided with a rotating shaft (24) and a kneading drive unit for driving the rotating shaft (24) to rotate, each massage arm (2) being eccentrically connected to the rotating shaft (24); characterized in that: The rack (1) is provided with a fixed frame (8) and a sliding seat (4) movable along the length direction of the fixed frame (8), the sliding seat (4) is provided with a knocking driving unit for driving the massage arm (2) and the massage wheel (3) to perform a knocking motion, when the massage arm (2) is subjected to an external pressure in the forward or backward direction, the sliding seat (4) can be pushed to move forward or backward along the fixed frame (8) by the knocking driving unit; further comprising a strength sensing module (5) for detecting the displacement of the sliding seat (4) to judge the massage strength, the strength sensing module (5) comprises a sensor (6) fixed on the sliding seat (4) and a reference block (7) provided on the fixed frame (8), the sensor (6) moves with the sliding seat (4) and is used for sensing the relative displacement between the sensor (6) and the reference block (7); wherein, when the massage core moves on the human body and the strength sensing module (5) senses a massage strength change conforming to the shoulder characteristics, a pair of massage arms (2) can be controlled to perform an adjustment action of stretching outward; when a massage strength change conforming to the waist and back characteristics is sensed, a pair of massage arms (2) can be controlled to perform an adjustment action of gathering to the middle part.

2. The force sensation based adaptive massaging movement for a watch according to claim 1, wherein: The fixed frame (8) comprises two mounting seats (9) provided at both ends of the rack (1), two guide rods (10) and a screw rod (11) located between the two mounting seats (9); the two guide rods (10) are symmetrically arranged and form a guide cooperation with the sliding seat (4); the screw rod (11) is located between the two guide rods (10) and forms a threaded transmission cooperation with the reference block (7) and is driven by an independent power source; the sliding seat (4) is provided with an accommodation groove (12) extending along the moving direction thereof, the reference block (7) is slidably arranged in the accommodation groove (12), the reference block is provided with a magnet (13) and the two ends thereof are respectively provided with an upper reset elastic component and a lower reset elastic component between the accommodation groove (12) and the inner wall thereof; in the initial state, the elastic reset forces provided by the upper reset elastic component and the lower reset elastic component are balanced with each other, so that the reference block (7) is stably kept at the central position of the accommodation groove (12).

3. The force-adapted massage movement mechanism according to claim 2, characterized in that: The upper reset elastic component comprises two upper springs (14) symmetrically arranged at both sides of the reference block (7); the lower reset elastic component comprises two lower springs (15) symmetrically arranged at both sides of the reference block (7); the two ends of the reference block (7) are respectively provided with spring grooves (23) for accommodating the corresponding springs, and the inner walls of the opposite sides of the accommodation groove (12) are provided with strip-shaped grooves (16) for embedding the upper springs (14) and the lower springs (15).

4. Force sensation based adaptive massaging movement for a watch according to claim 2 or 3, characterized in that: The rack (1) is further provided with a walking mechanism, which comprises a walking motor (17) and a walking shaft (18), the walking shaft (18) is arranged at one end of the rack (1) opposite to the rotating shaft (24), two mounting seats (9) are respectively arranged below the walking shaft (18) and the rotating shaft (24), the upper part of the walking shaft (18) and the rotating shaft (24) is provided with a cover plate (19) connecting the two mounting seats (9), the walking shaft (18) and the rotating shaft (24) are parallel to each other, and the two ends of the walking shaft (18) are provided with walking wheels (20).

5. The force sensation based adaptive massaging movement for the watch according to claim 1, wherein: The knocking driving unit comprises a knocking shaft (21) and a knocking driving motor, the knocking shaft (21) is arranged parallel to the rotating shaft (24) and is rotatably supported on the sliding seat (4); the knocking driving motor is fixedly arranged on the sliding seat (4), the output end of the knocking driving motor is in transmission connection with the knocking shaft (21), and the knocking driving motor is used for driving the knocking shaft (21) to rotate; the knocking shaft (21) is formed with an eccentric shaft section, and the knocking shaft (21) bearing is sleeved on the eccentric shaft section; the knocking shaft (21) bearing is connected with the massage arm (2) through a universal connecting rod assembly (22), one end of the universal connecting rod assembly (22) is hinged to the knocking shaft (21) bearing, and the other end of the universal connecting rod assembly (22) is connected with the massage arm (2) through a spherical hinge; when the knocking shaft (21) rotates, the massage arm (2) and the massage wheel (3) are driven to produce reciprocating knocking actions through the transmission of the eccentric shaft section, the knocking shaft (21) bearing and the universal connecting rod assembly (22).

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