Massage arm and massage equipment

Abstract

The utility model discloses a massage arm and massage equipment, and relates to the technical field of massage equipment. The massage arm comprises an installation base, a first mechanical arm assembly, a second mechanical arm assembly, a third mechanical arm assembly and a massage head assembly, and the first mechanical arm assembly, the second mechanical arm assembly, the third mechanical arm assembly and the massage head assembly are sequentially connected to the installation base. The second mechanical arm assembly can drive the massage head assembly to rotate around the rotating axis of the second mechanical arm assembly, the third mechanical arm assembly can drive the massage head assembly to rotate around the rotating axis of the third mechanical arm assembly, and the rotating axes of the first mechanical arm assembly, the second mechanical arm assembly and the third mechanical arm assembly are perpendicular to one another. According to the massage arm, the massage arm and the massage head can be adjusted according to the requirements of a user through the mechanical arm and the massage head which can freely rotate and turn over, so that the massage effect is improved, and the massage range is widened.

Description

Technical Field

[0001] This application relates to the field of massage equipment technology, and more specifically, to a massage arm and a massage device. Background Technology

[0002] With the fast pace of modern life, people are experiencing increasing work pressure, and more and more people are spending long periods of time sitting while working or studying. Therefore, how to relieve physical fatigue and promote blood circulation has become an important concern. Massage equipment, as a device that can relax the mind and body and promote blood circulation, has been welcomed by a wide range of users. Among massage equipment, massage chairs are a common type, which can relax and massage the user's body through mechanical massage.

[0003] However, existing massage chairs still have some problems in practical use. First, the massage arms and heads of existing massage chairs are usually fixed and cannot be adjusted according to the user's body shape and needs, which may lead to poor massage effect or discomfort. Second, the massage range of existing massage chairs is usually limited to the back, shoulders, and waist, while other areas such as the chest, abdomen, arms, and thighs are rarely paid attention to, which may limit the scope of use and effectiveness of the massage chair. Utility Model Content

[0004] The purpose of this application is to provide a massage arm and massage device, which, through a freely rotatable and flippable mechanical arm and massage head, allows the massage arm and massage head to be adjusted according to the user's needs, thereby improving the massage effect and massage range.

[0005] The embodiments of this application are implemented as follows:

[0006] A first aspect of this application provides a massage arm, including a mounting base and a first robotic arm assembly, a second robotic arm assembly, a third robotic arm assembly, and a massage head assembly sequentially connected to the mounting base. The first robotic arm assembly can drive the massage head assembly to rotate about the rotation axis of the first robotic arm assembly, the second robotic arm assembly can drive the massage head assembly to rotate about the rotation axis of the second robotic arm assembly, and the third robotic arm assembly can drive the massage head assembly to rotate about the rotation axis of the third robotic arm assembly. The rotation axes of the first, second, and third robotic arm assemblies are mutually perpendicular. This massage arm, with its freely rotatable and flippable robotic arms and massage head, allows the massage arm and massage head to be adjusted according to the user's needs, thereby improving the massage effect and massage range.

[0007] In one possible implementation, the first robotic arm assembly includes a first driving member and a first robotic arm drivenly connected to the first driving member; the second robotic arm assembly includes a second driving member and a second robotic arm drivenly connected to the second driving member; the third robotic arm assembly includes a third driving member and a third robotic arm drivenly connected to the third driving member; the first robotic arm is fixedly connected to the second driving member, the second robotic arm is fixedly connected to the third driving member, and the third robotic arm is connected to the massage head assembly; the first driving member drives the first robotic arm to rotate, and the first robotic arm can drive the massage head assembly to rotate around the rotation axis of the first driving member through the second driving member; the second driving member drives the second robotic arm to rotate, and the second robotic arm can drive the massage head assembly to rotate around the rotation axis of the second driving member through the third driving member; the third driving member drives the third robotic arm to rotate, and the third robotic arm can drive the massage head assembly to rotate around the rotation axis of the third driving member.

[0008] In one possible implementation, the first robotic arm includes a first sleeve and a second sleeve that are perpendicular to each other and fixedly connected to form a T-shaped structure. The second robotic arm and the third robotic arm have an L-shaped structure. The mounting portion of the first driving member is fixedly connected to the mounting base. The rotating portion of the first driving member is fixedly connected to the first sleeve. The second sleeve is fixedly connected to the mounting portion of the second driving member. The rotating portion of the second driving member is fixedly connected to one end of the second robotic arm. The other end of the second robotic arm is fixedly connected to the mounting portion of the third driving member. The rotating portion of the third driving member is fixedly connected to the third robotic arm.

[0009] In one possible implementation, the device further includes a base and a fourth robotic arm assembly, a fifth robotic arm assembly, and a sixth robotic arm assembly sequentially connected to the base. The base is used for mounting on the massage device. The end of the sixth robotic arm assembly away from the fifth robotic arm assembly is fixedly connected to the end of the mounting base away from the first robotic arm assembly. The fourth robotic arm assembly can drive the massage head assembly to rotate around its rotation axis. The fifth robotic arm assembly can drive the massage head assembly to rotate around its rotation axis. The sixth robotic arm assembly can drive the massage head assembly to rotate around its rotation axis. The rotation axis of the fourth robotic arm assembly is parallel to the rotation axis of the third robotic arm assembly, and the rotation axis of the fifth robotic arm assembly is parallel to the rotation axis of the sixth robotic arm assembly.

[0010] In one possible implementation, the fourth robotic arm assembly includes a fourth driving member and a fourth robotic arm drivenly connected to the fourth driving member; the fifth robotic arm assembly includes a fifth driving member and a fifth robotic arm drivenly connected to the fifth driving member; the sixth robotic arm assembly includes a sixth driving member and a sixth robotic arm drivenly connected to the sixth driving member; the fourth robotic arm is fixedly connected to the fifth driving member; the fifth robotic arm is fixedly connected to the sixth driving member; the fourth driving member drives the fourth robotic arm to rotate; the fourth robotic arm can drive the massage head assembly to rotate around the rotation axis of the fourth driving member via the fifth driving member; the fifth driving member drives the fifth robotic arm to rotate; the fifth robotic arm can drive the massage head assembly to rotate around the rotation axis of the fifth driving member via the sixth driving member; the sixth driving member drives the sixth robotic arm to rotate; the sixth robotic arm can drive the massage head assembly to rotate around the rotation axis of the sixth driving member via the mounting base.

[0011] In one possible implementation, the fourth and sixth robotic arms are L-shaped, the fifth robotic arm is U-shaped, the mounting portion of the fourth drive member is fixedly connected to the base, the rotating portion of the fourth drive member is fixedly connected to one end of the fourth robotic arm, the other end of the fourth robotic arm is fixedly connected to the mounting portion of the fifth drive member, the rotating portion of the fifth drive member is fixedly connected to one of the folding arms of the fifth robotic arm, the other folding arm of the fifth robotic arm is fixedly connected to the mounting portion of the sixth drive member, and the rotating portion of the sixth drive member is fixedly connected to the sixth robotic arm.

[0012] As one possible implementation, the included angle of the sixth robotic arm is greater than 90°.

[0013] In one possible implementation, the mounting base has a U-shaped structure, the first robotic arm assembly is located between the two folding arms of the mounting base, the first robotic arm assembly is fixedly connected to any one of the folding arms of the mounting base, and the end of the sixth robotic arm assembly away from the fifth robotic arm assembly is fixedly connected to a connecting plate connecting the two folding arms of the mounting base.

[0014] In one possible implementation, the massage head assembly includes a seventh drive member and a massage head driven and connected to the seventh drive member. The seventh drive member is used to drive the massage head to rotate, and the rotation axis of the seventh drive member is parallel to the rotation axis of the first robotic arm assembly.

[0015] A second aspect of this application provides a massage device including the massage arm described above. The massage arm, through a freely rotatable and flippable mechanical arm and massage head, allows the massage arm and massage head to be adjusted according to the user's needs, thereby improving the massage effect and massage range.

[0016] The beneficial effects of the embodiments of this application include:

[0017] The massage arm includes a mounting base and, sequentially connected to the mounting base, a first robotic arm assembly, a second robotic arm assembly, a third robotic arm assembly, and a massage head assembly. The first robotic arm assembly can drive the massage head assembly to rotate around its rotation axis, the second robotic arm assembly can drive the massage head assembly to rotate around its rotation axis, and the third robotic arm assembly can drive the massage head assembly to rotate around its rotation axis. The rotation axes of the first, second, and third robotic arm assemblies are mutually perpendicular. This application, through the special design of the three robotic arm assemblies, enables the massage arm to freely rotate and flip in multiple directions. The massage arm can adjust the position and angle of the massage head assembly through the movement of the robotic arm assemblies, adapting to different users' body contours and massage preferences. Because the massage head assembly can move in multiple dimensions, the massage range is no longer limited to common areas such as the back, shoulders, and waist. It can extend to areas less covered by traditional massage chairs, such as the chest, abdomen, arms, and thighs, providing users with a more comprehensive massage experience and greatly enhancing the usability of the massage chair. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is one of the structural schematic diagrams of the massage arm provided in the embodiments of this application;

[0020] Figure 2 This is a second schematic diagram of the structure of the massage arm provided in the embodiments of this application;

[0021] Figure 3 This is one of the structural schematic diagrams of the massage device provided in the embodiments of this application;

[0022] Figure 4 This is a second schematic diagram of the structure of the massage device provided in the embodiments of this application;

[0023] Figure 5This is the third schematic diagram of the structure of the massage device provided in the embodiments of this application;

[0024] Figure 6 This is the fourth schematic diagram of the structure of the massage device provided in the embodiments of this application;

[0025] Figure 7 Fifth schematic diagram of the structure of the massage device provided in the embodiments of this application;

[0026] Figure 8 This is the sixth schematic diagram of the structure of the massage device provided in the embodiments of this application.

[0027] Icons: 1-Massage arm; 10-Mounting base; 20-First robotic arm assembly; 21-First drive component; 22-First robotic arm; 30-Second robotic arm assembly; 31-Second drive component; 32-Second robotic arm; 40-Third robotic arm assembly; 41-Third drive component; 42-Third robotic arm; 50-Massage head assembly; 51-Seventh drive component; 52-Massage head; 60-Base; 70-Fourth robotic arm assembly; 71-Fourth drive component; 72-Fourth robotic arm; 80-Fifth robotic arm assembly; 81-Fifth drive component; 82-Fifth robotic arm; 90-Sixth robotic arm assembly; 91-Sixth drive component; 92-Sixth robotic arm; 2-Body body. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0029] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. These terms are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "horizontal," "vertical," etc., do not indicate that the component must be absolutely horizontal or suspended, but can be slightly tilted. The terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0030] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0031] Please refer to the reference. Figure 1 and Figure 2 This application provides a massage arm 1, including a mounting base 10, and a first robotic arm assembly 20, a second robotic arm assembly 30, a third robotic arm assembly 40, and a massage head assembly 50 sequentially connected to the mounting base 10. The first robotic arm assembly 20 can drive the massage head assembly 50 to rotate around its rotation axis, the second robotic arm assembly 30 can drive the massage head assembly 50 to rotate around its rotation axis, and the third robotic arm assembly 40 can drive the massage head assembly 50 to rotate around its rotation axis. The rotation axes of the first robotic arm assembly 20, the second robotic arm assembly 30, and the third robotic arm assembly 40 are mutually perpendicular. This massage arm 1, with its freely rotatable and flippable robotic arm and massage head 52, allows the massage arm 1 and massage head 52 to be adjusted according to the user's needs, thereby improving the massage effect and massage range.

[0032] It should be noted that the mounting base 10 is the basic support component of the entire massage arm 1, serving to connect and fix it. During assembly, the massage arm 1 can be installed in a specific position on the massage chair, such as the armrest or backrest. The first robotic arm assembly 20, the second robotic arm assembly 30, and the third robotic arm assembly 40 are sequentially connected to the mounting base 10, and their rotation axes are perpendicular to each other. This structural design allows the massage head assembly 50 to move flexibly in multiple dimensions. Specifically, the first robotic arm assembly 20 drives the massage head assembly 50 to rotate around its rotation axis, achieving rotation in one direction; the second robotic arm assembly 30 drives the massage head assembly 50 to rotate around its rotation axis, and this rotation direction is perpendicular to the rotation direction of the first robotic arm assembly 20, increasing the movement dimension of the massage head assembly 50; similarly, the third robotic arm assembly 40 further expands the range of motion of the massage head assembly 50, allowing it to freely adjust its position and angle in three-dimensional space. The massage head assembly 50 directly acts on the human body for massage. Since the massage head assembly 50 is connected to the three robotic arm assemblies mentioned above, the massage head assembly 50 can rotate in three mutually perpendicular directions. This allows it to be precisely adjusted to the appropriate position and angle according to the user's body shape, posture, and specific massage needs, thus achieving a more comprehensive and personalized massage.

[0033] Traditional massage chairs often have fixed massage arms 1 and massage heads 52, making it difficult to fully conform to the body's curves and meet personalized needs. This application utilizes a special design of three robotic arm components, enabling the massage arms 1 to rotate and flip freely in multiple directions. Through the movement of these robotic arm components, the position and angle of the massage head assembly 50 can be adjusted to adapt to different users' body contours and massage preferences. Because the massage head assembly 50 can move in multiple dimensions, the massage range is no longer limited to common areas such as the back, shoulders, and waist. It can extend to areas less covered by traditional massage chairs, such as the chest, abdomen, arms, and thighs, providing users with a more comprehensive massage experience and significantly enhancing the usability of the massage chair.

[0034] As one possible implementation method, such as Figure 1 and Figure 2 As shown, the first robotic arm assembly 20 includes a first drive member 21 and a first robotic arm 22 drivenly connected to the first drive member 21; the second robotic arm assembly 30 includes a second drive member 31 and a second robotic arm 32 drivenly connected to the second drive member 31; and the third robotic arm assembly 40 includes a third drive member 41 and a third robotic arm 42 drivenly connected to the third drive member 41. The first robotic arm 22 is fixedly connected to the second drive member 31, the second robotic arm 32 is fixedly connected to the third drive member 41, and the third robotic arm 42 is connected to the massage head assembly 50.

[0035] In this way, when the first drive member 21 drives the first robotic arm 22 to rotate, the first robotic arm 22 can drive the massage head assembly 50 to rotate around the rotation axis of the first drive member 21 through the second drive member 31. When the second drive member 31 drives the second robotic arm 32 to rotate, the second robotic arm 32 can drive the massage head assembly 50 to rotate around the rotation axis of the second drive member 31 through the third drive member 41. When the third drive member 41 drives the third robotic arm 42 to rotate, the third robotic arm 42 can drive the massage head assembly 50 to rotate around the rotation axis of the third drive member 41. Thus, the robotic arm can be moved by the drive members to adjust the position and angle of the massage head assembly 50 to adapt to the body contours and massage preferences of different users.

[0036] As one possible implementation method, such as Figure 1 and Figure 2 As shown, the first robotic arm 22 includes a first sleeve and a second sleeve that are perpendicular to each other and fixedly connected to form a T-shaped structure. The second robotic arm 32 and the third robotic arm 42 have an L-shaped structure. The mounting part of the first driving member 21 is fixedly connected to the mounting base 10. The rotating part of the first driving member 21 is fixedly connected to the first sleeve. The second sleeve is fixedly connected to the mounting part of the second driving member 31. The rotating part of the second driving member 31 is fixedly connected to one end of the second robotic arm 32. The other end of the second robotic arm 32 is fixedly connected to the mounting part of the third driving member 41. The rotating part of the third driving member 41 is fixedly connected to the third robotic arm 42.

[0037] In this way, when the first drive unit 21 is activated, its rotating part drives the first sleeve to rotate. Since the first and second sleeves are fixedly connected in a T-shape, the second sleeve will also rotate, thereby changing the spatial posture of the first robotic arm 22. When the second drive unit 31 is activated, its rotating part drives the second robotic arm 32 to rotate around a specific axis. Due to the connection between the second robotic arm 32 and the second sleeve, the second robotic arm 32 further increases the range of motion of the massage head assembly 50 based on the movement of the first robotic arm 22. When the third drive unit 41 is working, its rotating part drives the third robotic arm 42 to rotate around a specific axis, enabling the massage head assembly 50 to move in a wider space, ultimately achieving flexible movement of the massage head assembly 50 in multiple directions to adapt to different massage needs.

[0038] As one possible implementation method, such as Figure 1 and Figure 2As shown, the massage arm 1 also includes a base 60, and a fourth robotic arm assembly 70, a fifth robotic arm assembly 80, and a sixth robotic arm assembly 90 sequentially connected to the base 60. The base 60 is used to mount the massage device. The end of the sixth robotic arm assembly 90 away from the fifth robotic arm assembly 80 is fixedly connected to the end of the mounting base 10 away from the first robotic arm assembly 20. The fourth robotic arm assembly 70 can drive the massage head assembly 50 to rotate around the rotation axis of the fourth robotic arm assembly 70. The fifth robotic arm assembly 80 can drive the massage head assembly 50 to rotate around the rotation axis of the fifth robotic arm assembly 80. The sixth robotic arm assembly 90 can drive the massage head assembly 50 to rotate around the rotation axis of the sixth robotic arm assembly 90. The rotation axis of the fourth robotic arm assembly 70 is parallel to the rotation axis of the third robotic arm assembly 40, and the rotation axis of the fifth robotic arm assembly 80 is parallel to the rotation axis of the sixth robotic arm assembly 90.

[0039] It should be noted that the base 60, as a key component connecting the entire massage arm 1 to the massage device, securely mounts the massage arm 1 onto the massage device, ensuring the stability of the massage arm 1 during operation and providing a supporting foundation for the subsequent robotic arm components, enabling the entire massage arm 1 system to work collaboratively with the massage device. The fourth robotic arm component 70, the fifth robotic arm component 80, and the sixth robotic arm component 90 are sequentially connected to the base 60, with the end of the sixth robotic arm component 90 furthest from the fifth robotic arm component 80 fixedly connected to the end of the mounting base 10 furthest from the first robotic arm component 20, thus connecting the newly added robotic arm components to the aforementioned massage arm 1 structure into a unified whole. The fourth robotic arm component 70 can drive the massage head component 50 to rotate around its rotation axis, and the fifth and sixth robotic arm components 80 also have the function of driving the massage head component 50 to rotate around their respective rotation axes.

[0040] The rotation axis of the fourth robotic arm assembly 70 is parallel to that of the third robotic arm assembly 40. This parallelism allows the movement of the fourth robotic arm assembly 70 to supplement or assist the movement of the third robotic arm assembly 40 to a certain extent, increasing the flexibility and range of motion of the massage head assembly 50 in a specific direction. When the drive device of the fourth robotic arm assembly 70 is activated, it drives the massage head assembly 50 to rotate around its rotation axis. Because its rotation axis is parallel to that of the third robotic arm assembly 40, the fourth robotic arm assembly 70 can further adjust the angle and position of the massage head assembly 50 in this parallel direction based on the movement of the third robotic arm assembly 40, achieving more precise motion control.

[0041] Similarly, the rotation axis of the fifth robotic arm assembly 80 is parallel to the rotation axis of the sixth robotic arm assembly 90. These two assemblies cooperate to further enrich the movement modes of the massage head assembly 50 in another direction. Under the action of their respective drive devices, the fifth robotic arm assembly 80 and the sixth robotic arm assembly 90 rotate around their respective parallel rotation axes. This cooperation allows the massage head assembly 50 to perform more flexible movements in another specific direction, such as achieving a greater range of extension or flexion to adapt to different massage needs and body parts.

[0042] The addition of three robotic arm components and their coordinated movement with the existing robotic arm components significantly increases the reach of the massage head assembly 50. Body parts that were previously inaccessible, such as wider areas on the sides of the body, and specific areas of the arms and legs, can now be massaged, significantly expanding the massage range of the massage chair and providing users with a more comprehensive massage service.

[0043] The rotation function of multiple robotic arm components in different directions allows the massage head component 50 to approach the human body at a wider variety of angles and trajectories. This not only enables more precise positioning of acupoints and muscle groups, providing more targeted massage, but also allows for the creation of various massage methods and techniques to meet the personalized needs of different users, enhancing the diversity and enjoyment of massage.

[0044] Furthermore, the wider massage range and more precise and diverse massage techniques can better adapt to the different physical characteristics and massage preferences of various users. Users can enjoy massage services that are more tailored to their individual needs, reducing discomfort during the massage process and greatly enhancing comfort and the overall massage experience.

[0045] As one possible implementation method, such as Figure 1 and Figure 2 As shown, the fourth robotic arm assembly 70 includes a fourth drive member 71 and a fourth robotic arm 72 drivenly connected to the fourth drive member 71; the fifth robotic arm assembly 80 includes a fifth drive member 81 and a fifth robotic arm 82 drivenly connected to the fifth drive member 81; and the sixth robotic arm assembly 90 includes a sixth drive member 91 and a sixth robotic arm 92 drivenly connected to the sixth drive member 91. The fourth robotic arm 72 is fixedly connected to the fifth drive member 81, and the fifth robotic arm 82 is fixedly connected to the sixth drive member 91.

[0046] In this way, when the fourth drive member 71 drives the fourth robotic arm 72 to rotate, the fourth robotic arm 72 can drive the massage head assembly 50 to rotate around the rotation axis of the fourth drive member 71 through the fifth drive member 81. When the fifth drive member 81 drives the fifth robotic arm 82 to rotate, the fifth robotic arm 82 can drive the massage head assembly 50 to rotate around the rotation axis of the fifth drive member 81 through the sixth drive member 91. When the sixth drive member 91 drives the sixth robotic arm 92 to rotate, the sixth robotic arm 92 can drive the massage head assembly 50 to rotate around the rotation axis of the sixth drive member 91 through the mounting base 10. Thus, the robotic arm can be moved by the drive members to adjust the position and angle of the massage head assembly 50 to adapt to the body contours and massage preferences of different users.

[0047] As one possible implementation method, such as Figure 1 and Figure 2 As shown, the fourth robotic arm 72 and the sixth robotic arm 92 have an L-shaped structure, and the fifth robotic arm 82 has a U-shaped structure. The mounting part of the fourth drive member 71 is fixedly connected to the base 60. The rotating part of the fourth drive member 71 is fixedly connected to one end of the fourth robotic arm 72. The other end of the fourth robotic arm 72 is fixedly connected to the mounting part of the fifth drive member 81. The rotating part of the fifth drive member 81 is fixedly connected to one of the folding arms of the fifth robotic arm 82. The other folding arm of the fifth robotic arm 82 is fixedly connected to the mounting part of the sixth drive member 91. The rotating part of the sixth drive member 91 is fixedly connected to the sixth robotic arm 92.

[0048] In this way, when the fourth drive unit 71 is activated, its rotating part drives the fourth robotic arm 72 to rotate around its own rotation axis, causing the massage head assembly 50 to produce the first dimension of motion change in space. When the fifth drive unit 81 is working, due to its connection with the fourth robotic arm 72 and the fifth robotic arm 82, it causes the fifth robotic arm 82 to rotate around a specific axis. During the rotation of the U-shaped fifth robotic arm 82, the movements of its two folding arms cooperate with each other, further changing the position and angle of the massage head assembly 50, increasing the complexity and flexibility of the movement. When the sixth drive unit 91 is activated, it drives the sixth robotic arm 92 to rotate. Combined with the movements of the preceding robotic arms, this allows the massage head assembly 50 to make more precise adjustments in multiple directions, achieving all-round massage of different parts of the human body.

[0049] As one possible implementation method, such as Figure 1 and Figure 2 As shown, the included angle of the sixth robotic arm 92 is greater than 90°, so that there is sufficient space between the mounting base 10 and the connecting plate of the fifth robotic arm 82 to accommodate the first robotic arm assembly 20, the second robotic arm assembly 30, the third robotic arm assembly 40 and the massage head assembly 50.

[0050] As one possible implementation method, such as Figure 1 and Figure 2 As shown, the mounting base 10 has a U-shaped structure. The first robotic arm assembly 20 is located between the two folding arms of the mounting base 10. The first robotic arm assembly 20 is fixedly connected to any one of the folding arms of the mounting base 10. The end of the sixth robotic arm assembly 90 away from the fifth robotic arm assembly 80 is fixedly connected to the connecting plate connecting the two folding arms of the mounting base 10.

[0051] It should be noted that the mounting base 10 has a U-shaped structure, which provides a relatively open and stable framework. A space is formed between the two folding arms of the U-shape to accommodate and mount the first robotic arm assembly 20. The two folding arms provide support and fixation, and the connecting plate connecting the two folding arms further enhances the structural stability of the mounting base 10, reducing swaying and instability caused by the movement of the robotic arm during massage, and ensuring that the massage arm 1 can operate stably for a long time.

[0052] As one possible implementation method, such as Figure 1 and Figure 2 As shown, the massage head assembly 50 includes a seventh drive member 51 and a massage head 52 drivenly connected to the seventh drive member 51. The seventh drive member 51 is used to drive the massage head 52 to rotate, and the rotation axis of the seventh drive member 51 is parallel to the rotation axis of the first robotic arm assembly 20.

[0053] It should be noted that the function of the seventh drive component 51 is to drive the massage head 52 to rotate, and its rotation axis is parallel to the rotation axis of the first robotic arm assembly 20. This means that while the first robotic arm assembly 20 drives the massage head assembly 50 to move as a whole, the massage head 52 can also rotate independently around an axis parallel to the rotation axis of the first robotic arm assembly 20. For example, when the first robotic arm assembly 20 moves the massage head 52 to a certain part of the human body, the massage head 52 can be driven by the seventh drive component 51 to rotate in a direction parallel to the rotation axis of the first robotic arm assembly 20, thereby realizing different massage actions and intensity adjustments.

[0054] Traditional massage chairs typically have fixed or limited movement heads 52, making it difficult to meet diverse massage needs. The design described above allows the massage head 52 to rotate independently, combining with other movements of the robotic arm to greatly enrich the massage experience. For example, during a shoulder massage, the massage head 52 can not only conform to the shoulder contour through the movement of the robotic arm but also stimulate shoulder muscles at different angles and rhythms through its own rotation, simulating various massage techniques such as kneading, rubbing, and rolling, providing users with a richer and more comfortable massage experience. Various styles of massage heads 52 can be used with the above design.

[0055] Please refer to the reference again. Figures 3 to 8This application also provides a massage device, including a body 2 and at least one of the aforementioned massage arms 1. For example, the massage device is a massage chair, with the aforementioned massage arms 1 provided on one side or both sides of the massage chair. When in use, the massage arms 1 move to the area of ​​the body requiring massage through the cooperation of the mechanical arm components. When closed, they can move to the front of the massage chair and fold up through the cooperation of the mechanical arm components to save space. Since the structure and beneficial effects of the massage arms 1 have been described in detail in the foregoing embodiments, they will not be repeated here.

[0056] The above description is merely an optional embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0057] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable way without contradiction. In order to avoid unnecessary repetition, this application will not describe the various possible combinations separately.

Claims

1. A massage arm, characterized in that, The massage head assembly is rotatable around the rotation axis of the first mechanical arm assembly, the rotation axis of the second mechanical arm assembly and the rotation axis of the third mechanical arm assembly are perpendicular to each other.

2. Massage arm according to claim 1, characterized in that The first mechanical arm assembly comprises a first driving member and a first mechanical arm drivingly connected with the first driving member, the second mechanical arm assembly comprises a second driving member and a second mechanical arm drivingly connected with the second driving member, the third mechanical arm assembly comprises a third driving member and a third mechanical arm drivingly connected with the third driving member, the first mechanical arm is fixedly connected with the second driving member, the second mechanical arm is fixedly connected with the third driving member, and the third mechanical arm is connected with the massage head assembly. The first driving member drives the first mechanical arm to rotate, the first mechanical arm can drive the massage head assembly to rotate around the rotation axis of the first driving member through the second driving member, the second driving member drives the second mechanical arm to rotate, the second mechanical arm can drive the massage head assembly to rotate around the rotation axis of the second driving member through the third driving member, and the third driving member drives the third mechanical arm to rotate, the third mechanical arm can drive the massage head assembly to rotate around the rotation axis of the third driving member.

3. Massage arm according to claim 2, characterized in that The first mechanical arm comprises a first sleeve and a second sleeve which are perpendicular to each other and fixedly connected to form a T-shaped structure, the second mechanical arm and the third mechanical arm are in L-shaped structure, the mounting portion of the first driving member is fixedly connected with the mounting base, the rotating portion of the first driving member is fixedly connected with the first sleeve, the second sleeve is fixedly connected with the mounting portion of the second driving member, the rotating portion of the second driving member is fixedly connected with one end of the second mechanical arm, the other end of the second mechanical arm is fixedly connected with the mounting portion of the third driving member, and the rotating portion of the third driving member is fixedly connected with the third mechanical arm.

4. The massage arm of claim 1, wherein, The massage device further comprises a base, a fourth mechanical arm assembly, a fifth mechanical arm assembly and a sixth mechanical arm assembly connected in sequence on the base, the base is used for being mounted on the massage device, the sixth mechanical arm assembly is fixedly connected with the mounting seat away from the first mechanical arm assembly, the fourth mechanical arm assembly can drive the massage head assembly to rotate around the rotation axis of the fourth mechanical arm assembly, the fifth mechanical arm assembly can drive the massage head assembly to rotate around the rotation axis of the fifth mechanical arm assembly, and the sixth mechanical arm assembly can drive the massage head assembly to rotate around the rotation axis of the sixth mechanical arm assembly, wherein the rotation axis of the fourth mechanical arm assembly is parallel to the rotation axis of the third mechanical arm assembly, and the rotation axis of the fifth mechanical arm assembly is parallel to the rotation axis of the sixth mechanical arm assembly.

5. Massage arm according to claim 4, characterized in that The fourth mechanical arm assembly comprises a fourth driving member and a fourth mechanical arm drivingly connected with the fourth driving member, the fifth mechanical arm assembly comprises a fifth driving member and a fifth mechanical arm drivingly connected with the fifth driving member, and the sixth mechanical arm assembly comprises a sixth driving member and a sixth mechanical arm drivingly connected with the sixth driving member, the fourth mechanical arm is fixedly connected with the fifth driving member, and the fifth mechanical arm is fixedly connected with the sixth driving member. The fourth driving member drives the fourth mechanical arm to rotate, the fourth mechanical arm can drive the massage head assembly to rotate around the rotation axis of the fourth driving member through the fifth driving member, the fifth driving member drives the fifth mechanical arm to rotate, the fifth mechanical arm can drive the massage head assembly to rotate around the rotation axis of the fifth driving member through the sixth driving member, and the sixth driving member drives the sixth mechanical arm to rotate, and the sixth mechanical arm can drive the massage head assembly to rotate around the rotation axis of the sixth driving member through the mounting seat.

6. Massage arm according to claim 5, characterized in that The fourth mechanical arm and the sixth mechanical arm are in L-shaped structure, the fifth mechanical arm is in U-shaped structure, the mounting portion of the fourth driving member is fixedly connected with the base, the rotating portion of the fourth driving member is fixedly connected with one end of the fourth mechanical arm, the other end of the fourth mechanical arm is fixedly connected with the mounting portion of the fifth driving member, the rotating portion of the fifth driving member is fixedly connected with one of the folded arms of the fifth mechanical arm, the other of the folded arms of the fifth mechanical arm is fixedly connected with the mounting portion of the sixth driving member, and the rotating portion of the sixth driving member is fixedly connected with the sixth mechanical arm.

7. Massage arm according to claim 6, characterized in that The included angle of the sixth mechanical arm is greater than 90°.

8. The massage arm of claim 4, wherein, The mounting seat is in U-shaped structure, the first mechanical arm assembly is located between the two folded arms of the mounting seat, the first mechanical arm assembly is fixedly connected with any folded arm of the mounting seat, and the sixth mechanical arm assembly is fixedly connected with the connecting plate connecting the two folded arms of the mounting seat away from the fifth mechanical arm assembly.

9. The massage arm of claim 1, wherein, The massage head assembly comprises a seventh driving member and a massage head in driving connection with the seventh driving member, the seventh driving member being used for driving the massage head to rotate, and an axis of rotation of the seventh driving member is parallel to an axis of rotation of the first mechanical arm assembly.

10. A massaging apparatus characterized by comprising: The massage arm comprises the massage head assembly according to any one of claims 1-9.

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