Electromechanical actuator, massage device and seat comfort system

Abstract

The embodiment of the utility model relates to the technical field of massage equipment, and particularly discloses an electromechanical actuator, a massage device and a seat comfort system. The joint assembly is arranged on the rotating assembly, the rotating assembly is used for driving the joint assembly to rotate, the joint assembly comprises a joint, the joint comprises a supporting piece and two air bags, and the two air bags are arranged on the two sides of the supporting piece correspondingly and used for being communicated with an external air source; when the two air bags are inflated at the same time, the joint assembly stretches, and when the two air bags are deflated at the same time, the joint assembly contracts. When the air volume in one air bag is larger than that in the other air bag, the joint assembly is in a bent shape. By means of the mode, expansion deformation and bending deformation of the supporting piece are driven by controlling inflation and deflation of the air bag, and then the effect similar to that of hand massage can be achieved when the massage device is applied to the massage device.

Description

TECHNICAL FIELD

[0001] The utility model discloses massage equipment technical field, in particular to a kind of electromechanical actuator, massage device and seat comfort system. BACKGROUND

[0002] With the development of science and technology, massage as a way to relieve muscle fatigue and improve physical health, more and more people pay attention to, the market has appeared massage equipment, so people can use massage equipment when fatigue to make the body quickly eased, especially integrated in the car seat massage equipment, so that people can be in the process of driving body to be massaged relaxed.

[0003] The utility model discloses massage equipment technical field, in particular to a kind of electromechanical actuator, massage device and seat comfort system. UTILITY MODEL CONTENTS

[0004] The utility model discloses massage equipment technical field, in particular to a kind of electromechanical actuator, massage device and seat comfort system.

[0005] To solve the above technical problems, one technical scheme of the utility model is: provide a kind of electromechanical actuator, including rotating component and joint component, joint component is set to the rotating component, the rotating component is used to drive the joint component rotation, the joint component includes joint, the joint includes support and two air bags, the two air bags are respectively set to the two sides of the support, the two air bags are used to communicate with external gas source;When the two air bags are inflated simultaneously, the joint component stretches, when the two air bags are deflated simultaneously, the joint component contracts;When the gas amount in one of the air bags is greater than another air bag, the joint component is bent, so that the electromechanical actuator is bent.

[0006] Optionally, the support includes a deformation portion and a bottom plate, one end of the deformation portion is arranged on the bottom plate, and the deformation portion has bending and telescopic properties; the two air bags are arranged on the bottom plate, and one end of each of the two air bags is connected to the bottom plate.

[0007] Optionally, the number of the joints is multiple, and the multiple joints are stacked in sequence; the other end of the deformation part of the lower joint is connected to the bottom plate of the upper joint along the stacking direction of the joints.

[0008] Optionally, the electromechanical actuator further comprises a rolling assembly, which is arranged at one end of the joint assembly away from the rotating assembly.

[0009] Optionally, the rolling assembly comprises a rolling frame and a rolling piece; the rolling frame is fixed at one end of the joint assembly away from the rotating assembly; and the rolling piece is rotatably arranged at one end of the rolling frame away from the joint.

[0010] Optionally, one end of the rolling frame away from the joint assembly is provided with a rotating groove; the rolling piece is accommodated in the rotating groove and partially protrudes from the rotating groove; and the rolling piece is capable of rotating in the rotating groove.

[0011] Optionally, the rotating assembly comprises a support, a driving piece and a rotating piece; the rotating piece is rotatably arranged in the support; the joint assembly is fixed to the rotating piece; the driving piece is arranged in the support; the driving piece is connected to the rotating piece; the driving piece is used to drive the rotating piece to rotate; and the rotating piece drives the joint assembly to rotate.

[0012] Optionally, the support comprises a first side plate, a second side plate and a mounting plate; the first side plate and the second side plate are fixed to the mounting plate oppositely; the rotating piece is located between the first side plate and the second side plate; the rotating piece is rotatably connected to the first side plate and the second side plate; and the rotating piece is provided with a driven gear in the circumferential direction; the driving piece is mounted to the mounting plate; the output shaft of the driving piece is fixed with a bevel gear; and the bevel gear is engaged with the driven gear.

[0013] To solve the above technical problems, the utility model adopts still another technical scheme, which provides a massage device, which comprises a base and the above-mentioned electromechanical actuator; and the rotating assembly in the electromechanical actuator is mounted to the base.

[0014] To solve the above technical problems, the utility model adopts still another technical scheme, which provides a seat comfort system, which comprises at least one sliding device, an air source device, a valve device and at least one above-mentioned massage device; the massage device is mounted to the sliding device; the sliding device is used to be mounted to a seat; the sliding device can drive the massage device to slide relative to the seat; the air source device is communicated with the valve device through an air pipe; the valve device is communicated with the air bag through an air pipe; the air source device is used to supply air to the air bag through the valve device; and the valve device is used to control the air bag to inflate or deflate.

[0015] The utility model discloses an advantageous effect of an embodiment is: distinguish from prior art's condition, the utility model discloses an embodiment provides a kind of electromechanical actuator, massage device and seat comfort system, including rotating component and joint assembly, the joint assembly is set to the rotating component, the rotating component is used to drive the joint assembly rotation, the joint assembly includes joint, the joint includes support and two air bags, the two air bags are respectively set to the both sides of the support, the two air bags are all used to communicate with external gas source;When the two air bags are inflated simultaneously, the joint assembly stretches, when the two air bags deflate simultaneously, the joint assembly contracts;When the gas amount in one of the air bags is greater than another air bag, the joint assembly is curved, to make the electromechanical actuator bend.By the above structure, the utility model discloses an embodiment, the inflation and deflation time and stage of two air bags can be controlled, the bending deformation and telescopic deformation of support are realized, to enrich the movement mode of finger structure, to make the finger structure when being applied to massage equipment, realize the massage of push pressure, kneading etc., improve the use experience of user. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical scheme of the utility model embodiment, the following will be briefly introduced to the drawings needed to be used in the utility model embodiment, obviously, the following described drawings are only some embodiments of the utility model, for those skilled in the art, without paying creative labor, other drawings can also be obtained according to the drawings.

[0017] Figure 1 It is the explosion structure schematic diagram of a kind of electromechanical actuator provided by the utility model embodiment;

[0018] Figure 2 It is the assembly structure schematic diagram of a kind of electromechanical actuator provided by the utility model embodiment;

[0019] Figure 3 It is the schematic diagram that the joint assembly of a kind of electromechanical actuator provided by the utility model embodiment bends left;

[0020] Figure 4 It is the schematic diagram that the joint assembly of a kind of electromechanical actuator provided by the utility model embodiment bends right;

[0021] Figure 5 It is the sectional view of a kind of electromechanical actuator provided by the utility model embodiment;

[0022] Figure 6 It is the enlarged schematic diagram of the rotating component of a kind of electromechanical actuator provided by the utility model embodiment;

[0023] Figure 7It is the amplification schematic view of the rolling assembly of the electromechanical actuator provided by the embodiment of the utility model;

[0024] Figure 8 It is the structure schematic view of the massage equipment applied with the electromechanical actuator provided by the embodiment of the utility model;

[0025] Figure 9 It is the structure schematic view of the massage equipment applied with the electromechanical actuator provided by the embodiment of the utility model;

[0026] Figure 10 It is the structure schematic view of the seat comfort system applied with the massage device provided by the embodiment of the utility model.

[0027] Reference signs:

[0028] 100, electromechanical actuator;

[0029] 1, joint assembly; 11, joint; 111, support piece; 1111, deformation part; 1112, bottom plate; 112, air bag; 11a, first joint; 11a1, first through hole; 11b, second joint; 11b1, second through hole; 11c, third joint; 11c1, third through hole; 11c2, fourth through hole; 12, first air pipe; 13, second air pipe;

[0030] 2, rotating assembly; 21, support; 211, first side plate; 212, second side plate; 213, mounting plate; 214, containing space; 22, driving piece; 221, bevel gear; 23, rotating piece; 231, driven tooth;

[0031] 3, rolling assembly; 31, rolling support; 31a, frame body; 31b, base; 311, rotating groove; 32, rolling piece;

[0032] 1000, massage device; 40, base; 41, containing groove;

[0033] 2000, seat comfort system; 50, sliding device; 60, air supply device. DETAILED DESCRIPTION

[0034] In order to facilitate understanding of the utility model, the utility model is explained in more detail below in combination with the drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on another element or one or more intervening elements can be present therebetween. When an element is described as "connected to" another element, it can be directly connected to another element or one or more intervening elements can be present therebetween. The terms "vertical", "horizontal", "left", "right" and similar expressions used in the specification are only for the purpose of illustration.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting. As used in the description herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0036] The existing massage device generally adopts the technical scheme of pressing block cooperating with lifting mechanism and motion mechanism, and relies on the cooperation of the lifting mechanism and the motion mechanism to make the pressing block move in three-dimensional space. However, compared with the way of massaging by hand, the massage effect that can be achieved by the pressing block is only large-area pressing, and it is difficult to achieve local fine massage of the human body, especially compared with the local kneading, pushing and other operations of the human hand on the human body. The technical scheme of pressing block cooperating with lifting mechanism and motion mechanism is difficult to achieve.

[0037] To solve the above technical problems, the utility model provides a kind of electromechanical actuator 100, please refer to Figure 1 And Figure 2 Electromechanical actuator 100 includes rotating assembly 2 and joint assembly 1, joint assembly 1 is set on rotating assembly 2, rotating assembly 2 is used to drive joint assembly 1 rotation, to make the electromechanical actuator 100 of the utility model compared with the electromechanical actuator 100 that is not set rotating assembly and independently relies on joint assembly 1 itself movement, it can rotate more widely, and the rotation of joint assembly 1 is more flexible.

[0038] For the above-mentioned joint assembly 1, please refer to Figure 1, the joint assembly 1 comprises at least one joint 11, the joint 11 comprises a support 111 and at least two air bags 112, the two air bags 112 are arranged on both sides of the support 111 respectively, and the two air bags 112 are used for being in communication with an external air source, and the air bag 112 is supplied with air by the external air source; further, by controlling the inflation or deflation sequence and the gas filling amount of the two air bags 112, the telescopic deformation or bending deformation of the support 111 is driven. It can be understood that the inflation or deflation sequence and the gas filling amount of the air bag 112 are selected according to actual needs, so that the electromechanical actuator 100 presents different deformation effects, and then the electromechanical actuator 100 realizes the flexibility similar to the human hand. For example: when the two air bags 112 are inflated at the same time, the gas in the air bag 112 is gradually filled, the gas in the air bag 112 provides power for the expansion of the air bag 112, the air bag 112 drives the support 111 to expand, so that the joint assembly 1 expands; when the two air bags 112 are deflated at the same time, the gas in the air bag 112 is discharged or extracted, the air bag 112 is contracted under the action of gravity or external suction force, so that the support 111 is contracted under the joint action of the gravity of the support 111 or the external suction force and the traction force generated by the wall surface of the air bag 112 when the air bag 112 is contracted, so that the joint assembly 1 is contracted, so as to reduce the installation space required by the joint assembly 1 in the non-working state, and improve the integration of the electromechanical actuator 100 when the electromechanical actuator 100 is applied to the massage equipment; when the gas amount in one of the air bags 112 is greater than that in the other air bag 112, the joint assembly 1 is bent, so that the electromechanical actuator 100 is bent. It can be understood that the gas amount in the two air bags 112 can be realized by controlling the inflation and deflation time and sequence, for example: when one of the air bags 112 is inflated and the other air bag 112 is deflated, the gas amount in the inflated air bag 112 is greater than that in the deflated air bag 112, the inflated air bag 112 is in an expanded state and the deflated air bag 112 is in a contracted state, under the joint action of the support force provided by the air bag 112 in the expanded state and the traction force provided by the air bag 112 in the contracted state, the two air bags 112 jointly drive the support 111 to bend, so that the joint assembly 1 presents a bending effect, and then realizes the effect similar to the bending of the human finger.

[0039] It should be noted that Figure 3 and Figure 4When one of the air bags 112 is inflated and the other air bag 112 is deflated, the joint assembly 1 bends towards the air bag 112 in the contracted state, for example, the air bag 112 on the left side of the support 111 is deflated, so that the joint assembly 1 presents a bending action to the left; or the air bag 112 on the right side of the support 111 is deflated, so that the joint assembly 1 presents a bending action to the right, that is, the joint assembly 1 can realize bending in two opposite directions. Further, the way to realize the bending of the joint assembly 1 is not limited to the sequence of inflation and deflation, but can also be realized by controlling the inflation pressure and flow rate of the two air bags 112 on both sides of the support 111, for example, supplying different gas pressure and flow rate to the two air bags 112 at the same time, both of the two air bags 112 will expand and stretch, but due to the different gas pressure in the two air bags 112 at the same time, the expansion and stretching degree of the two air bags 112 is different, the joint 11 will bend towards the side with smaller gas flow rate and gas pressure. Furthermore, the bending of the joint 11 can also be realized by controlling the deflation speed of the two air bags 112 in different ways, for example: the deflation speed of the air bag 112 on one side of the support 111 is greater than that of the air bag 112 on the other side of the support 111, the support 111 bends towards the side with faster deflation speed, that is, the joint assembly 1 bends towards the side with faster deflation speed of the air bag 112.

[0040] In summary, the bending of the joint assembly 1 is realized by controlling the gas filling degree of the air bags 112 on both sides of the support 111.

[0041] It can be understood that the way to realize the control of the inflation or deflation of the air bag 112 includes but is not limited to the use of gas valve control and the start-stop control of external gas source. Accordingly, in order to control the work of the rotating assembly 2 of the electromechanical actuator 100 and control the inflation and deflation of the air bag 112, the electromechanical actuator 100 also needs to be electrically connected with the external control mechanism or the control assembly built in the electromechanical actuator 100.

[0042] For the above-mentioned support 111, please refer to Figure 1 , the support 111 includes a deformation part 1111 and a bottom plate 1112, one end of the deformation part 1111 is arranged on the bottom plate 1112, the deformation part 1111 has bending and stretching performance, the bottom plate 1112 is used to provide support force for the air bags 112 connected with the support 111, further provides a force point for the expansion of the air bag 112 when inflated and provides a storage area for the contraction of the air bag 112 when deflated, two air bags 112 are arranged on the bottom plate 1112, the two air bags 112 are arranged on both sides of the deformation part 1111, one end of the two air bags 112 is connected to the bottom plate 1112, and the bottom plate 1112 provides a support force position for the stretching and deformation of the air bag 112.

[0043] It should be noted that the structure of the deformation part 1111 includes but is not limited to plate-shaped, prismatic, cylindrical, spring-shaped, etc.

[0044] Since the deformation part 1111 needs to have the ability to bend and contract, in the example, in the embodiment, the deformation part 1111 is configured as a wave-shaped plate structure, which can stretch and contract according to its wave-shaped structure characteristics. When the two air bags 112 are inflated at the same time, the deformation part 1111 can stretch with the air bags 112; when the two air bags 112 are deflated at the same time, the deformation part 1111 can contract with the air bags 112, so that the volume occupied by the electro-mechanical actuator 100 as a whole is smaller than the volume occupied by the electro-mechanical actuator 100 with a deformation part 1111 that cannot contract but only bends in the state that the air bags 112 are not inflated, so that the installation space required by the electro-mechanical actuator 100 when applied to other devices (such as massage equipment, seats, etc.) is smaller, and the integration of the equipment with the electro-mechanical actuator 100 is improved.

[0045] It should be noted that the number of air bags 112 is not limited to two, and the number of air bags 112 can also be selected to be a positive integer greater than two, such as three, four, five, etc. Further, when the number of air bags 112 is greater than two, the structure of the deformation part 1111 in the support 111 needs to be adjusted accordingly, so that the layout of the air bags 112 matches the deformation part 1111. For example, when the number of air bags 112 is three, the deformation part 1111 is preferably a three-prismatic deformation part 1111 or a spring-shaped deformation part 1111, and the three air bags 112 are evenly arranged around the deformation part 1111. By controlling the inflation and deflation time and sequence of the three air bags 112 respectively, the bending deformation and stretching deformation of the joint assembly 1 are realized. For the specific working logic of the joint assembly 1 with three air bags 112, please refer to the working logic of the joint assembly 1 with two air bags 112 described above, which will not be repeated here.

[0046] Further, in some embodiments, the shapes and volumes of the three air bags 112 can be different, such as two large air bags 112 and one small air bag 112, or two small air bags 112 and one large air bag 112, so that the joint assembly 1 can realize three-direction bending, and the flexibility and controllability of the joint assembly 1 are improved compared with the two-direction bending joint assembly 1. By controlling the inflation or deflation time and sequence of different air bags 112, a fine and specified direction bending operation similar to a human hand is realized.

[0047] It can be understood that the number of joints 11 is multiple, and the multiple joints 11 are stacked in sequence, so that the electro-mechanical actuator 100 can realize deformation of multiple postures under the cooperation of the multiple joints 11. Specifically, along the stacking direction of the joints 11, the other end of the deformation part 1111 of the lower joint is connected to the bottom plate 1112 of the upper joint, and through such a stacked arrangement, the multiple joints cooperate with each other to form a bionic structure similar to a human finger, and by individually controlling the deformation of each joint, the entire electro-mechanical actuator 100 can realize multi-angle and multi-direction bending deformation.

[0048] For example, in the present embodiment, the number of joints 11 is preferably three, and the three joints are stacked in sequence, and the three joints are first joint 11a, second joint 11b and third joint 11c, which are stacked in sequence. Specifically, the bottom plate 1112 of the first joint 11a away from one side of the support 111 and the air bag 112 of the first joint 11a is connected to the support 111 and the air bag 112 of the second joint 11b, and the bottom plate 1112 of the second joint 11b away from one side of the support 111 and the air bag 112 of the second joint 11b is connected to the support 111 and the air bag 112 of the third joint 11c, that is, when the multiple joints 11 are stacked in sequence, there is a shared bottom plate 1112 between any two adjacent joints 11. The shared bottom plate 1112 supports the air bag 112 and the deformation part 1111 of the adjacent joint, and the shared bottom plate 1112 makes the structure of the electro-mechanical actuator 100 more compact. Compared with the technical solution in which a separate connecting plate is provided for each adjacent two joints, the shared bottom plate 1112 improves the integration of the electro-mechanical actuator 100 and saves the material cost of the electro-mechanical actuator 100.

[0049] It can be understood that the air bag 112 of the first joint 11a, the air bag 112 of the second joint 11b, and the air bag 112 of the third joint 11c all need to be connected to an external air source. In some embodiments, in order to make the electro-mechanical actuator 100 have high flexibility, each air bag 112 of the first joint 11a, each air bag 112 of the second joint 11b, and each air bag 112 of the third joint 11c are individually connected to an external air source. By individually controlling the inflation and deflation of each air bag 112, any one of the first joint 11a, the second joint 11b and the third joint 11c can be bent in the required direction, thereby realizing fine control of each joint and improving the flexibility of the operation of the electro-mechanical actuator 100.

[0050] In some embodiments, the air bags 112 of the first joint 11a and the second joint 11b are communicated, and the air bag 112 of the third joint 11c is isolated from the air bags 112 of the first joint 11a and the second joint 11b. In this way, the inflation and deflation of the air bag 112 of the first joint 11a can be controlled synchronously by controlling the inflation and deflation of the air bag 112 of the second joint 11b. Compared with the scheme in which the air bags 112 of the first joint 11a, the second joint 11b and the third joint 11c are controlled separately, the scheme in which the air bags 112 of the first joint 11a and the second joint 11b are communicated saves the materials (such as the separately connected air pipes, control valves and corresponding sealing elements) required for the separate connection of the first joint 11a and the external air source, and also saves the processing cost of setting the corresponding structure for the separate connection of the first joint 11a and the external air source, thereby reducing the manufacturing cost of the electromechanical actuator 100.

[0051] Specifically, in the present embodiment, please refer to Figure 1 and Figure 5The joint assembly 1 comprises a first air pipe 12 and a second air pipe 13; the bottom plate 1112 of the first joint 11a is provided with a first through hole 11a1, the air bag 112 of the first joint 11a and the air bag 112 of the second joint 11b are communicated through the first through hole 11a1, the bottom plate 1112 of the second joint 11b is provided with a second through hole 11b1, the second through hole 11b1 communicates the air bag 112 of the second joint 11b and the air bag 112 of the third joint 11c, the bottom plate 1112 of the third joint 11c is provided with a third through hole 11c1 and a fourth through hole 11c2, the third through hole 11c1 and the fourth through hole 11c2 are arranged at intervals to reduce the influence of the third through hole 11c1 and the fourth through hole 11c2 on the structural strength of the bottom plate 1112 of the third joint 11c. One end of the first air pipe 12 extends into the air bag 112 of the third joint 11c from the fourth through hole 11c2 and communicates with the air bag 112, the other end of the first air pipe 12 communicates with an external air source, one end of the second air pipe 13 passes through the air bag 112 of the third joint 11c from the third through hole 11c1, then passes through the second through hole 11b1 and communicates with the air bag 112 of the second joint 11b, the other end of the second air pipe 13 communicates with an external air source, in this way, part of the second air pipe 13 is hidden in the air bag 112 of the second joint 11b and the air bag 112 of the third joint 11c, compared with the direct exposure to air, the appearance of the electromechanical actuator 100 is improved, and this arrangement also makes the bottom plate 1112 of the second joint 11b and the bottom plate 1112 of the third joint 11c form a fixed constraint to the second air pipe 13, reducing the probability of collision of external objects with the second air pipe 13, compared with the second air pipe 13 exposed to air, the way of hiding part of the second air pipe 13 in the air bag 112 of the second joint 11b and the air bag 112 of the third joint 11c improves the stability of the work of the electromechanical actuator 100.

[0052] It can be understood that a sealing element is arranged at the connection position of the first air pipe 12 and the fourth through hole 11c2 to reduce the risk of gas leakage in the air bag 112 of the third joint 11c, and sealing elements are arranged at the connection positions of the second air pipe 13 and the third through hole 11c1, and the second air pipe 13 and the second through hole 11b1 to reduce the risk of gas leakage in the air bag 112 of the third joint 11c and the risk of gas leakage in the air bag 112 of the second joint 11b.

[0053] It can be understood that the number of the first air pipe 12 and the number of the second air pipe 13 need to correspond to the number of the air bag 112 of the joint, and in the embodiment, the number of the air bag 112 of each joint is two, so the number of the first air pipe 12 and the number of the second air pipe 13 are both two, one of the first air pipe 12 is communicated with the air bag 112 on one side of the support 111 of the third joint 11c, and the other first air pipe 12 is communicated with the air bag 112 on the other side of the support 111 of the third joint 11c; one of the second air pipe 13 is communicated with the air bag 112 on one side of the support 111 of the second joint 11b, and the other second air pipe 13 is communicated with the air bag 112 on the other side of the support 111 of the second joint 11b.

[0054] In some other embodiments, the air bags 112 on the same side of the first joint 11a, the second joint 11b and the third joint 11c can also be communicated, so as to further reduce the materials required for connecting the air bags 112 of the first joint 11a, the air bags 112 of the second joint 11b and the air bags 112 of the third joint 11c with the external air source, and further simplify the structure of the communication between the air bags 112 of the first joint 11a, the air bags 112 of the second joint 11b and the air bags 112 of the third joint 11c and the external air source, so as to reduce the manufacturing cost of the electromechanical actuator 100. The specific structure of the communication between the air bags 112 on the same side of the first joint 11a, the second joint 11b and the third joint 11c can be similar to the structure of the communication between the air bags 112 on the same side of the first joint 11a and the second joint 11b, which will not be described here.

[0055] For the rotating assembly 2 described above, please refer to Figure 6 , the rotating assembly 2 includes a bracket 21, a driving member 22 and a rotating member 23, the rotating member 23 is rotationally arranged in the bracket 21, the joint assembly 1 is fixed to the rotating member 23, the driving member 22 is arranged in the bracket 21, the driving member 22 is connected with the rotating member 23, the driving member 22 is used to drive the rotating member 23 to rotate, and the rotating member 23 drives the joint assembly 1 to rotate.

[0056] It can be understood that the rotating speed output by the driving member 22 is high, while the rotating speed required by the joint assembly 1 is not high, so a speed reduction transmission mechanism needs to be arranged to convert the rotating speed output by the driving member 22 into the required rotating speed.

[0057] Exemplary, the gear reduction transmission mode is adopted in the utility model. Specifically, the support 21 comprises a first side plate 211, a second side plate 212 and a mounting plate 213, the first side plate 211 and the second side plate 212 are fixed oppositely on the mounting plate 213, so that the first side plate 211, the second side plate 212 and the mounting plate 213 jointly enclose a containing space 214, the containing space 214 is used for containing the partial rotation member 23 and the driving member 22, specifically, the rotation member 23 is located between the first side plate 211 and the second side plate 212, and the rotation member 23 is rotationally connected with the first side plate 211 and the second side plate 212, the rotation member 23 is provided with a driven gear 231 in the circumferential direction; the driving member 22 is installed on the mounting plate 213, the output shaft of the driving member 22 extends into the containing space 214, the output shaft of the driving member 22 is fixed with a bevel gear 221, the bevel gear 221 is engaged with the driven gear 231, the first side plate 211, the second side plate 212 and the mounting plate 213 form protection for the cooperation structure of the rotation member 23, the bevel gear 221 provided on the output shaft and the driven gear 231 provided on the rotation member 23, the probability of foreign matters such as oil stains entering the containing space 214 is reduced, and the opening of the containing space 214 formed between the first side plate 211 and the second side plate 212 provides sufficient space for the rotation of the joint assembly 1, the double support structure of the first side plate 211 and the second side plate 212 provides stable support for the rotation of the rotation member 23, and the vibration and eccentric load phenomenon in the transmission process of the driving member 22 to the rotation member 23 is inhibited.

[0058] It should be noted that the structure of the bevel gear 221 on the output shaft of the driving member 22 and the driven gear 231 on the rotation member 23 is engaged, so that the rotary motion of the driving member 22 is efficiently converted into the torque output in the vertical direction, the transmission ratio is stable and the power loss is low.

[0059] It can be understood that the ratio of the number of teeth of the bevel gear 221 to the number of teeth of the driven gear 231 determines the reduction ratio of the driving member 22 and the rotation member 23, so it can be selected according to actual needs to meet the needs of different equipment. The embodiments will not be illustrated one by one.

[0060] In order to improve the massage effect of the electromechanical actuator 100 applied to the massage equipment, in some embodiments, referring to Figure 7 , the electromechanical actuator 100 further comprises a rolling assembly 3, the rolling assembly 3 is arranged at one end of the joint assembly 1 away from the rotation assembly 2, the arrangement of the rolling assembly 3 enables the sliding friction between the one end of the joint assembly 1 away from the rotation assembly 2 and the human body or other objects to be converted into rolling friction when the joint assembly 1 is bent, thereby improving the massage effect, the existence of the rolling member 32 reduces the contact area between the electromechanical actuator 100 and the human body or other objects, improves the friction force between the finger structure and the human body or other objects under the premise of providing the same pressing force, and improves the massage effect.

[0061] Further, the rolling assembly 3 comprises a rolling frame 31 and a rolling member 32, the rolling frame 31 is fixed to the end of the joint assembly 1 away from the rotating assembly 2, and the rolling member 32 is rotatably arranged at the end of the rolling frame 31 away from the joint.

[0062] It can be understood that the structure of the rolling member 32 and the rolling frame 31 for rotation includes but is not limited to: the rolling member and the rolling groove arranged on the rolling frame, the rolling member and the rotating shaft penetrating through the rolling member, the rolling wheel and the rolling frame, etc.

[0063] For example, in the embodiment, the rolling member 32 and the rolling frame 31 adopt the structure of the rolling member 32 and the rolling groove, specifically, the end of the rolling frame 31 away from the joint assembly 1 is provided with a rotating groove 311, the rolling member 32 is accommodated in the rotating groove 311, and part of the rolling member 32 protrudes from the rotating groove 311, so that the rolling member 32 can contact with the substances in the external environment, and the rolling member 32 can rotate in the rotating groove 311.

[0064] It should be noted that the diameter of the slot of the rotating groove 311 is smaller than the diameter of the rolling member 32, so as to reduce the risk of the rolling member 32 falling out of the rotating groove 311.

[0065] In some embodiments, the rolling frame 31 comprises a frame body 31a and a base 31b, the frame body 31a and the base 31b are connected, the frame body 31a is provided with a through groove, and the base 31b covers a slot of the frame body 31a to form the above-mentioned rolling groove. It can be understood that the connection mode of the frame body 31a and the base 31b includes but is not limited to: one-piece forming, detachable connection, etc. For example, in the embodiment, the detachable connection mode is adopted for connection, further, the frame body 31a and the base 31b are fixedly connected in a screwing mode.

[0066] In the utility model embodiment, the electromechanical actuator 100 includes rotating assembly 2 and joint assembly 1, joint assembly 1 is arranged at rotating assembly 2, and joint assembly 1 is rotated by rotating assembly 2, so that the movable range of joint assembly 1 of electromechanical actuator 100 is improved, and the rotating assembly 2 is also convenient to drive joint assembly 1 to rotate a certain angle and hide in the massage equipment, reduce the foreign body sensation caused by installing electromechanical actuator 100 on the massage equipment.Joint assembly 1 includes at least one joint, and the joint includes support piece 111 and two air bags 112, two air bags 112 are arranged at the two sides of support piece 111 respectively, and two air bags 112 are used for communicating with external air source, and the inflation and deflation time and sequence of two air bags 112 can be controlled by the air valve arranged between air bag 112 and external air source, or the inflation and deflation time and sequence of two air bags 112 can be controlled by directly controlling external air source.The joint assembly 1 of electromechanical actuator 100 presents different motion states, specifically, when two air bags 112 are inflated simultaneously, two air bags 112 gradually fill with internal gas, air bag 112 expands, thereby driving support piece 111 to stretch, and further making joint assembly 1 present the state of stretching;When two air bags 112 are deflated simultaneously, the filling degree of internal gas of two air bags 112 decreases, air bag 112 shrinks, thereby driving support piece 111 to contract, and further making joint assembly 1 present the state of contraction;When one air bag 112 is inflated and the other air bag 112 is deflated, the gas amount in one air bag 112 is greater than that in the other air bag 112, the air bag 112 in the inflation state drives support piece 111 to stretch, and the air bag 112 in the inflation state provides support force for the stretching of one side of support piece 111, the air bag 112 in the deflation state is located at the other side of support piece 111, and the support force provided by the air bag 112 in the deflation state to support piece 111 gradually decreases, thereby making the support force received by the other side of support piece 111 gradually decrease and accompanied by the self weight of air bag 112 and the gravity of support piece 111 itself to make support piece 111 deflect towards the side of air bag 112 in the deflation state, so that the joint presents the state of bending, and further making joint assembly 1 present the state of bending.By controlling the inflation and deflation sequence and the filling amount of gas of air bag 112 arranged on support piece 111, the stretching and bending deformation control of joint assembly 1 is realized, and further making electromechanical actuator 100 realize flexible movement similar to human hand, so that when it is applied to the massage equipment, the effect of human hand massage can be simulated, the massage effect of the massage equipment is improved, and the use experience of the user is improved.

[0067] The utility model provides a kind of mechanical hand embodiment, including palm mechanism and above-mentioned electromechanical actuator 100, the quantity of electromechanical actuator 100 is multiple, multiple electromechanical actuator 100 is arranged at palm mechanism with interval.The mode of interval arrangement provides space for the rotation of electromechanical actuator 100 driven by rotating component 2, reduces the probability of collision of adjacent two electromechanical actuators 100.For the specific structure and function of electromechanical actuator 100, please refer to the above embodiment, here will not be elaborated one by one.

[0068] It can be understood that the structure of palm mechanism includes but is not limited to: human-like palm, disc-shaped support structure and the like.

[0069] It should be noted that the above-mentioned mechanical hand can be applied in the field including but not limited to: massage field, intelligent robot field, industrial assembly machine field and the like.Exemplarily, the utility model applies the above-mentioned mechanical hand to massage field.

[0070] The utility model also provides massage device 1000 embodiment, please refer to Figure 8 And Figure 9 , massage device 1000 includes base 40 and at least one above-mentioned electromechanical actuator 100, the rotating component 2 of electromechanical actuator 100 is arranged in base 40, rotating component 2 drives joint assembly 1 relative to base 40 rotation.Specifically, base 40 is provided with accommodating groove 41, rotating component 2 is fixedly installed in accommodating groove 41, and rotating component 2 can drive joint assembly 1 relative to base 40 rotation.When the air bag in each joint (including but not limited to first joint, second joint and third joint) of joint assembly 1 is completely or basically completely deflated, at least a part of joint assembly 1 is accommodated in accommodating groove 41.

[0071] The utility model also provides seat comfort system 2000, please refer to Figure 10 , seat comfort system 2000 includes at least one sliding device 50, at least one above-mentioned massage device 1000, gas source device 60 and valve device (not shown in the figure), above-mentioned massage device 1000 is installed in sliding device 50, sliding device 50 is used for being installed in the backrest or cushion of seat, sliding device 50 can drive massage device 1000 relative to seat sliding, to adapt to the body shape of different users or massage different parts of the same user.Gas source device 60 is communicated with valve device through gas pipe, valve device is communicated with the air bag in each joint 11 (including but not limited to first joint, second joint and third joint) in massage device 1000 through gas pipe respectively, gas source device 60 is used to supply air to the air bag in each joint 11 (including but not limited to first joint, second joint and third joint) through valve device, and valve device is used to control air bag inflation or deflation.

[0072] The utility model also provides a seat, the seat includes above-mentioned seat comfort system 2000. Can understand, this seat specifically can be office chair, car seat, aviation seat and train, tram, subway etc. car cabin seat and ship seat etc.

[0073] It should be noted that the utility model discloses the preferred embodiment in the specification and its drawings, but the utility model can be realized through many different forms, and is not limited to the embodiment described in the specification, and these embodiments are not as the additional limitation of the content of the utility model, and the purpose of providing these embodiments is to make the disclosure of the utility model more thorough and comprehensive. And, the above technical features continue to combine, form various embodiments not listed above, all are regarded as the range of the specification of the utility model; further, for those skilled in the art, can improve or transform according to the above description, and all these improvements and transformations should belong to the protection scope of the utility model claims.

Claims

1. An electromechanical actuator characterized by, The electromechanical actuator comprises: a rotating assembly; a joint assembly arranged on the rotating assembly, the rotating assembly being used to drive the joint assembly to rotate, the joint assembly comprising a joint, the joint comprising a support and two air bags arranged on two sides of the support respectively, the two air bags being used to communicate with an external air source; when the two air bags are inflated simultaneously, the joint assembly is stretched, and when the two air bags are deflated simultaneously, the joint assembly is contracted; when the air volume in one of the air bags is greater than that in the other air bag, the joint assembly is bent, so that the electromechanical actuator is bent.

2. The electromechanical actuator according to claim 1, wherein the support comprises a deformation part and a bottom plate, one end of the deformation part being arranged on the bottom plate, the deformation part having bending and stretching performance; the two air bags are arranged on the bottom plate, the two air bags being arranged on two sides of the deformation part respectively, one end of each of the two air bags being connected to the bottom plate.

3. The electromechanical actuator according to claim 2, wherein the number of the joints is multiple, and the multiple joints are arranged in sequence; along the direction of the joint arrangement, the other end of the deformation part of the lower joint is connected to the bottom plate of the upper joint.

4. The electromechanical actuator according to claim 1, further comprising a rolling assembly arranged on one end of the joint assembly away from the rotating assembly.

5. The electromechanical actuator according to claim 4, wherein the rolling assembly comprises a rolling frame and a rolling part, the rolling frame being fixed to one end of the joint assembly away from the rotating assembly, and the rolling part being arranged rotatably on one end of the rolling frame away from the joint.

6. The electromechanical actuator according to claim 5, wherein one end of the rolling frame away from the joint assembly is provided with a rotating groove, the rolling part is accommodated in the rotating groove and partially protrudes from the rotating groove, and the rolling part can rotate in the rotating groove.

7. The electromechanical actuator according to any one of claims 1-6, wherein the rotating assembly comprises a bracket, a driving part and a rotating part, the rotating part being arranged rotatably on the bracket, the joint assembly being fixed to the rotating part, the driving part being arranged on the bracket, the driving part being connected to the rotating part, the driving part being used to drive the rotating part to rotate, and the rotating part driving the joint assembly to rotate.

8. The electromechanical actuator according to claim 7, wherein the bracket comprises a first side plate, a second side plate and a mounting plate, the first side plate and the second side plate being fixed oppositely to the mounting plate, the rotating part being located between the first side plate and the second side plate, and the rotating part being rotatably connected to the first side plate and the second side plate, and the rotating part being provided with a driven gear in the circumferential direction; the driving part is mounted on the mounting plate, and a bevel gear is fixed to the output shaft of the driving part, the bevel gear being engaged with the driven gear. ​ 9. A massaging device, characterized by A base and at least one electromechanical actuator as claimed in any one of claims 1-8, the rotating assembly of the electromechanical actuator being mounted to the base.

10. A seat comfort system for application to a seat, characterized by, A base and at least one electromechanical actuator as claimed in any one of claims 1-8, the rotating assembly of the electromechanical actuator being mounted to the base.

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