Multi-wheel self-adaptive rhythm massage structure

Abstract

The utility model discloses a multi-wheel self-adaptive rhythm massage structure which comprises a machine core shell, a composite track massage structure is arranged on the machine core shell, the composite track massage structure comprises a composite track support, a cylindrical plug bush is rotatably arranged on the side face of the front end of the composite track support, a torsional spring is sleeved on the cylindrical plug bush, and the torsional spring is connected with the composite track support. The front massage head assembly comprises a swing frame, an insertion shaft is integrally arranged on the side face of the swing frame in an embedded mode, an annular insertion groove and a semi-annular groove are formed between the insertion shaft and the swing frame, the cylindrical insertion sleeve is inserted into the annular insertion groove and arranged on the insertion shaft in a sleeving mode, and the limiting piece covers the outer side face of the swing frame. When the front massage head is pressed by a human body, the swing frame can be driven to rotate and compress the torsion spring, so that reverse elastic supporting force is generated, the massage head can be tightly attached to the curve of the human body, the massage strength can be automatically adjusted according to the stress, and the massage comfort and safety are remarkably improved.

Description

Technical Field

[0001] This utility model relates to the field of massage equipment technology, specifically a multi-wheel adaptive rhythmic massage structure. Background Technology

[0002] Existing massage chair or massage mattress mechanisms typically only offer basic walking, simple kneading, or fixed percussion movements. Traditional massage structures, designed at fixed angles and heights, are not ideal for addressing the complex curves of different body parts (such as the shoulders, neck, back, and waist), failing to provide a truly ergonomic and comprehensive massage experience. Furthermore, current technology lacks an effective adaptive cushioning mechanism when the massage heads encounter bones or protruding areas, easily leading to either excessive massage pressure causing discomfort or insufficient pressure to achieve deep relaxation.

[0003] Therefore, we propose a multi-round adaptive rhythmic massage structure, which improves the original fixed massage structure into an elastic massage device while adding an independent rhythmic massage structure to solve the problems mentioned above. Utility Model Content

[0004] The purpose of this invention is to provide a multi-wheel adaptive rhythmic massage structure to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a multi-wheel adaptive rhythmic massage structure, comprising: a core housing, wherein the core housing is provided with a walking structure, and a composite trajectory massage structure is provided on the core housing, the composite trajectory massage structure comprising a composite trajectory support, a transmission structure, a tail massage head, a middle massage head, a front massage head assembly, a limiting plate, and a second motor;

[0006] The composite trajectory bracket is sequentially equipped with a front massage head assembly, a middle massage head, and a tail massage head. A limiting spring is connected between the composite trajectory bracket and the core housing. A limiting piece for fixing the front massage head assembly is installed on the side of the composite trajectory bracket.

[0007] The lower end of the composite track bracket is integrally connected to a limiting convex shaft, which is slidably connected to the track groove inside the mechanism housing.

[0008] The front side of the composite track support is rotatably provided with a cylindrical sleeve, a torsion spring is sleeved on the cylindrical sleeve, and a semi-circular convex ring is integrally provided at the front end of the cylindrical sleeve.

[0009] The front massage head assembly includes a swing frame, with an embedded shaft on the side of the swing frame. An annular slot and a semi-annular groove are provided between the shaft and the swing frame. The semi-annular groove is located at the root of the annular slot. A cylindrical sleeve is inserted into the annular slot and fitted onto the shaft. A semi-circular convex ring is inserted into the semi-annular groove. A limiting piece covers the outer side of the swing frame. The front massage head is rotated and installed at the front end of the swing frame.

[0010] The second motor drives the composite track bracket through a transmission structure. The transmission structure includes a first transmission rod, with rotating wheels fixedly installed at both ends of the first transmission rod. An inclined annular groove is provided on the side of the rotating wheel, and the composite track bracket is rotatably sleeved on the rotating wheel and is stuck in the inclined annular groove.

[0011] The mechanism housing is also equipped with a hammering massage structure, which includes a third transmission rod. Two eccentric wheels are mounted on the third transmission rod, with opposite eccentric directions. The two eccentric wheels are rotatably connected to two hammering drive brackets via two third bearings. The hammering drive brackets movably penetrate the upper surface of the mechanism housing. The upper end of the hammering drive bracket is rotatably connected to a movable bracket. Two pairs of hammering massage heads are symmetrically mounted on the movable bracket. The middle of the movable bracket is rotatably connected to the upper surface of the mechanism housing via a rotating shaft. The two ends of the rotating shaft rotate to cover limiting pressure blocks, which are fixedly connected to the upper surface of the mechanism housing to limit the rotation of the movable bracket.

[0012] Preferably, the walking structure includes a walking drive structure and a driven shaft, which are respectively located at both ends of the moving part of the core housing. The walking drive structure includes a third motor, a second transmission gear assembly, a second transmission rod, a second bevel gear, and a rotary gear. The third motor is fixedly installed inside the core housing, and the output shaft of the third motor is a worm gear structure. The second transmission rod passes through both ends of the core housing and then the rotary gear is fixedly installed. The second transmission rod is rotatably connected to the core housing. The second bevel gear is fixedly installed on the second transmission rod. The second bevel gear is driven by the second transmission gear assembly, which is driven by the worm gear of the third motor. The rotary gear meshes with the rack and pinion of the massage equipment track.

[0013] Preferably, the second transmission gear assembly is rotatably installed inside the core housing. The second transmission gear assembly is coaxially and integrally fixedly connected by a worm gear and a bevel gear. The bevel gear is connected to the second bevel gear, and the worm gear is connected to the worm of the third motor. The driven shaft rotates through the core housing and then fixes the roller. The roller is rotatably connected to the massage equipment track.

[0014] Preferably, the second motor is fixedly installed inside the housing of the mechanism.

[0015] Preferably, the transmission structure further includes a first transmission gear assembly, a first bevel gear, a first bearing, and a rotating wheel. The first transmission rod is rotatably mounted inside the movement housing via the first bearing. The first bevel gear is fixedly mounted on the first transmission rod. The first transmission gear assembly is rotatably mounted inside the movement housing. The second motor is connected to the first transmission gear assembly via its output worm gear. The first transmission gear assembly is connected to the first bevel gear.

[0016] Preferably, the hammering massage structure further includes a first motor, a third transmission rod rotatably mounted inside the core housing via a second bearing, a first motor fixedly mounted inside the core housing, a pulley fixedly mounted on the third transmission rod, and the first motor being connected to the third transmission rod via the pulley and belt structure.

[0017] Compared with the prior art, the beneficial effects of this utility model are:

[0018] 1. A second motor drives a transmission structure to rotate the wheel. Utilizing the cooperation of the inclined annular groove and the composite trajectory support, the front massage head assembly, middle massage head, and tail massage head can perform a circular composite trajectory motion, simulating human hand kneading. Simultaneously, a first motor drives an eccentric wheel to rotate in the opposite direction, causing the two ends of the movable support to reciprocate and rise and fall, enabling independent or synchronous percussion from the two pairs of percussion massage heads. The combination of these two techniques provides a richly layered and rhythmic massage experience.

[0019] 2. An innovative elastic connection structure composed of a cylindrical insert, torsion spring, insert shaft, and semi-circular convex ring is designed in the front massage head assembly. When the massage head is subjected to pressure from the human body, it can drive the swing frame to rotate and compress the torsion spring, thereby generating a reverse elastic support force. This not only allows the massage head to closely conform to the curves of the human body, but also automatically adjusts the massage intensity according to the magnitude of the force applied, avoiding pain caused by hard impacts and significantly improving the comfort and safety of the massage. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the structure of this utility model after removing the movement housing;

[0022] Figure 3 This is a side-view of the first motor and the second motor in this utility model;

[0023] Figure 4 This is a schematic diagram showing the disassembly of the composite trajectory massage structure and some of its components in this utility model;

[0024] Figure 5 This is a disassembled schematic diagram of the composite trajectory support and its partial structure in this utility model;

[0025] Figure 6 This is a schematic diagram of the front massage head assembly in this utility model;

[0026] Figure 7 This is a schematic diagram of the walking drive structure in this utility model;

[0027] Figure 8 This is a schematic diagram showing the disassembly of the pounding massage structure and some of its components in this utility model.

[0028] In the diagram: 1. Mechanism housing; 2. Percussion massage structure; 21. First motor; 22. Third transmission rod; 23. Pulley; 24. Percussion drive bracket; 241. Third bearing; 25. Movable bracket; 26. Percussion massage head; 27. Limiting pressure block; 271. Rotating shaft; 28. Eccentric wheel; 29. ​​Second bearing; 3. Compound trajectory massage structure; 31. Compound trajectory bracket; 311. Limiting convex shaft; 312. Cylindrical sleeve; 3121. Semi-circular convex ring; 313. Torsion spring; 314. Front massage head; 32. Transmission structure; 321. First transmission rod; 32 2. First transmission gear assembly; 323. First bevel gear; 324. First bearing; 325. Rotary wheel; 3251. Inclined annular groove; 33. Tail massage head; 34. Middle massage head; 35. Front massage head assembly; 351. Swing frame; 352. Semi-annular groove; 353. Insert shaft; 354. Annular slot; 36. Limiting plate; 37. Second motor; 38. Limiting spring; 4. Walking drive structure; 41. Third motor; 42. Second transmission gear assembly; 43. Second transmission rod; 44. Second bevel gear; 45. Rotary gear; 5. Driven shaft. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] Please see Figure 1-8 This utility model provides a technical solution: a multi-wheel adaptive rhythmic massage structure, including: a core housing 1, the core housing 1 is provided with a walking structure to realize the overall adaptation of the core to the track of massage equipment such as massage chairs or massage mattresses.

[0031] The walking structure includes a walking drive structure 4 and a driven shaft 5. The walking drive structure 4 and the driven shaft 5 are respectively located at both ends of the moving direction of the core housing 1. The walking drive structure 4 includes a third motor 41, a second transmission gear assembly 42, a second transmission rod 43, a second bevel gear 44, and a rotary gear 45. The third motor 41 is fixedly installed inside the core housing 1. The output shaft of the third motor 41 is a worm gear structure. The second transmission rod 43 passes through both ends of the core housing 1 and the rotary gear 45 is fixedly installed thereafter. The second transmission rod 43 is rotatably connected to the core housing 1. The second bevel gear 44 is fixedly installed on the second transmission rod 43. The second bevel gear 44 is connected to the second transmission gear assembly 42. The second transmission gear assembly 42 is connected to the worm gear of the third motor 41. The rotary gear 45 meshes with the rack and pinion belt of the massage equipment track.

[0032] The second transmission gear assembly 42 is rotatably installed inside the core housing 1. The second transmission gear assembly 42 is fixedly connected by a worm gear and a bevel gear on the same axis. The bevel gear is connected to the second bevel gear 44, and the worm gear is connected to the worm of the third motor 41.

[0033] The third motor 41 outputs power and uses the worm gear and the worm wheel of the second transmission gear combination 42 to drive the bevel gear to rotate, which in turn drives the second bevel gear 44 to rotate. Furthermore, the second transmission rod 43 drives the rotating gear 45 to rotate. The rotating gear 45 cooperates with the rack and pinion belt of the massage equipment track to realize the movement of the massage core housing 1 on the massage equipment track.

[0034] After the driven shaft 5 rotates through the core housing 1, a roller (not shown in the attached diagram of the instruction manual) is fixedly installed. The roller is also connected to the track of the massage equipment to assist the movement of the core housing 1.

[0035] The core housing 1 is provided with a composite trajectory massage structure 3, which includes a composite trajectory support 31, a transmission structure 32, a tail massage head 33, a middle massage head 34, a front massage head assembly 35, a limiting plate 36, and a second motor 37. The second motor 37 is fixedly installed inside the core housing 1 and is driven to connect to the composite trajectory support 31 through the transmission structure 32. The front massage head assembly 35, the middle massage head 34, and the tail massage head 33 are sequentially installed on the composite trajectory support 31. A limiting spring 38 connects the composite trajectory support 31 to the core housing 1. A limiting plate 36 for fixing the front massage head assembly 35 is installed on the side of the composite trajectory support 31.

[0036] The lower end of the composite track bracket 31 is integrally connected to the limiting cam 311, which is slidably connected to the track groove inside the mechanism housing 1 to limit the movement of the composite track bracket 31.

[0037] The transmission structure 32 includes a first transmission rod 321, a first transmission gear assembly 322, a first bevel gear 323, a first bearing 324, and a rotating wheel 325. The first transmission rod 321 is rotatably mounted inside the movement housing 1 via the first bearing 324. The first bevel gear 323 is fixedly mounted on the first transmission rod 321. The first transmission gear assembly 322 is rotatably mounted inside the movement housing 1. The second motor 37 is connected to the first transmission gear assembly 322 via its output worm gear. The first transmission gear assembly 322 is connected to the first bevel gear 323, thereby realizing the power transmission from the second motor 37 to the first transmission rod 321. The first transmission gear assembly 322 has the same structure and principle as the second transmission gear assembly 42 mentioned above.

[0038] The first transmission rod 321 has rotating wheels 325 fixedly installed at both ends. An inclined annular groove 3251 is provided on the side of the rotating wheel 325. A composite trajectory bracket 31 is rotatably sleeved on the rotating wheel 325 and is locked in the annular groove on the side of the rotating wheel 325.

[0039] The second motor 37 drives the rotating wheel 325 to rotate through the transmission structure 32. By cooperating with the inclined annular groove 3251 and the composite trajectory bracket 31, the composite trajectory bracket 31 can swing along the inclined annular groove 3251. At the same time, the limiting cam 311 and the track groove in the core housing 1 limit the composite trajectory bracket 31. The track groove is parallel to the first transmission rod 321 to prevent the composite trajectory bracket 31 from rotating with the rotating wheel 325. The composite trajectory bracket 31 swings with the end of the limiting cam 311 as the fulcrum. The limiting spring 38 plays an elastic pulling role, so that one end of the composite trajectory bracket 31 moves within a small range and the other end moves within a large range. Finally, the composite trajectory bracket 31 performs a circular composite trajectory movement, which in turn drives the front massage head assembly 35, the tail massage head 33 and the middle massage head 34 to perform a composite trajectory massage.

[0040] A cylindrical sleeve 312 is rotatably provided on the front side of the composite track bracket 31. A torsion spring 313 is fitted on the cylindrical sleeve 312. One end of the torsion spring 313 is fixed to the composite track bracket 31, and the other end is fixed to the cylindrical sleeve 312. When the cylindrical sleeve 312 rotates relative to the composite track bracket 31, the torsion spring 313 is compressed. A semi-circular protrusion ring 3121 is integrally provided at the front end of the cylindrical sleeve 312.

[0041] The front massage head assembly 35 includes a swing frame 351. An insert shaft 353 is integrally embedded on the side of the swing frame 351. An annular slot 354 and a semi-annular groove 352 are provided between the insert shaft 353 and the swing frame 351. The semi-annular groove 352 is located at the root of the annular slot 354. A cylindrical sleeve 312 is inserted into the annular slot 354 and sleeved on the insert shaft 353. A semi-circular protruding ring 3121 is inserted into the semi-annular groove 352 to achieve radial fixation of the cylindrical sleeve 312 and the insert shaft 353.

[0042] The limiting plate 36 covers the outer side of the swing frame 351 to limit its axial movement, and the front massage head 314 is rotated and installed at the front end of the swing frame 351.

[0043] When the front massage head 314 is subjected to pressure, it drives the swing frame 351 to rotate, which in turn drives the cylindrical sleeve 312 to rotate. The torsion spring 313 is compressed, which in turn provides elastic support to the front massage head 314, increasing the adaptability of the massage intensity of the front massage head 314.

[0044] The mechanism housing 1 is also provided with a hammering massage structure 2, which includes a first motor 21 and a third transmission rod 22. The third transmission rod 22 is rotatably disposed in the mechanism housing 1 through a second bearing 29. The first motor 21 is fixedly installed in the mechanism housing 1. A pulley 23 is fixedly installed on the third transmission rod 22. The output shaft of the first motor 21 is connected to the pulley 23 through a belt drive, thereby driving the third transmission rod 22 to rotate.

[0045] Two eccentric wheels 28 are also installed on the third transmission rod 22. The two eccentric wheels 28 are eccentric in opposite directions. The eccentric wheels 28 are rotatably connected to the hammering drive bracket 24 through the third bearing 241. The hammering drive bracket 24 movably passes through the upper surface of the core housing 1. The upper end of the hammering drive bracket 24 is rotatably connected to the movable bracket 25. Two pairs of hammering massage heads 26 are symmetrically installed on the movable bracket 25. The middle of the movable bracket 25 is rotatably connected to the upper surface of the core housing 1 through the rotating shaft 271. The two ends of the rotating shaft 271 rotate to cover the limiting pressure block 27. The limiting pressure block 27 is fixedly connected to the upper surface of the core housing 1 to limit the rotating shaft 271 of the movable bracket 25.

[0046] The rotation of the third transmission rod 22 drives the two eccentric wheels 28 to perform eccentric motion. Since the two eccentric wheels 28 are eccentric in opposite directions, they drive the two hammering drive brackets 24 to rise and fall, which in turn drives the two ends of the movable bracket 25 to rise and fall back and forth, ultimately realizing the back and forth rising and falling of the two pairs of hammering massage heads 26, achieving the hammering and pressing massage effect.

[0047] Working principle: The third motor 41 starts, and its output worm gear power is transmitted to the second transmission gear assembly 42 (worm gear and bevel gear are integrated), which drives the second bevel gear 44 to rotate, thereby driving the second transmission rod 43 that runs through the movement to rotate. The rotating gear 45 at the end of the second transmission rod 43 meshes with the external track rack, driving the entire movement housing 1 to move back and forth along the track; the driven shaft 5 at the tail end and its rollers provide auxiliary support and ensure continuous and stable movement;

[0048] The second motor 37 starts, driving the first transmission gear assembly 322 via a worm gear, which in turn rotates the first bevel gear 323 and the first transmission rod 321. The rotating wheels 325 at both ends of the first transmission rod 321 rotate accordingly, using their inclined annular grooves 3251 on their sides to push the composite trajectory bracket 31 fitted onto it. Under the limiting guidance of the limiting convex shaft 311 and the track groove, and the reset action of the limiting spring 38, the composite trajectory bracket 31 performs a circular composite trajectory movement, thereby driving the tail massage head 33, the middle massage head 34, and the front massage head assembly 35 mounted on it to perform multi-dimensional kneading massage on the human body.

[0049] When the massage head 314 is in contact with the human body and is subjected to pressure, it pushes the swing frame 351 to rotate around the insertion shaft 353, which in turn drives the cylindrical insert 312 to rotate and compress the torsion spring 313. The cooperation between the semi-circular convex ring 3121 and the semi-circular groove 352 ensures radial fixation while allowing angular deflection. The resulting elastic reaction force gives the front massage head 314 an adaptive buffering function, conforming to the curvature of the human body in real time.

[0050] The first motor 21 starts, driving the pulley 23 and the third transmission rod 22 to rotate via a belt. The two eccentric wheels 28 on the third transmission rod 22, with opposite eccentric directions, rotate accordingly, driving the two percussion drive supports 24 to perform opposite up-and-down reciprocating movements. This motion is transmitted to the movable support 25, causing it to alternately rise and fall around the central axis 271, ultimately driving the symmetrically mounted percussion massage heads 26 to rhythmically percuss and press on the human body.

[0051] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0052] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-wheel adaptive rhythmic massage structure, comprising: The mechanism housing (1) is provided with a walking structure and a composite trajectory massage structure (3) is provided on the mechanism housing (1). The composite trajectory massage structure (3) includes a composite trajectory support (31), a transmission structure (32), a tail massage head (33), a middle massage head (34), a front massage head assembly (35), a limiting piece (36), and a second motor (37). The features are as follows: a front massage head assembly (35), a middle massage head (34) and a tail massage head (33) are sequentially installed on the composite trajectory bracket (31), a limiting spring (38) is connected between the composite trajectory bracket (31) and the core housing (1), and a limiting piece (36) for fixing the front massage head assembly (35) is installed on the side of the composite trajectory bracket (31). The lower end of the composite track bracket (31) is integrally connected to the limiting convex shaft (311), and the limiting convex shaft (311) is slidably connected to the track groove inside the core housing (1); The front side of the composite track support (31) is rotatably provided with a cylindrical sleeve (312), a torsion spring (313) is sleeved on the cylindrical sleeve (312), and a semi-circular convex ring (3121) is integrally provided at the front end of the cylindrical sleeve (312). The front massage head assembly (35) includes a swing frame (351). A shaft (353) is embedded in the side of the swing frame (351). An annular slot (354) and a semi-annular groove (352) are provided between the shaft (353) and the swing frame (351). The semi-annular groove (352) is located at the root of the annular slot (354). A cylindrical sleeve (312) is inserted into the annular slot (354) and sleeved on the shaft (353). A semi-circular convex ring (3121) is inserted into the semi-annular groove (352). A limiting piece (36) covers the outer side of the swing frame (351). The front massage head (314) is rotated and installed at the front end of the swing frame (351). The second motor (37) drives the composite track bracket (31) through the transmission structure (32). The transmission structure (32) includes a first transmission rod (321). Rotary wheels (325) are fixedly installed at both ends of the first transmission rod (321). An inclined annular groove (3251) is opened on the side of the rotary wheel (325). The composite track bracket (31) is rotatably sleeved on the rotary wheel (325). The composite track bracket (31) is stuck in the inclined annular groove (3251). The mechanism housing (1) is also provided with a hammering massage structure (2). The hammering massage structure (2) includes a third transmission rod (22). Two eccentric wheels (28) are also installed on the third transmission rod (22). The two eccentric wheels (28) are eccentric in opposite directions. The two eccentric wheels (28) are rotatably connected to two hammering drive brackets (24) through two third bearings (241). The hammering drive brackets (24) movably penetrate the upper surface of the mechanism housing (1). The upper end of the hammering drive brackets (24) is rotatably connected to a movable bracket (25). Two pairs of hammering massage heads (26) are symmetrically installed on the movable brackets (25). The middle of the movable brackets (25) is rotatably connected to the upper surface of the mechanism housing (1) through a rotating shaft (271). The two ends of the rotating shaft (271) rotate to cover the limiting pressure block (27). The limiting pressure block (27) is fixedly connected to the upper surface of the mechanism housing (1) to limit the rotating shaft (271) of the movable bracket (25).

2. The multi-wheel adaptive rhythmic massage structure according to claim 1, characterized in that, The walking structure includes a walking drive structure (4) and a driven shaft (5). The walking drive structure (4) and the driven shaft (5) are respectively set at both ends of the moving direction of the core housing (1). The walking drive structure (4) includes a third motor (41), a second transmission gear assembly (42), a second transmission rod (43), a second bevel gear (44), and a rotary gear (45). The third motor (41) is fixedly installed inside the core housing (1). The output shaft of the third motor (41) is a worm gear structure. The second transmission rod (43) passes through both ends of the core housing (1) and then the rotary gear (45) is fixedly installed. The second transmission rod (43) is rotatably connected to the core housing (1). The second bevel gear (44) is fixedly installed on the second transmission rod (43). The second bevel gear (44) is connected to the second transmission gear assembly (42). The second transmission gear assembly (42) is connected to the worm gear of the third motor (41). The rotary gear (45) meshes with the rack belt of the massage equipment track.

3. The multi-wheel adaptive rhythmic massage structure according to claim 2, characterized in that, The second transmission gear assembly (42) is rotatably installed inside the core housing (1). The second transmission gear assembly (42) is fixedly connected by a worm gear and a bevel gear on the same axis. The bevel gear is connected to the second bevel gear (44), and the worm gear is connected to the worm of the third motor (41). The driven shaft (5) rotates through the core housing (1) and then fixes the roller. The roller is connected to the massage equipment track in a rolling manner.

4. The multi-wheel adaptive rhythmic massage structure according to claim 1, characterized in that, The second motor (37) is fixedly installed inside the core housing (1).

5. The multi-wheel adaptive rhythmic massage structure according to claim 1, characterized in that, The transmission structure (32) also includes a first transmission gear assembly (322), a first bevel gear (323), a first bearing (324), and a rotating wheel (325). The first transmission rod (321) is rotatably mounted in the mechanism housing (1) through the first bearing (324). The first bevel gear (323) is fixedly mounted on the first transmission rod (321). The first transmission gear assembly (322) is rotatably mounted in the mechanism housing (1). The second motor (37) is connected to the first transmission gear assembly (322) through its output worm gear. The first transmission gear assembly (322) is connected to the first bevel gear (323).

6. The multi-wheel adaptive rhythmic massage structure according to claim 1, characterized in that, The hammering massage structure (2) also includes a first motor (21), and a third transmission rod (22) is rotatably mounted in the core housing (1) via a second bearing (29). The first motor (21) is fixedly mounted in the core housing (1), and a pulley (23) is fixedly mounted on the third transmission rod (22). The first motor (21) is connected to the third transmission rod (22) via the pulley (23) and belt structure.

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