Massage machine core and massage equipment

Abstract

The utility model discloses a massage machine core and massage equipment, and relates to the technical field of massage equipment. The massage machine core comprises a supporting frame, a kneading mechanism and a walking mechanism, the kneading mechanism and the walking mechanism are arranged on the supporting frame, and the walking mechanism is used for driving the supporting frame to move so as to drive the kneading mechanism to move synchronously; the kneading mechanism comprises a kneading shaft and an eccentric deflection wheel arranged on the kneading shaft, and a damping piece is arranged between the kneading shaft and the eccentric deflection wheel. The massage machine core can solve the problem that sudden change displacement is generated between the kneading shaft and the eccentric deflection wheel when the driving part of an existing massage machine core is reversed.

Description

Technical Field

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

[0002] In existing massage mechanisms, the kneading shaft assembly typically uses a drive component to rotate the kneading shaft in both forward and reverse directions to achieve reciprocating kneading and oscillating massage functions. However, when the drive component switches directions, a sudden relative displacement occurs between the kneading shaft and the eccentric balance wheel due to play, resulting in a noticeable slippage sensation during the massage. This slippage is essentially caused by the mechanical clearance being amplified at the moment the drive component switches directions, causing the kneading shaft movement to be out of sync with the drive component, resulting in sudden changes in massage intensity. This can cause discomfort, especially in sensitive areas, and affect the smoothness of the massage experience. Utility Model Content

[0003] The purpose of this application is to provide a massage mechanism and massage device that can solve the problem of sudden displacement between the kneading shaft and the eccentric swing wheel when the drive component of the existing massage mechanism changes direction.

[0004] The embodiments of this application are implemented as follows:

[0005] A first aspect of this application provides a massage mechanism, including a support frame and a kneading mechanism and a traveling mechanism disposed on the support frame. The traveling mechanism drives the support frame to move, thereby causing the kneading mechanism to move synchronously. The kneading mechanism includes a kneading shaft and an eccentric swing wheel disposed on the kneading shaft, with a damping element disposed between the kneading shaft and the eccentric swing wheel. This massage mechanism can solve the problem of abrupt displacement between the kneading shaft and the eccentric swing wheel when the driving component changes direction in existing massage mechanisms.

[0006] In one possible implementation, the walking mechanism includes a walking motor and a drive shaft, and a driven shaft is provided on the support frame. The walking motor, the drive shaft, and the driven shaft are connected in sequence. Two mounting plates and a tapping mechanism are provided on the driven shaft. The kneading shaft is installed between the two mounting plates. The kneading mechanism also includes an upper massage head curved arm provided on the kneading shaft. The tapping mechanism is drivenly connected to the upper massage head curved arm.

[0007] As one possible implementation, a sliding shaft is also provided between the two mounting plates, and the kneading mechanism further includes a lower massage head rod disposed on the kneading shaft. The lower massage head rod is provided with a sliding groove, and the sliding shaft passes through the sliding groove. The two sides of the eccentric swing wheel are respectively connected to the upper massage head arm and the lower massage head rod.

[0008] In one possible implementation, the rotation axis of the eccentric swing wheel and the rotation axis of the kneading shaft have a first eccentric distance and a preset angle, and the rotation axis of the lower massage head rod and the rotation axis of the kneading shaft have a second eccentric distance.

[0009] In one possible implementation, the kneading mechanism further includes a kneading motor mounted on one of the mounting plates and a kneading speed reduction assembly connected to the kneading motor, wherein the kneading motor is connected to the kneading shaft via the kneading speed reduction assembly.

[0010] In one possible implementation, the tapping mechanism includes a tapping shaft and a connecting rod, an eccentric block, and a ball head assembly disposed on the tapping shaft. The tapping shaft is connected to the driven shaft via the connecting rod. The ball head assembly includes a bearing seat and a ball head connecting rod. The eccentric block is connected to the bearing seat, and the ball head connecting rod is connected to the upper massage head curved arm.

[0011] In one possible implementation, the striking mechanism further includes a striking motor mounted on another mounting plate and a striking speed reduction assembly connected to the striking motor, wherein the striking motor is connected to the striking shaft via the striking speed reduction assembly.

[0012] As one possible implementation, it also includes a pushing mechanism disposed on the support frame, the pushing mechanism being connected to the mounting plate, and the rotation axis of the pushing mechanism being perpendicular to the rotation axis of the driven shaft. The pushing mechanism is used to drive the kneading mechanism and the tapping mechanism to move along the rotation axis of the pushing mechanism through the mounting plate.

[0013] In one possible implementation, the pushing mechanism includes a push motor, a lead screw that is hygienically connected to the push motor, and a slider disposed on the lead screw. The push motor is used to drive the lead screw to rotate so that the slider moves relative to the lead screw.

[0014] A second aspect of this application provides a massage device including the aforementioned massage mechanism. This massage mechanism solves the problem of abrupt displacement between the kneading shaft and the eccentric swing wheel when the drive component reverses in existing massage mechanisms.

[0015] The beneficial effects of the embodiments of this application include:

[0016] The massage mechanism includes a support frame and a kneading mechanism and a traveling mechanism mounted on the support frame. The traveling mechanism drives the support frame to move, thereby causing the kneading mechanism to move synchronously. The kneading mechanism includes a kneading shaft and an eccentric swing wheel mounted on the kneading shaft. A damping element is provided between the kneading shaft and the eccentric swing wheel. The massage mechanism provided in this application is equipped with a damping element, which solves the above problems by buffering inertial impact and dynamically adjusting torque transmission. When the driving component changes direction, the damping element consumes kinetic energy through elastic deformation or friction, slows down the rate of change of speed, and avoids sudden displacement. At the same time, it temporarily "slips" or elastically yields at the moment of reversal, making the torque transmission smoother. After the movement stabilizes, it returns to a rigid connection to ensure the continuous movement trajectory of the eccentric swing wheel. Attached Figure Description

[0017] 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.

[0018] Figure 1 An isometric view of the massage mechanism provided in the embodiments of this application;

[0019] Figure 2 An exploded view of the massage mechanism provided in the embodiments of this application;

[0020] Figure 3 An exploded view of the kneading and tapping device of the massage mechanism provided in the embodiments of this application;

[0021] Figure 4 An exploded view of the kneading mechanism of the massage core provided in the embodiments of this application;

[0022] Figure 5 A front view of one of the eccentric balance wheels provided in an embodiment of this application;

[0023] Figure 6 A front view of another eccentric balance wheel provided in an embodiment of this application;

[0024] Figure 7 for Figure 6 A sectional view;

[0025] Figure 8 A cross-sectional view of the kneading mechanism provided in an embodiment of this application;

[0026] Figure 9 An exploded view of the striking mechanism of the massage core provided in the embodiments of this application;

[0027] Figure 10An exploded view of the walking mechanism of the massage core provided in the embodiments of this application;

[0028] Figure 11 An exploded view of the actuation mechanism of the massage mechanism provided in the embodiments of this application.

[0029] Icons: 1-Support frame; 2-Kneading device; 201, 202-Mounting plate; 204-Kneading mechanism; 2041-Kneading shaft; 2042, 2043-Eccentric swing wheel; 2044-Damping component; 2045-Upper massage head arm; 2047-Lower massage head top rod; 2048-First mounting surface; 2049-Second mounting surface; 205-Tapping mechanism; 2051-Tapping shaft; 2053-Connecting rod; 2054- Eccentric block; 2055-Ball head assembly; 206-Sliding shaft; 208-Kneading motor; 209-Kneading reduction assembly; 212-Striking motor; 213-Striking reduction assembly; 215-Driven shaft; 3-Traveling mechanism; 301-Traveling motor; 302-Drive shaft; 304-Traveling motor reduction assembly; 4-Pushing mechanism; 401-Pushing motor; 403-Pushing motor reduction assembly; 406-Lead screw; 408-Slider. Detailed Implementation

[0030] 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.

[0031] 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.

[0032] 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.

[0033] Please refer to the reference. Figures 1 to 11 This application provides a massage mechanism, including a support frame 1, a kneading mechanism 204, and a traveling mechanism 3 mounted on the support frame 1. The traveling mechanism 3 drives the support frame 1 to move, thereby causing the kneading mechanism 204 to move synchronously. The kneading mechanism 204 includes a kneading shaft 2041 and an eccentric swing wheel mounted on the kneading shaft 2041. A damping element 2044 is provided between the kneading shaft 2041 and the eccentric swing wheel. This massage mechanism can solve the problem of abrupt displacement between the kneading shaft 2041 and the eccentric swing wheel when the driving component changes direction in existing massage mechanisms. For example, the kneading shaft 2041 is provided with a groove for mounting the damping element 2044.

[0034] It should be noted that, as Figures 1 to 8 As shown, the massage mechanism includes a support frame 1, a kneading mechanism 204, and a walking mechanism 3. The support frame 1 serves as the basic framework of the massage mechanism, providing a mounting carrier for the kneading mechanism 204 and the walking mechanism 3. The support frame 1 needs to have sufficient strength to withstand the pressure and vibration during massage, and is the structural support foundation of the entire massage mechanism. The walking mechanism 3 can be driven by a power system such as a motor, gear set, or belt drive to realize the linear or curved movement (such as vertical or horizontal displacement) of the support frame 1 on the moving guide rail of the massage device. The movement of the walking mechanism 3 can drive the support frame 1 to move as a whole, so that the kneading mechanism 204 moves synchronously, thereby covering different massage areas of the user's body.

[0035] The kneading mechanism 204 includes a kneading shaft 2041, an eccentric swing wheel, and a damping element 2044. The kneading shaft 2041 is one of the rotating shafts that runs through the massage mechanism. The end of the kneading shaft 2041 is usually connected to a drive motor (such as a servo motor), which drives the eccentric swing wheel to move by rotating. The eccentric swing wheel is sleeved on the kneading shaft 2041. There is a certain eccentricity between the rotation axis of the eccentric swing wheel and the rotation axis of the kneading shaft 2041. When the eccentric swing wheel rotates, it produces a swing motion due to its own eccentric characteristics, which can simulate the kneading and kneading action of human hands to achieve massage of the user's body parts. The damping element 2044 is set between the kneading shaft 2041 and the eccentric swing wheel. The damping element 2044 can be a damping spring, rubber ring, friction plate, or hydraulic damper, etc. The damping element 2044 can adjust the relative motion state between the kneading shaft 2041 and the eccentric swing wheel by providing controllable frictional resistance or buffering force.

[0036] In traditional massage mechanisms, when the drive components (such as the walking motor 301 or the kneading motor 208) change direction (e.g., from top to bottom, or from clockwise to counterclockwise), the kneading shaft 2041 and the eccentric swing wheel experience sudden displacement (such as impact, jamming, or positional shift) due to inertia and rigid connection. This results in abrupt changes in massage intensity, increased noise, and even damage to the massage mechanism's components. To address this, the massage mechanism provided in this application incorporates a damping element 2044. This element buffers inertial impacts and dynamically adjusts torque transmission to solve the aforementioned problems. When the drive components change direction, the damping element 2044 dissipates kinetic energy through elastic deformation or friction, slowing down the rate of speed change and preventing sudden displacement. Simultaneously, it temporarily "slips" or elastically yields at the moment of reversal, making torque transmission smoother. After the movement stabilizes, the rigid connection is restored, ensuring the continuous motion trajectory of the eccentric swing wheel.

[0037] Traditional massage mechanisms, due to sudden displacement during reversal, can cause the massage head to impact the body momentarily, resulting in a stinging sensation (such as a sudden increase in pressure during a shoulder and neck massage). The massage mechanism provided in this application, after being buffered by the damping component 2044, ensures a smooth gradient in kneading force, reducing the amplitude of force fluctuations and closely resembling the natural touch of a human hand massage. The sudden displacement during reversal of traditional massage mechanisms can cause breaks in the movement trajectory of the massage head (such as a sudden pause in a kneading motion that should be continuous). The massage mechanism provided in this application, through the damping component 2044, ensures smooth movement of the eccentric balance wheel, making the massage trajectory as continuous as a human hand. Especially in areas requiring large-area massage, such as the shoulders, back, and waist, it can improve the accuracy of acupoint pressure.

[0038] Furthermore, the rigid impact during reversal of traditional massage mechanisms can easily lead to wear at the connection between the kneading shaft 2041 and the eccentric swing wheel (such as wear on the shaft shoulder and gear wear). The massage mechanism provided in this application uses the damping component 2044 to buffer the impact force, thereby reducing the wear rate of key components and extending the maintenance cycle of the massage mechanism. Traditional massage mechanisms generate significant noise (such as a "clicking" sound) due to the impact of components during reversal. The massage mechanism provided in this application, through the friction buffering effect of the damping component 2044, can control the noise level to below 45dB (equivalent to indoor conversation volume), which is especially suitable for users who are sensitive to noise.

[0039] As one possible implementation method, such as Figures 1 to 10 As shown, the walking mechanism 3 includes a walking motor 301 and a drive shaft 302. A driven shaft 215 is provided on the support frame 1. The walking motor 301, drive shaft 302, and driven shaft 215 are connected in sequence. Two mounting plates and a tapping mechanism 205 are provided on the driven shaft 215. A kneading shaft 2041 is installed between the two mounting plates. The kneading mechanism 204 also includes an upper massage head curved arm 2045 provided on the kneading shaft 2041. The tapping mechanism 205 is drively connected to the upper massage head curved arm 2045. For example, a walking motor reduction assembly 304 can be provided between the walking motor 301 and the drive shaft 302 to reduce the speed while increasing the torque.

[0040] It should be noted that the walking mechanism 3 includes a walking motor 301 and a drive shaft 302. A driven shaft 215 is provided on the support frame 1. The walking motor 301, drive shaft 302, and driven shaft 215 are connected in sequence to form a power transmission chain. Two mounting plates are provided on the driven shaft 215, and the kneading shaft 2041 is mounted between the two mounting plates. At the same time, a tapping mechanism 205 is also provided on the driven shaft 215. The kneading mechanism 204 and the tapping mechanism 205 together form the kneading and tapping device 2. The kneading mechanism 204 includes an upper massage head curved arm 2045 mounted on the kneading shaft 2041. The upper massage head curved arm 2045 is connected to the tapping mechanism 205 in a transmission connection.

[0041] Specifically, the walking motor 301 drives the drive shaft 302 to rotate, and transmits the power to the tapping mechanism 205 via the driven shaft 215. The tapping mechanism 205 drives the upper massage head curved arm 2045 to move through the transmission structure. As the upper massage head curved arm 2045 rotates with the kneading shaft 2041, the reciprocating motion of the tapping mechanism 205 is superimposed, so that the upper massage head curved arm 2045 can complete both the circumferential kneading motion driven by the kneading shaft 2041 and the up-and-down tapping function provided by the tapping mechanism 205, achieving a combined kneading and tapping massage effect. This structural design integrates walking power and massage function through the driven shaft 215, allowing the massage mechanism to perform diverse massage movements simultaneously during movement, enhancing the massage's layering and comfort. At the same time, the compact transmission layout also optimizes the space utilization of the mechanism.

[0042] As one possible implementation method, such as Figures 1 to 10 As shown, a sliding shaft 206 is also provided between the two mounting plates. The kneading mechanism 204 also includes a lower massage head rod 2047 provided on the kneading shaft 2041. A sliding groove is provided on the lower massage head rod 2047, and the sliding shaft 206 passes through the sliding groove. The two sides of the eccentric swing wheel are connected to the upper massage head curved arm 2045 and the lower massage head rod 2047, respectively.

[0043] It should be noted that a sliding shaft 206 is provided between the two mounting plates to guide the movement of related components. The kneading mechanism 204 includes a lower massage head push rod 2047 mounted on the kneading shaft 2041. The lower massage head push rod 2047 has a groove, and the sliding shaft 206 passes through the groove, allowing the lower massage head push rod 2047 to slide along the axial direction of the sliding shaft 206. Meanwhile, the two sides of the eccentric swing wheel are respectively connected to the upper massage head curved arm 2045 and the lower massage head push rod 2047, forming a linkage structure. When the eccentric swing wheel rotates, it drives the upper massage head curved arm 2045 and the lower massage head top rod 2047 to move synchronously. The upper massage head curved arm 2045 produces up-and-down or swing displacement, while the lower massage head top rod 2047 slides back and forth on the sliding shaft 206 with the help of the sliding groove. Ultimately, the two work together to simulate the pushing and rotating motion of human hand kneading.

[0044] The sliding shaft 206 passes through the groove, providing a stable movement trajectory for the lower massage head rod 2047 and preventing it from wobbling or shifting during operation. Simultaneously, the eccentric swing wheel, as the core of the linkage, evenly transmits power to the upper massage head arm 2045 and the lower massage head rod 2047 via connections on both sides, reducing structural wear caused by uneven force distribution and ensuring the stability of the kneading mechanism 204 during long-term operation, thus lowering the probability of failure. By adjusting the eccentricity and rotation speed of the eccentric swing wheel, in conjunction with the sliding stroke of the sliding shaft 206, the range and intensity of the upper and lower massage heads can be flexibly changed. For example, increasing the eccentricity enhances the kneading force, and adjusting the position of the sliding shaft 206 changes the effective range of the massage heads, thereby meeting the personalized needs of different users for massage intensity and areas, and improving the applicability of the equipment.

[0045] As one possible implementation method, such as Figures 4 to 8 As shown, there are two eccentric balance wheels: an eccentric balance wheel 2042 on the left and an eccentric balance wheel 2043 on the right. As... Figure 5 As shown, the fixed pin of the eccentric eccentric wheel 2042 on the left side is limited on one side, so that when the kneading motor 208 reverses, the kneading shaft 2041 first rotates 180 degrees free-spinning, and then drives the eccentric eccentric wheel 2042 on the left side to rotate; as Figure 6 As shown, the eccentric eccentric wheel 2043 on the right side has a double-sided limiting mechanism at its fixing pin, so that the eccentric eccentric wheel 2043 on the right side rotates synchronously with the kneading shaft 2041; as Figure 8 As shown, taking the eccentric swing wheel 2043 located on the right as an example, the rotation axis of the eccentric swing wheel 2043 (i.e., the second assembly surface 2049) has a first eccentric distance and a preset angle with the rotation axis of the kneading shaft 2041, and the rotation axis of the lower massage head rod 2047 (i.e., the first assembly surface 2048) has a second eccentric distance with the rotation axis of the kneading shaft 2041.

[0046] It should be noted that the rotation axis of the eccentric eccentric wheel 2043 (i.e., the second mounting surface 2049) is not completely coincident with the rotation axis of the kneading shaft 2041. Instead, there is a first eccentricity and a preset angle. This means that the rotation center of the eccentric eccentric wheel 2043 is a certain distance (i.e., the first eccentricity) in the horizontal direction relative to the center of the kneading shaft 2041, and the rotation axes of the two are at a certain angle in space (i.e., the preset angle), forming an inclined intersecting state. In addition, there is also a second eccentricity between the rotation axis of the lower massage head rod 2047 (i.e., the first mounting surface 2048) and the rotation axis of the kneading shaft 2041. That is, the rotation center of the lower massage head rod 2047 is also offset from the center of the kneading shaft 2041 in the horizontal direction (i.e., the second eccentricity).

[0047] The first eccentricity causes the eccentric pendulum wheel to oscillate radially when rotating, while the preset angle adds a tilting component to its movement. Combined with the offset of the lower massage head rod 2047 caused by the second eccentricity, the eccentric pendulum wheel generates a composite motion of radial offset and angular tilt during rotation. This, in turn, drives the lower massage head rod 2047 and the upper massage head curved arm 2045 through a linkage structure to produce more complex motion trajectories, more closely resembling the multi-dimensional movements of human hand kneading. This allows for more comprehensive stimulation of muscle tissue, enhancing the depth and comfort of the massage. This structure allows for relative displacement and angular changes in the various components during movement, reducing rigid constraints in mechanical transmission, lowering frictional losses between components, and making the entire kneading mechanism 204 more flexible, adapting to the dynamic needs of different massage scenarios.

[0048] As one possible implementation method, such as Figure 3 As shown, the kneading mechanism 204 also includes a kneading motor 208 mounted on one of the mounting plates (such as mounting plate 202) and a kneading reduction assembly 209 connected to the kneading motor 208. The kneading motor 208 is connected to the kneading shaft 2041 via the kneading reduction assembly 209.

[0049] It should be noted that the kneading mechanism 204 includes a kneading motor 208 mounted on one of the mounting plates (such as mounting plate 202). The kneading motor 208 converts electrical energy into mechanical energy to output rotational power. The kneading reduction assembly 209 connected to the kneading motor 208 can be composed of transmission components such as gear sets or pulleys. The high-speed rotational power output by the kneading motor 208 is first transmitted to the kneading reduction assembly 209. After the reduction assembly reduces the speed and increases the torque, it is then transmitted to the kneading shaft 2041. This transmission design allows the kneading shaft 2041 to rotate at a speed and torque more suitable for massage needs, thereby driving the eccentric swing wheel, massage head, and other components to complete the kneading action.

[0050] As one possible implementation method, such as Figure 9 As shown, the tapping mechanism 205 includes a tapping shaft 2051 and a connecting rod 2053, an eccentric block 2054 and a ball head assembly 2055 disposed on the tapping shaft 2051. The tapping shaft 2051 is connected to the driven shaft 215 through the connecting rod 2053. The ball head assembly 2055 includes a bearing seat and a ball head connecting rod 2053. The eccentric block 2054 is connected to the bearing seat, and the ball head connecting rod 2053 is connected to the upper massage head curved arm 2045.

[0051] It should be noted that the striking mechanism 205 includes a striking shaft 2051, a connecting rod 2053, an eccentric block 2054, and a ball head assembly 2055. The striking shaft 2051 is connected to the driven shaft 215 via the connecting rod 2053, forming a power transmission path so that the rotation of the driven shaft 215 can drive the connecting rod 2053 to swing, thereby driving the striking shaft 2051 to rotate. The eccentric block 2054 is fixed on the striking shaft 2051. When the striking shaft 2051 rotates, the centrifugal force generated due to the shift of the center of gravity forms the power source for striking. The ball joint assembly 2055 includes a bearing housing and a ball joint connecting rod 2053 that are interconnected (e.g., hinged). An eccentric block 2054 is connected to the bearing housing. When the eccentric block 2054 rotates, it drives the ball joint connecting rod 2053 to move through the bearing housing. Since the other end of the ball joint connecting rod 2053 is connected to the upper massage head curved arm 2045 (i.e., spherical connection), the rotation of the eccentric block 2054 can be converted into a reciprocating striking motion of the upper massage head curved arm 2045. In the above structure, the bearing housing plays a supporting and guiding role, ensuring the flexible movement of the ball joint connecting rod 2053, avoiding rigid friction, and reducing frictional loss between components.

[0052] As one possible implementation method, such as Figure 9 As shown, the striking mechanism 205 also includes a striking motor 212 mounted on another mounting plate (such as mounting plate 201) and a striking speed reduction assembly 213 connected to the striking motor 212. The striking motor 212 is connected to the striking shaft 2051 through the striking speed reduction assembly 213.

[0053] It should be noted that the tapping mechanism 205 also includes a tapping motor 212 mounted on another mounting plate (such as mounting plate 201). The tapping motor 212 converts electrical energy into mechanical energy to output rotational power. The tapping motor 212 is connected to a tapping reduction assembly 213, which can be composed of transmission components such as gear sets or pulleys. The high-speed rotational power output by the tapping motor 212 is first reduced in speed and increased in torque by the tapping reduction assembly 213 before being transmitted to the tapping shaft 2051. Through the above transmission design, the tapping shaft 2051 can rotate at a speed and torque that better meets the needs of massage, thereby driving components such as the eccentric block 2054 and the ball head assembly 2055 to complete the tapping action, ensuring the controllability of the tapping force and frequency.

[0054] As one possible implementation method, such as Figure 1 , Figure 2 and Figure 11 As shown, the massage mechanism also includes a push mechanism 4 mounted on the support frame 1. The push mechanism 4 is connected to the mounting plate (such as mounting plate 201), and the rotation axis of the push mechanism 4 is perpendicular to the rotation axis of the driven shaft 215. The push mechanism 4 is used to drive the kneading mechanism 204 and the tapping mechanism 205 to move along the rotation axis of the push mechanism 4 through the mounting plate.

[0055] It should be noted that the massage mechanism also includes a pushing mechanism 4, which is mounted on the support frame 1 and connected to the mounting plate (such as mounting plate 201). The rotation axis of the pushing mechanism 4 and the rotation axis of the driven shaft 215 are perpendicular to each other. This spatial arrangement makes the direction of movement of the pushing mechanism 4 form a 90-degree angle with the direction of rotation of the driven shaft 215. When the pushing mechanism 4 is activated, it rotates or oscillates around its own rotation axis, driving the entire kneading mechanism 204 and the tapping mechanism 205 to move along the rotation axis of the pushing mechanism 4 through its connection with the mounting plate (such as mounting plate 201). This design allows the massage head assembly to expand its range of motion in three-dimensional space, no longer limited to single-plane movements, thus achieving more flexible massage coverage.

[0056] As one possible implementation method, such as Figure 11 As shown, the pushing mechanism 4 includes a pushing motor 401, a lead screw 406 that is driven by the pushing motor 401, and a slider 408 disposed on the lead screw 406. The pushing motor 401 drives the lead screw 406 to rotate, so that the slider 408 moves relative to the lead screw 406. Similarly, a pushing motor reduction assembly 403 can be disposed between the pushing motor 401 and the lead screw 406, which will not be described in detail here.

[0057] It should be noted that the pushing mechanism 4 includes a pushing motor 401, a lead screw 406, and a slider 408. The pushing motor 401 is mounted on the support frame 1 and serves as a power source to output rotational power. The lead screw 406 is connected to the pushing motor 401 via a transmission connection (such as through gears, couplings, etc.). When the pushing motor 401 operates, it drives the lead screw 406 to rotate around its axis. The slider 408 is sleeved on the lead screw 406 and has a nut structure inside that matches the thread of the lead screw 406. When the lead screw 406 rotates, the engagement of the thread converts the rotational motion into linear motion of the slider 408. Therefore, when the lead screw 406 rotates clockwise or counterclockwise, the slider 408 will move forward or backward along the axial direction of the lead screw 406. The slider 408 can be fixed to the mounting plate (such as mounting plate 201) by a connector. In this way, the linear movement of the slider 408 will drive the mounting plate (such as mounting plate 201) and the kneading mechanism 204 and the tapping mechanism 205 connected thereto to move synchronously, so as to realize the position adjustment along the axis of the pushing mechanism 4.

[0058] This application also provides a massage device, including the massage mechanism described above. Since the structure and beneficial effects of the massage mechanism have been described in detail in the foregoing embodiments, they will not be repeated here.

[0059] 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.

[0060] It should also be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this application will not describe the various possible combinations separately.

Claims

1. A massage mechanism, characterized in that, The device includes a support frame and a kneading mechanism and a traveling mechanism mounted on the support frame. The traveling mechanism drives the support frame to move, thereby driving the kneading mechanism to move synchronously. The kneading mechanism includes a kneading shaft and an eccentric eccentric wheel mounted on the kneading shaft. A damping element is provided between the kneading shaft and the eccentric eccentric wheel.

2. The massage mechanism according to claim 1, characterized in that, The walking mechanism includes a walking motor and a drive shaft. A driven shaft is provided on the support frame. The walking motor, the drive shaft, and the driven shaft are connected in sequence. Two mounting plates and a tapping mechanism are provided on the driven shaft. The kneading shaft is installed between the two mounting plates. The kneading mechanism also includes an upper massage head curved arm provided on the kneading shaft. The tapping mechanism is drivenly connected to the upper massage head curved arm.

3. The massage mechanism according to claim 2, characterized in that, A sliding shaft is also provided between the two mounting plates. The kneading mechanism also includes a lower massage head rod provided on the kneading shaft. A sliding groove is provided on the lower massage head rod, and the sliding shaft passes through the sliding groove. The two sides of the eccentric swing wheel are respectively connected to the upper massage head arm and the lower massage head rod.

4. The massage mechanism according to claim 3, characterized in that, The rotation axis of the eccentric swing wheel has a first eccentric distance and a preset angle with the rotation axis of the kneading shaft, and the rotation axis of the lower massage head rod has a second eccentric distance with the rotation axis of the kneading shaft.

5. The massage mechanism according to claim 2, characterized in that, The kneading mechanism also includes a kneading motor mounted on one of the mounting plates and a kneading speed reduction assembly connected to the kneading motor. The kneading motor is connected to the kneading shaft via the kneading speed reduction assembly.

6. The massage mechanism according to claim 2, characterized in that, The tapping mechanism includes a tapping shaft and a connecting rod, an eccentric block, and a ball head assembly disposed on the tapping shaft. The tapping shaft is connected to the driven shaft through the connecting rod. The ball head assembly includes a bearing seat and a ball head connecting rod. The eccentric block is connected to the bearing seat, and the ball head connecting rod is connected to the upper massage head curved arm.

7. The massage mechanism according to claim 6, characterized in that, The striking mechanism also includes a striking motor mounted on another mounting plate and a striking speed reduction assembly connected to the striking motor. The striking motor is connected to the striking shaft via the striking speed reduction assembly.

8. The massage mechanism according to claim 2, characterized in that, It also includes a pushing mechanism disposed on the support frame, the pushing mechanism being connected to the mounting plate, and the rotation axis of the pushing mechanism being perpendicular to the rotation axis of the driven shaft. The pushing mechanism is used to drive the kneading mechanism and the tapping mechanism to move along the rotation axis of the pushing mechanism through the mounting plate.

9. The massage mechanism according to claim 8, characterized in that, The pushing mechanism includes a push motor, a lead screw that is driven by the push motor, and a slider disposed on the lead screw. The push motor is used to drive the lead screw to rotate so that the slider moves relative to the lead screw.

10. A massage device, characterized in that, Includes the massage mechanism as described in any one of claims 1 to 9.

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