Simulation massage device and rehabilitation physiotherapy robot

Abstract

The utility model discloses a simulation massage device and a rehabilitation physiotherapy robot, the simulation massage device comprises a mounting seat, a movable seat, a first driving mechanism and a simulation massage module, the movable seat is movably mounted on the mounting seat along the vertical direction; the first driving mechanism is in driving connection with the movable seat; the simulation massage module comprises a simulation massage piece and a second driving mechanism, the simulation massage piece is rotatably installed on the movable seat around the axis extending in the vertical direction, and the second driving mechanism is in driving connection with the simulation massage piece. According to the utility model, the first driving mechanism drives the movable seat and the simulation massage module to integrally move along the vertical direction, so that the distance and the pressing force between the simulation massage piece and the part to be massaged can be flexibly adjusted according to actual requirements; and the second driving mechanism can drive the simulation massage piece to do circular motion, that is, the hand is simulated to rub and press the to-be-massaged part, the simulation massage device forms at least two pressing modes and massage forces, and the body feeling comfort of the user can be improved.

Description

Technical Field

[0001] This utility model relates to the field of simulation massage device technology, specifically to a simulation massage device and a rehabilitation therapy robot. Background Technology

[0002] Massage robots are automated devices designed to provide massage services. They can mimic the techniques of human massage therapists, offering benefits such as muscle relaxation, stress relief, and improved blood circulation. However, the design and technological complexity of massage robots on the market vary greatly. Some can only perform simple tapping motions, with relatively limited massage intensity and modes, resulting in low user comfort and a poor user experience. Utility Model Content

[0003] The main purpose of this invention is to propose a simulated massage device and a rehabilitation therapy robot, which aims to solve the problem that the massage intensity and modes of traditional massage robots are limited, resulting in a reduced user experience.

[0004] To achieve the above objectives, this utility model proposes a simulated massage device, comprising:

[0005] Mounting base, used for mounting to the body of the rehabilitation therapy robot;

[0006] A movable base is vertically and movably mounted on the mounting base;

[0007] A first drive mechanism is disposed on the mounting base and is drively connected to the movable base; and,

[0008] A simulated massage module includes a simulated massage component and a second drive mechanism. The simulated massage component is rotatably mounted on the movable seat about an axis extending vertically, and the second drive mechanism is drivenly connected to the simulated massage component.

[0009] Optionally, the simulated massage component can also be vertically movable relative to the movable seat;

[0010] The movable seat has a first vertical displacement stroke relative to the mounting seat, and the simulated massage component has a second vertical displacement stroke relative to the movable seat, wherein the second vertical displacement stroke is less than the first vertical displacement stroke.

[0011] Optionally, the simulated massage component includes:

[0012] The substrate, the outer surface of which includes a first surface and a second surface connected to each other, the first surface extending in a flat plane and connected to the second driving mechanism, the second surface extending in a convex arc shape and used to contact the area to be massaged; and,

[0013] An elastic structural layer covers at least the outer side of the second surface.

[0014] Optionally, the second surface includes at least two connected abutment segments, each of which is arc-shaped and the arc of the at least two abutment segments is different.

[0015] Optionally, the substrate may have at least one contoured protrusion formed on a portion of the second surface, and the elastic structural layer may be adapted to the shape of the contoured protrusion.

[0016] Optionally, the simulated massage component further includes:

[0017] A force sensor, disposed on the second surface and covered by the elastic structure layer; and / or,

[0018] A temperature regulating device is disposed on the second surface and is used to regulate the temperature value at the second surface.

[0019] Optionally, the simulated massage device further includes a force sensor, which includes at least two sensing parts, each of which is oriented differently.

[0020] Optionally, the second drive mechanism includes:

[0021] The first transmission component is suspended vertically below the movable seat;

[0022] The second transmission component is suspended vertically below the movable seat and is fixedly connected to the simulated massage component, with an movable gap formed between the second transmission component and the first transmission component;

[0023] The second driver includes a second driving body and a second output shaft. The second driving body is fixedly mounted on the movable seat, and the second output shaft is rotatable about an axis extending vertically.

[0024] The drive gear is rotatably mounted on the first transmission member via a first shaft and a first bearing, and is located between the first transmission member and the movable seat. The first shaft is coaxially connected to the output shaft.

[0025] At least one driven gear is rotatably mounted on the first transmission member via a second shaft and a second bearing, and is located between the first transmission member and the movable seat. The driven gear meshes with the driving gear to be driven by the driving gear to rotate about its own axis; and...

[0026] An eccentric component is located at the movable gap and is fixedly connected to the second transmission component. The eccentric component is coaxially connected to the second shaft so that it can be driven by the driven gear to rotate eccentrically around its own axis.

[0027] Optionally, the mounting base includes two first seats spaced vertically apart and a second seat connecting the two first seats. The movable seat has a threaded hole extending vertically. One of the mounting base and the movable seat has a guide rod extending vertically, and the other has a guide hole. The guide rod and the guide hole are slidably connected. One of the second seat and the movable seat has a sliding groove, and the other has a sliding protrusion. The sliding groove extends vertically and is slidably connected to the sliding protrusion.

[0028] The first driving mechanism includes:

[0029] The first driver includes a first driving body and a first output shaft. The first driving body is fixedly mounted on the first base, and the first output shaft is rotatable about an axis extending vertically.

[0030] A lead screw, coaxially connected to the first output shaft, is driven by the first output shaft to rotate about its own axis; the lead screw is threadedly connected to the threaded hole; and...

[0031] A displacement sensor is disposed on the movable seat and is used to sense the displacement of the movable seat.

[0032] Furthermore, to achieve the above objectives, this utility model also provides a rehabilitation therapy robot, including a body and a simulated massage device, wherein the simulated massage device is disposed on the body, and the simulated massage device includes:

[0033] Mounting base, used for mounting to the body of the rehabilitation therapy robot;

[0034] A movable base is vertically and movably mounted on the mounting base;

[0035] A first drive mechanism is disposed on the mounting base and is drively connected to the movable base; and,

[0036] A simulated massage module includes a simulated massage component and a second drive mechanism. The simulated massage component is rotatably mounted on the movable seat about an axis extending vertically, and the second drive mechanism is drivenly connected to the simulated massage component.

[0037] In the technical solution provided by this utility model, the first driving mechanism drives the movable seat and the simulated massage module to move vertically as a whole. During its movement, the distance between the simulated massage component and the area to be massaged, as well as the pressure, can be flexibly adjusted according to actual needs. The second driving mechanism can drive the simulated massage component to make circular motion, that is, simulate the kneading and pressing of the fingers, palms, or elbows on the area to be massaged. This allows the simulated massage device to form at least two pressing modes and at least two massage intensities, making the massage process of the simulated massage device closer to human manual massage, which helps to improve the user's physical comfort and achieve a better massage effect. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0039] Figure 1 A perspective view of an embodiment of the simulated massage device provided by this utility model;

[0040] Figure 2 for Figure 1 A 3D schematic diagram of a simulated massage module;

[0041] Figure 3 for Figure 1 A schematic diagram showing the main structure of the simulated massage module;

[0042] Figure 4 for Figure 3 Assembly diagram of the driving gear and driven gear;

[0043] Figure 5 for Figure 3 A cross-sectional structural diagram of a simulated massage device;

[0044] Figure 6 for Figure 1 A three-dimensional schematic diagram of the first driving structure.

[0045] Explanation of icon numbers:

[0046] 100 Mounting base; 110 First seat body; 120 Second seat body; 200 Movable seat; 210 Main seat body; 211 Threaded hole; 220 Extension seat body; 221 First through hole; 300 First drive mechanism; 310 First driver; 320 Lead screw; 330 Displacement sensor; 331 Fixed sensing part; 332 Movable sensing part; 400 Simulated massage module; 410 Simulated massage component; 410a First surface; 410b Second surface; 411 Base; 412 Elastic structural layer; 413 Contouring protrusion; 414 Force sensor; 41 5 Temperature regulating device; 420 Second drive mechanism; 421 First transmission component; 421a First shaft hole; 421b Second shaft hole; 422 Second transmission component; 423 Second driver; 423a Second drive body; 423b Second output shaft; 424a Drive gear; 424b First shaft; 424c First bearing; 425a Driven gear; 425b Second shaft; 425c Second bearing; 426 Eccentric component; 511 Guide rod; 512 Guide hole; 521 Support rod; 522 Assembly hole; 531 Slide groove; 532 Slide protrusion.

[0047] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0048] 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.

[0049] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0050] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0051] Please see Figures 1 to 6 This utility model provides a simulated massage device and an applicable rehabilitation therapy robot. The rehabilitation therapy robot may include a body in addition to the simulated massage device. The specific form of the body is not limited; it may be, but is not limited to, a seat, a recliner, or a bed.

[0052] It should be noted that in the following embodiments, the rehabilitation therapy robot is described using the example of two vertical, horizontal, and longitudinal axes arranged in a crisscrossing pattern. In a specific application of the rehabilitation therapy robot, the vertical axis corresponds to the direction of gravity and has upward and downward axes arranged opposite each other; the horizontal and longitudinal axes are roughly perpendicular, and the plane in which they lie is perpendicular to the direction of gravity.

[0053] Specifically, the simulated massage device includes a mounting base 100, a movable base 200, a first drive mechanism 300, and a simulated massage module 400. The mounting base 100 is used to mount onto the body of a rehabilitation therapy robot; the movable base 200 is vertically movably mounted on the mounting base 100; the first drive mechanism 300 is located on the mounting base 100 and is drivenly connected to the movable base 200; the simulated massage module 400 includes a simulated massage component 410 and a second drive mechanism 420. The simulated massage component 410 is rotatably mounted on the movable base 200 about a vertically extending axis, and the second drive mechanism 420 is drivenly connected to the simulated massage component 410.

[0054] In the technical solution provided by this utility model, the first driving mechanism 300 drives the movable seat 200 and the simulated massage module 400 to move vertically as a whole. During its movement, the distance and pressure between the simulated massage component 410 and the area to be massaged can be flexibly adjusted according to actual needs. The second driving mechanism 420 can drive the simulated massage component 410 to make circular motion, that is, simulate the kneading and pressing of the fingers, palms or elbows on the area to be massaged. This makes the simulated massage device form at least two pressing modes and at least two massage intensities, and makes the massage process of the simulated massage device more similar to human manual massage, which helps to improve the user's physical comfort and achieve a better massage effect.

[0055] In this design, the device typically provides a placement area. This area is defined, for example, by a recliner or bed, and is where the user's desired massage area can be placed. The massage area can be, but is not limited to, the user's back, legs, buttocks, neck, etc. The simulated massage device is generally suspended above the massage area.

[0056] Depending on the actual needs, the simulated massage device can be fixed relative to the main body. This means the simulated massage device primarily massages the same area of ​​the user; or the user needs to adjust and move different areas to be massaged to the placement area. Alternatively, the simulated massage device can be set to be movable relative to the main body, allowing it to be moved to different areas of the user without requiring user movement, providing greater flexibility. The direction and form of the relative movement between the simulated massage device and the main body are not limited; it can be a translational movement along at least one of the vertical, horizontal, and longitudinal axes; or it can be a rotational movement about at least one of the vertical, horizontal, and longitudinal axes.

[0057] In practical applications, the mounting base 100 is used to fix the simulated massage device to the machine body. The mounting base 100 can be configured as one or more of the following structures, such as a plate-like structure, a block-like structure, a box-like structure, or a frame-like structure, depending on actual needs. Furthermore, the mounting base 100 can be configured as a single unit structure or as an assembly of at least two unit structures, without limitation. Figure 1 and Figure 6 In the structure shown, the mounting base 100 may include two first base bodies 110 arranged vertically at intervals, and a second base body 120 connected between the two first base bodies 110. The second base body 120 extends vertically in an elongated shape and is disposed on the same longitudinal side of the two first base bodies 110. The two first base bodies 110 and the second base body 120 together enclose and define a U-shaped space, which can reserve sufficient space between the two first base bodies 110 for the movable base 200 to perform vertical displacement.

[0058] Similarly, in practical applications, the movable seat 200 is used to movably mount the simulated massage module 400 to the mounting base 100. The movable seat 200 can be configured as one or more of the following structures, such as a plate-like structure, a block-like structure, a box-like structure, or a frame-like structure, depending on actual needs. Furthermore, the movable seat 200 can be configured as a single unit structure or assembled from at least two unit structures, depending on actual needs. There are no limitations. For example... Figures 1 to 5 As shown, the movable seat 200 may include a main seat body 210 and an extension seat body 220. The main seat body 210 is movably installed within the aforementioned U-shaped space, and the extension seat body 220 is connected to the main seat body 210 and extends longitudinally beyond the aforementioned U-shaped space, reserving sufficient space for the aforementioned simulated massage module 400 to be installed.

[0059] To achieve the vertical movement of the movable seat 200, the first drive mechanism 300 can have various designs. And in cases such as... Figures 1 to 6 In the structure shown, the first drive mechanism 300 includes a first driver 310 and a lead screw 320. For example, the main body 210 of the movable seat 200 has a threaded hole 211 extending vertically, forming a nut structure. The first driver 310 includes a first drive body and a first output shaft. The first drive body is fixedly mounted on the first seat 110, and the first output shaft extends vertically below the first drive body and is rotatable about its vertically extending axis. The lead screw 320 is coaxially connected to the first output shaft, and the two can be directly anti-rotationally connected via an inner and outer coupling; alternatively, the lead screw 320 and the first output shaft can be anti-rotationally connected via a structure such as a coupling. Thus, when the first drive body drives the first output shaft to rotate about its own axis, it can synchronously drive the lead screw 320 to rotate about its own axis. The lead screw 320 is threadedly connected to the threaded hole 211 at the main seat 210, so that when the lead screw 320 rotates about its own axis, it can synchronously drive the main seat 210 to perform a vertical translational movement.

[0060] To ensure a smoother vertical movement of the main seat 210 relative to the mounting base 100, in one embodiment, one of the mounting base 100 components, such as the second seat 120 and the movable seat 200, is provided with a groove 531, and the other is provided with a sliding protrusion 532. The groove 531 extends vertically and is slidably connected to the sliding protrusion 532. For example... Figure 6As shown, the second seat 120 is provided with a sliding protrusion 532, or the second seat 120 directly forms a slide rail, on which the sliding protrusion 532 protrudes. The sliding protrusion 532 extends vertically in an elongated shape. The main seat 210 has a sliding groove 531 directly formed on the side facing the second seat 120, or it is detachably connected to the block structure with the sliding groove 531. In this way, when the sliding groove 531 is driven to slide along the sliding protrusion 532, under the accurate guidance of the sliding protrusion 532, the main seat 210 can move more accurately in the vertical direction and the movement process is more stable.

[0061] Furthermore, in one embodiment, one of the mounting base 100 and the movable base 200 is provided with a guide rod 511 in a vertical direction, while the other is provided with a guide hole 512, and the guide rod 511 and the guide hole 512 are slidably connected. Specifically, for example... Figure 6 As shown, a guide hole 512 is vertically provided at the movable seat 200, and a guide rod 511 is fixed between the two first seats 110. The guide rod 511 can be integrally formed with the two first seats 110, or it can be detachably or non-detachably connected after separate forming. For example, slots can be provided at the two first seats 110, and the two ends of the guide rod 511 can be fixedly held in the two slots. When the movable seat 200 is driven to move vertically, the guide hole 512 and the guide rod 511 will have a relative sliding stroke, achieving accurate guidance and limiting of the movable seat 200.

[0062] Furthermore, based on the above embodiments, the simulated massage device may further include a displacement sensor 330, which is disposed on the movable seat 200 and used to sense the displacement of the movable seat 200. The displacement sensor 330 can operate its sensing function independently. Alternatively, the displacement sensor 330 may be electrically connected to a control device (e.g., fixed in a rehabilitation therapy robot). Then, under the control of the control device, the displacement sensor 330 and the first drive mechanism 300 cooperate with each other.

[0063] The specific coordination method can be as follows: when the control device automatically or manually triggers a demand command according to user needs, indicating that the simulated massage module 400 needs to be moved to a preset position at a preset distance from the area to be massaged via the movable seat 200, the control device can send the demand command to the displacement sensor 330 and control the first drive mechanism 300 to start running. Then, when the first drive mechanism 300 moves the movable seat 200 to the preset position, the displacement sensor 330 triggers a sensing signal, instructing the control device to stop the first drive mechanism 300.

[0064] The specific form of the displacement sensor 330 is not limited, for example... Figure 6In the structure shown, the displacement sensor 330 includes a fixed sensing part 331 and a movable sensing part 332. The fixed sensing part 331 extends vertically in an elongated shape and is positioned at the second base 120. The extension range of the fixed sensing part 331 essentially determines the maximum vertical displacement range of the movable base 200 driven by the first drive mechanism 300. The movable sensing part 332 is fixed relative to the movable base 200 and can be moved by the movable base 200 to sense at various positions along the vertical direction of the fixed sensing part 331, thereby determining the current position of the movable base 200. Both the fixed sensing part 331 and the movable sensing part 332 can be constructed using magnetic structures, such as electromagnets.

[0065] Please refer to the following: Figures 2 to 5 In this design, the simulated massage component 410 primarily achieves the purpose of massaging the user's area by generating a relative force through contact with the area to be massaged. In one embodiment, the simulated massage component 410 includes a base 411 and an elastic structural layer 412. The outer surface of the base 411 includes a first surface 410a and a second surface 410b connected to each other. The first surface 410a extends in a flat plane and is connected to the second drive mechanism 420. The second surface 410b extends in a convex arc shape and is used to contact the area to be massaged. The elastic structural layer 412 at least covers the outer side of the second surface 410b.

[0066] The stiffness of the substrate 411 is set to be greater than that of the elastic structural layer 412, thereby enabling the substrate 411 to form sufficient structural strength and provide structural support for the elastic structural layer 412, ensuring that sufficient force can be transmitted during the massage of the area to be massaged by the simulated massage component 410. Specifically, the substrate 411 can be made directly of an elastic material. Alternatively, the substrate 411 can also be made of an elastic material, but the elastic modulus of the elastic material used to prepare the substrate 411 is greater than that of the elastic material used to prepare the elastic structural layer 412.

[0067] Furthermore, the substrate 411 can be a solid structure or a hollow structure with at least a partially formed cavity. In one embodiment, when the interior of the substrate 411 is hollow, the cavity can be used, for example, to store liquids needed during the massage process, such as massage oils or care products. The cavity extends through the second surface 410b of the substrate 411 and the elastic structural layer 412, forming a liquid outlet channel at the penetration point. This liquid outlet channel can be controlled to open or close, for example, by a valve structure. Thus, when it is necessary to apply something, such as massage oil, during the massage process, the liquid outlet channel can be opened; conversely, when it is not necessary to apply massage oil, the liquid outlet channel can be closed.

[0068] The elastic structure layer 412 covers the second surface 410b, ensuring that all surfaces of the simulated massage element 410 that may come into contact with the area to be massaged are covered with the elastic structure layer 412. By utilizing the elastic properties of the elastic structure layer 412, the softness and resilience of the human hand can be simulated, making the pressure on the area to be massaged more comfortable and safer. When the elastic structure layer 412 covers the second surface 410b, the elastic modulus of the elastic structure layer 412 can be set to remain consistent across the entire second surface 410b; or, depending on actual needs, the elastic structure layer 412 can be set to exhibit different elastic moduli in different areas of the second surface 410b, thereby creating at least two areas with different massage sensations.

[0069] It should be noted that the first surface 410a of the substrate 411 is set as a flat surface, which allows for better connection with the second drive mechanism 420 and enables it to receive the driving force transmitted by the second drive mechanism 420 more evenly and stably. By setting the second surface 410b as a convex arc surface, it helps to more realistically simulate the human hand, palm, or elbow, improving the user's tactile comfort. Furthermore, the second surface 410b includes at least two connected abutment surface segments, each of which is arc-shaped, and the curvature of the at least two abutment surface segments is different. That is, the second surface 410b is not limited to being composed of a single convex arc surface; it can be composed of at least two different convex arc surfaces with different curvatures; or it can be composed of at least two convex arc surfaces with different curvatures and at least one concave arc surface. In this way, arc surfaces with different curvatures can simulate different force application points, such as the palm with a larger curvature and a relatively gentle arc, or the elbow with a smaller curvature and a relatively steep arc. In a specific application, by operating different contact sections of the simulated massage component 410 to contact the massaged area, different massage sensations can be changed, making the massage modes more diverse.

[0070] Furthermore, the substrate 411 forms at least one contoured protrusion 413 on a localized protrusion of the second surface 410b, and the elastic structural layer 412 is adapted to the shape of the contoured protrusion 413. For example, the curvature of any of the aforementioned contact surface segments can be set to be small and close to the shape of a human finger, thus forming the contoured protrusion 413. In this case, the contoured protrusion 413 can simulate the human body part it is contoured to provide targeted massage to the massaged area.

[0071] In addition, please see Figure 5 In a further embodiment, the simulated massage component 410 also includes a force sensor 414 and / or a temperature control device 415.

[0072] The force sensor 414 is located on the second surface 410b and is covered by the elastic structure layer 412. The force sensor 414 can sense the external force at its location, such as the magnitude of the massage force applied by the simulated massage element 410 to the massage area. This ensures that the massage force applied by the simulated massage element 410 to the massage area is more reasonable, and also detects abnormal massage force in a timely manner, making the massage force applied by the simulated massage element 410 to the massage area safer.

[0073] Force sensor 414 senses external force through its sensing element. The same force sensor 414 can have one or at least two sensing elements. When at least two sensing elements are used, the orientation of each sensing element can be the same, and they are arranged in regions on the second surface 410b to sense external force in different areas (e.g., the aforementioned contact surface segments). Alternatively, at least two of the sensing elements can have different orientations. This allows at least two sensing elements to sense external force applied in different directions, making the force sensor 414 more accurate and sensitive in sensing external force applied at various points on the simulated massage component 410.

[0074] The temperature regulating device 415 is located on the second surface 410b and is used to regulate the temperature value at the second surface 410b. The temperature regulating device 415 can be, but is not limited to, a heating device and / or a cooling device. The heating device can, for example, be a resistance heating device, an infrared heating device, or an induction heating device. The heating device can regulate the temperature of the simulated massage element 410, especially the second surface 410b, to a suitable temperature value, such as a temperature close to human body temperature, to prevent the simulated massage element 410 from being too cold when it touches the area to be massaged, thus avoiding a decrease in user comfort. The cooling device can, for example, be a liquid cooling device, a semiconductor cooling device, or a phase change material cooling device. The cooling device can regulate the temperature of the simulated massage element 410, especially the second surface 410b, to a suitable temperature value, especially when the area to be massaged is hot and swollen, the simulated massage element 410 can provide a moderate cooling and cooling effect.

[0075] The simulated massage element 410, driven by the second drive mechanism 420, can rotate at least around a vertically extending axis, simulating circumferential kneading of the area to be massaged. Furthermore, the simulated massage element 410 can also be vertically movable relative to the movable seat 200. The movable seat 200 has a first vertical displacement stroke relative to the mounting base 100, and the simulated massage element 410 has a second vertical displacement stroke relative to the movable seat 200, the second vertical displacement stroke being less than the first vertical displacement stroke. In other words, the first drive mechanism 300 drives the entire simulated massage module 400 to perform a vertical displacement with a relatively large stroke, equivalent to coarsely adjusting the distance between the simulated massage element 410 and the area to be massaged, thereby adjusting the pressure intensity during the massage process. This allows for adjustment of the massage intensity to match the optimal comfort level for different users based on their pressure conditions. The vertical movement of the simulated massage component 410 has a small stroke, which can simulate the human hand to apply moderate pressure to the area to be massaged. Combined with the above-mentioned circular motion, it forms a peristaltic movement, which can conform to the kneading form of the human hand to the area to be massaged.

[0076] Of course, the vertical movement of the simulated massage element 410 relative to the movable seat 200 can be achieved by a specially designed third drive mechanism. Alternatively, the vertical movement of the simulated massage element 410 relative to the movable seat 200 and its rotational movement relative to the movable seat 200 about a vertically extending axis can both be achieved by the second drive mechanism 420.

[0077] Specifically, please combine Figures 2 to 4In one embodiment, the second drive mechanism 420 includes a first transmission member 421, a second transmission member 422, a second driver 423, a drive gear 424a, at least one driven gear 425a, and an eccentric member 426. The first transmission member 421 is suspended vertically below the movable seat 200; the second transmission member 422 is suspended vertically below the movable seat 200 and fixedly connected to the simulated massage member 410, with a clearance between the second transmission member 422 and the first transmission member 421; the second driver 423 includes a second drive body 423a and a second output shaft 423b, the second drive body 423a being fixedly mounted on the movable seat 200, and the second output shaft 423b being rotatable about a vertically extending axis; the drive gear 424a is rotatably mounted on the first transmission member 421 via a first shaft 424b and a first bearing 424c, and is located at the first... Between the transmission component 421 and the movable seat 200, the first shaft 424b is coaxially connected to the output shaft; at least one driven gear 425a is rotatably mounted on the first transmission component 421 through the second shaft 425b and the second bearing 425c, and is located between the first transmission component 421 and the movable seat 200. The driven gear 425a meshes with the driving gear 424a, so as to be driven by the driving gear 424a to rotate around its own axis; the eccentric component 426 is provided at the movable gap and is fixedly connected to the second transmission component 422. The eccentric component 426 is coaxially connected to the second shaft 425b, so as to be driven by the driven gear 425a to rotate eccentrically around its own axis.

[0078] Specifically, the extension base 220 has a first through hole 221 extending vertically. The second drive body 423a is fixedly installed above the extension base 220, and then the second output shaft 423b passes through the first through hole 221 and extends downward.

[0079] To improve the structural stability between the first transmission component 421 and the movable seat 200 (i.e., the extension seat 220), mounting holes 522 can be made at corresponding positions on the first transmission component 421 and the extension seat 220. A support rod 521 is then provided between the first transmission component 421 and the movable seat 200, with both ends of the support rod 521 connected and fixed to the two mounting holes 522. The two mounting holes 522 and the support rod 521 constitute a support group, and at least two such support groups can be arranged around the outer periphery of the second output shaft 423b. Alternatively, the support rod 521 can be integrally formed with the first transmission component 421 and / or the extension seat 220, without limitation.

[0080] The second transmission component 422 is fixedly connected to the simulated massage component 410 to achieve linkage. As described above, the simulated massage component 410 has vertical displacement. Therefore, by leaving a sufficient clearance between the first transmission component 421 and the second transmission component 422, interference between the simulated massage component 410 and the second transmission component 422 and the first transmission component 421 when they move vertically can be effectively avoided.

[0081] The first transmission component 421 has a first shaft hole 421a passing through the mounting location of the driving gear 424a. A first shaft body 424b is rotatably mounted in the first shaft hole 421a via a first bearing 424c, and is directly or indirectly coaxially connected to the second output shaft 423b via a coupling. The driving gear 424a is coaxially mounted on the first shaft body 424b. The first transmission component 421 also has a second shaft hole 421b passing through the mounting location of the driven gear 425a. A second shaft body 425b is rotatably mounted in the second shaft hole 421b via a second bearing 425c. The driven gear 425a is coaxially mounted on the second shaft body 425b.

[0082] The eccentric component 426 is fixedly connected to the second transmission component 422, and the rotation axis of the eccentric component 426 is eccentrically set. Thus, when the second output shaft 423b rotates around its own axis, it can synchronously drive the driving gear 424a to rotate around its own axis via coaxial mounting, which in turn synchronously drives the driven gear 425a to rotate around its own axis via meshing, ultimately driving the eccentric component 426 to rotate eccentrically via coaxial mounting. During the eccentric rotation of the eccentric component 426, it can drive the simulated massage component 410 to perform circular motion, while also having a vertical vibration stroke.

[0083] It should be noted that the second shaft 425b, the second bearing 425c, the driven gear 425a, and the eccentric member 426 can be configured as one group or at least two groups. When at least two groups of the second shaft 425b, the second bearing 425c, the driven gear 425a, and the eccentric member 426 are configured, each group can be arranged around the outer periphery of the second output shaft 423b.

[0084] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A simulated massage device, characterized in that, include: Mounting base, used for mounting to the body of the rehabilitation therapy robot; A movable base is vertically and movably mounted on the mounting base; A first driving mechanism is disposed on the mounting base and is drivingly connected to the movable base; as well as, A simulated massage module includes a simulated massage component and a second drive mechanism. The simulated massage component is rotatably mounted on the movable seat about a vertically extending axis, and the second drive mechanism is drivenly connected to the simulated massage component.

2. The simulated massage device as described in claim 1, characterized in that, The simulated massage component can also be vertically movable relative to the movable seat; The movable seat has a first vertical displacement stroke relative to the mounting base, and the simulated massage component has a second vertical displacement stroke relative to the movable seat, wherein the second vertical displacement stroke is less than the first vertical displacement stroke.

3. The simulated massage device as described in claim 1, characterized in that, The simulated massage component includes: The substrate, the outer surface of which includes a first surface and a second surface connected to each other, the first surface extending in a flat plane and connected to the second driving mechanism, the second surface extending in a convex arc shape and used to contact the area to be massaged; and, An elastic structural layer covers at least the outer side of the second surface.

4. The simulated massage device as described in claim 3, characterized in that, The second surface includes at least two connected abutment segments, each of which is arc-shaped and the arc of the at least two abutment segments is different.

5. The simulated massage device as described in claim 3, characterized in that, The substrate has at least one contoured protrusion formed on a local protrusion on the second surface, and the elastic structural layer is adapted to the shape of the contoured protrusion.

6. The simulated massage device as described in claim 3, characterized in that, The simulated massage device also includes: A force sensor, disposed on the second surface and covered by the elastic structure layer; and / or, A temperature regulating device is disposed on the second surface and is used to regulate the temperature value at the second surface.

7. The simulated massage device as described in claim 3, characterized in that, The simulated massage device also includes a force sensor, which comprises at least two sensing parts, each of which is oriented differently.

8. The simulated massage device as described in claim 1, characterized in that, The second drive mechanism includes: The first transmission component is suspended vertically below the movable seat; The second transmission component is suspended vertically below the movable seat and is fixedly connected to the simulated massage component, with an movable gap formed between the second transmission component and the first transmission component; The second driver includes a second driving body and a second output shaft. The second driving body is fixedly mounted on the movable seat, and the second output shaft is rotatable about an axis extending vertically. The drive gear is rotatably mounted on the first transmission member via a first shaft and a first bearing, and is located between the first transmission member and the movable seat. The first shaft is coaxially connected to the output shaft. At least one driven gear is rotatably mounted on the first transmission member via a second shaft and a second bearing, and is located between the first transmission member and the movable seat. The driven gear meshes with the driving gear to be driven by the driving gear to rotate about its own axis; and... An eccentric component is located at the movable gap and is fixedly connected to the second transmission component. The eccentric component is coaxially connected to the second shaft so that it can be driven by the driven gear to rotate eccentrically around its own axis.

9. The simulated massage device as described in claim 1, characterized in that, The mounting base includes two first base bodies arranged vertically at intervals, and a second base body connecting the two first base bodies. The movable base has a threaded hole extending vertically. One of the mounting base and the movable base has a guide rod arranged vertically, and the other has a guide hole. The guide rod and the guide hole are slidably connected. One of the second base body and the movable base has a sliding groove, and the other has a sliding protrusion. The sliding groove extends vertically and is slidably connected and engaged with the sliding protrusion. The first driving mechanism includes: The first driver includes a first driving body and a first output shaft. The first driving body is fixedly mounted on the first base, and the first output shaft is rotatable about an axis extending vertically. A lead screw, coaxially connected to the first output shaft, is driven by the first output shaft to rotate about its own axis; the lead screw is threadedly connected to the threaded hole; and... A displacement sensor is disposed on the movable seat and is used to sense the displacement of the movable seat.

10. A rehabilitation therapy robot, characterized in that, It includes a body and a simulated massage device as described in any one of claims 1 to 9, wherein the simulated massage device is disposed on the body.

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