A humanoid hand massage device and massage robot

Abstract

The application relates to the technical field of massage equipment, in particular to an imitation human hand massage device and a massage robot, which comprises a first driving unit, a guide assembly and at least two massage modules movably arranged on the guide assembly; the first driving unit drives the massage modules to move along the guide path of the guide assembly, so as to realize any one of massage actions such as rubbing, kneading and stretching. The application can enrich the functions of the massage device, and can realize various massage functions without replacing the massage head.

Description

Technical Field

[0001] This application relates to the field of massage equipment technology, and more specifically, to a human-hand-like massage device and a massage robot. Background Technology

[0002] Physical massage is a common relaxation method that uses human hands or other mechanical devices to perform actions such as pinching, pressing, hammering, and kneading to achieve muscle relaxation. Currently, physical massage in robotic massage solutions is mainly achieved through the alternating use of various single massage heads. For example, fingertip massage heads provide acupressure, ball-shaped massage heads provide elbow pressure, and flat-bottomed massage heads provide palm pressure. However, its physical massage function is limited; each massage head can only achieve a single massage effect. Switching massage modes requires changing the massage head, therefore, current technology cannot achieve rapid switching between massage modes. Utility Model Content

[0003] The purpose of this application is to provide a human-hand-like massage device and a massage robot, which can enrich the functions of the massage device and achieve multiple massage functions without changing the massage head.

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

[0005] On one hand, this application provides a human hand-like massage device, including a first driving unit, a guide component, and at least two massage modules movably disposed on the guide component; the first driving unit drives the massage modules to move along the guide path of the guide component, for realizing any one of the massage actions of rubbing, squeezing, and stretching.

[0006] As an optional implementation, the guide assembly includes a first threaded rod; the first threaded rod has a first threaded segment and a second threaded segment arranged axially; the first threaded segment and the second threaded segment have opposite thread directions; the massage module is respectively provided on the first threaded segment and the second threaded segment; the first drive unit drives the first threaded rod to rotate, so as to drive the two massage modules to move away from or towards each other.

[0007] As an optional implementation, the guide assembly includes two second threaded rods; each second threaded rod is correspondingly provided with one of the massage modules, and the first drive unit drives the two second threaded rods to rotate, so as to drive the two massage modules to move closer or further apart from each other.

[0008] As an optional implementation, the two second threaded rods extend at a predetermined angle, and the two second threaded rods are arranged in a figure-eight shape.

[0009] As an optional implementation, the guide assembly includes a guide shaft and a linkage mechanism; the first drive unit drives the massage module to slide on the guide shaft through the linkage mechanism.

[0010] As an optional implementation, the massage module includes a second drive unit, a rotating part, and a massage part disposed on the rotating part; the rotating part is connected to the second drive unit, and the second drive unit drives the massage part to swing back and forth through the rotating part for kneading massage.

[0011] As an optional implementation, there are multiple massage parts, which are arranged circumferentially around the rotating part; the multiple massage parts include at least one spherical structure and at least one finger-like structure.

[0012] As an optional implementation, the rotating part is provided with a connecting arm, the other end of which extends radially along the rotating part and is connected to the massage part.

[0013] As an optional implementation, it also includes a protective shell; the first drive unit and the guide component are installed inside the protective shell; the protective shell has an opening whose extension path is consistent with the guide path of the guide component; the massage module extends to the outside of the protective shell through the opening.

[0014] On the other hand, this application provides a massage robot, including a robotic arm and the aforementioned humanoid hand massage device, wherein the end of the robotic arm is provided with a snap-fit ​​structure; and the humanoid hand massage device is provided with a quick-change flange connected to the snap-fit ​​structure.

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

[0016] This application provides a human-hand-like massage device, including a first driving unit, a guide assembly, and at least two massage modules movably disposed on the guide assembly. The first driving unit drives the massage modules to move along the guide path of the guide assembly, performing any one of the massage actions such as kneading, squeezing, and stretching. Compared to existing technologies, this application, by controlling at least two massage modules to move along the guide path of the guide assembly through the first driving unit, allows adjacent massage modules to move closer together for squeezing massage, or to move further apart for stretching massage, or to drive the massage modules to perform small-amplitude reciprocating movements along the guide path for kneading massage. Therefore, this application can achieve multiple massage functions without switching massage heads, effectively enriching the massage techniques of the massage device.

[0017] On the other hand, this application provides a massage robot, including a robotic arm and the aforementioned humanoid hand massage device. The end of the robotic arm is provided with a snap-fit ​​structure; the humanoid hand massage device is provided with a quick-change flange connected to the snap-fit ​​structure. Compared with the prior art, this application can enrich the functions of the massage device and realize multiple massage functions without changing the massage head. Attached Figure Description

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

[0019] Figure 1 This is one of the structural schematic diagrams of the human hand-like massage device according to an embodiment of this application;

[0020] Figure 2 This is a second schematic diagram of the structure of the human hand-like massage device according to an embodiment of this application;

[0021] Figure 3 This is the third schematic diagram of the structure of the human hand-like massage device according to an embodiment of this application;

[0022] Figure 4 This is the fourth schematic diagram of the structure of the human hand-like massage device according to an embodiment of this application;

[0023] Figure 5 This is the fifth schematic diagram of the human hand-like massage device according to an embodiment of this application.

[0024] Icons: 100-First drive unit; 101-Massage module; 102-First threaded rod; 103-First threaded segment; 104-Second threaded segment; 105-Second drive unit; 106-Rotating part; 107-Massage part; 108-Spherical structure; 109-Finger structure; 110-Connecting arm; 111-Protective shell; 112-Quick-change flange; 113-Guide assembly. Detailed Implementation

[0025] 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, and 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.

[0026] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0027] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0028] 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 the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0029] Physical massage is a common relaxation method that uses human hands or other mechanical devices to perform actions such as pinching, pressing, hammering, and kneading to achieve muscle relaxation. Currently, physical massage in robotic massage solutions is mainly achieved through the alternating use of various single massage heads. For example, fingertip massage heads provide acupressure, ball-shaped massage heads provide elbow pressure, and flat-bottomed massage heads provide palm pressure. However, its physical massage function is limited; each massage head can only achieve a single massage effect. Switching massage modes requires changing the massage head, therefore, current technology cannot achieve rapid switching between massage modes.

[0030] To address the aforementioned technical problems, this application provides a human-hand-like massage device and a massage robot.

[0031] Reference Figure 1 , Figure 2 As shown, this application provides a human hand-like massage device, including a first drive unit 100, a guide component 113, and at least two massage modules 101 movably disposed on the guide component 113; the first drive unit 100 drives the massage modules 101 to move along the guide path of the guide component 113, for realizing any one of the massage actions such as kneading, squeezing, and stretching.

[0032] The first driving unit 100 in this embodiment is responsible for driving the massage module 101 to move along the guide path of the guide component 113. By changing the relative positions between the massage modules 101, different massage effects can be achieved. That is, by controlling the movement direction and speed of the massage module 101, different massage actions can be achieved. The guide component 113 provides a movement path for the massage module 101, ensuring that the massage module 101 can move on a predetermined trajectory. It should be noted that the design of the guide component 113 can be adjusted according to different massage needs to adapt to different massage positions and techniques.

[0033] For example, refer to Figure 3 As shown, by driving adjacent massage modules 101 to move closer to each other, the squeezing action of a human hand is simulated, which is suitable for relaxing muscles and relieving tension.

[0034] For example, refer to Figure 4 As shown, by driving adjacent massage modules 101 to move away from each other, the stretching action of a human hand is simulated, which is suitable for stretching muscles and promoting blood circulation.

[0035] For example, by driving the massage module 101 to reciprocate in small amplitudes along the guide path, the kneading motion of a human hand is simulated, which is suitable for deep muscle relaxation and fatigue relief.

[0036] Compared with the prior art, the embodiments of this application have the following advantages:

[0037] Unlike existing technologies that require frequent replacement of massage heads of different shapes to achieve different massage effects, this application embodiment achieves multiple massage functions through the coordinated movement of multiple massage modules 101, eliminating the need to switch massage heads, simplifying the operation process, and improving the user experience. Users can select different massage modes as needed without frequently changing parts, saving time and effort.

[0038] Because the massage module 101 can move freely on the guide component 113, the user can select different massage modes, such as squeezing, stretching, and kneading, through the control system, and can quickly switch between different modes without stopping the machine or replacing parts. This design in the embodiments of this application allows users to enjoy a variety of different massage techniques in one massage session, enhancing the diversity and enjoyment of the massage.

[0039] As an optional implementation method, refer to Figure 2As shown, the guide assembly 113 includes a first threaded rod 102; the first threaded rod 102 has a first threaded section 103 and a second threaded section 104 arranged axially; the threads of the first threaded section 103 and the second threaded section 104 have opposite directions; massage modules 101 are respectively provided on the first threaded section 103 and the second threaded section 104; the first drive unit 100 drives the first threaded rod 102 to rotate, so as to drive the two massage modules 101 to move away from or closer to each other.

[0040] It should be noted that the massage module 101 is provided with a threaded connecting sleeve, which is fitted onto the first threaded rod 102. The first threaded rod 102 drives the massage module 101 to move axially through the threaded connecting sleeve. The guide assembly 113 also includes a guide rail disposed on the protective shell 111. The guide rail extends in the same direction as the extension path of the first threaded rod 102. The guide rail is used to guide and limit the massage module 101, improving the stability of the massage module 101's movement. It cooperates with the first threaded rod 102 to guide the movement of the massage module 101.

[0041] It should be noted that the first threaded segment 103 and the second threaded segment 104 in this embodiment have opposite thread directions, ensuring that when the first threaded rod 102 rotates, the massage modules 101 located on different threaded segments will move in opposite directions. For example, when the first threaded rod 102 rotates in the forward direction, the two massage modules 101 move closer to each other along the axial direction; when the first threaded rod 102 rotates in the reverse direction, the two massage modules 101 move further away from each other along the axial direction.

[0042] This design in the embodiments of this application allows the two massage modules 101 to perform squeezing and stretching actions on the same first threaded rod 102 without the need for complex mechanical structures or frequent replacement of massage heads.

[0043] The first drive unit 100 of this application embodiment can precisely adjust the relative position between the two massage modules 101 by controlling the rotation direction and speed of the first threaded rod 102. By changing the rotation direction of the threaded rod, the massage modules 101 can be moved closer to each other for squeezing massage or moved further apart for stretching massage. In addition, by controlling the rotation speed of the threaded rod, the moving speed of the massage modules 101 can be adjusted, thereby achieving different massage intensities and rhythms.

[0044] Since the two massage modules 101 share the same threaded rod, precise control of the two massage modules 101 can be achieved through a single first drive unit 100, and the overall structure of the device is more compact, reducing space occupation. This embodiment not only simplifies the mechanical structure but also effectively reduces manufacturing costs.

[0045] As an optional implementation, the guide assembly 113 includes two second threaded rods; each second threaded rod is provided with a corresponding massage module 101, and the first drive unit 100 drives the two second threaded rods to rotate, so as to drive the two massage modules 101 to move closer or further apart from each other.

[0046] Unlike the embodiments described above, the guide component 113 in this application embodiment includes two second threaded rods. The first drive unit 100 can be configured with two rods, each corresponding to drive one of the second threaded rods, so that each second threaded rod independently controls the movement of a massage module 101. Compared to the embodiments described above, this application embodiment can more flexibly control the movement of the massage module 101 through the two second threaded rods. This includes the movement speed, movement direction, and movement path of the massage module 101.

[0047] It should be noted that the driving speeds of the two second threaded rods on the massage module 101 can be the same or different. For example, when the massage modules 101 move closer or further apart, one massage module 101 can move faster and the other massage module 101 can move slower to meet different massage needs.

[0048] For example, one massage module 101 performs a small-amplitude reciprocating motion under the guidance of a second threaded rod to achieve kneading massage, while another massage module 101 performs a large-amplitude reciprocating motion under the guidance of another second threaded rod to achieve a large-amplitude kneading massage.

[0049] The extension direction of the two second threaded rods can be set as needed to achieve different massage paths.

[0050] For example, the two second threaded rods extend at a preset angle, and the two second threaded rods are arranged in a figure-eight shape. The two massage modules 101 can move closer to or further apart from each other along the figure-eight guide path, which is suitable for performing human-hand-like squeezing or stretching massage on the user's back.

[0051] It should be noted that the two second threaded rods can also be arranged in parallel. Those skilled in the art can make this arrangement as needed, and there are no special limitations on it.

[0052] As an optional implementation, the guide assembly 113 includes a guide shaft and a linkage mechanism; the first drive unit 100 drives the massage module 101 to slide on the guide shaft through the linkage mechanism.

[0053] Unlike the embodiments described above, in this application embodiment, the first driving unit 100 drives the massage module 101 to move on the guide shaft via a linkage mechanism. It should be noted that the guide shaft is an unthreaded, smooth shaft. The linkage mechanism can be configured as needed by those skilled in the art, and no special limitations are imposed thereon.

[0054] For example, the linkage mechanism is a double-link mechanism; the first drive unit 100 is hinged to one end of the double-link mechanism, and the other end of the double-link mechanism is hinged to the massage module 101. The first drive unit 100 can drive the massage module 101 to slide back and forth on the guide shaft through the double-link mechanism.

[0055] As an optional implementation method, refer to Figure 2 as well as Figure 5 As shown, the massage module 101 includes a second drive unit 105, a rotating part 106, and a massage part 107 disposed on the rotating part 106; the rotating part 106 is connected to the second drive unit 105, and the second drive unit 105 drives the massage part 107 to swing back and forth through the rotating part 106 for kneading massage.

[0056] It should be noted that in this embodiment, the massage module 101 is controlled to move along the guide path of the guide component 113 by the first drive unit 100, and the rotating part 106 and the massage part 107 are driven to reciprocate by the second drive unit 105. In this embodiment, multiple massage functions such as squeezing, stretching and kneading can be realized without changing the massage head, and the kneading massage effect can be enhanced by local reciprocating swing.

[0057] The second drive unit 105 in this embodiment drives the rotating part 106 to reciprocate, simulating the kneading motion of a human hand. By controlling the swing angle and frequency of the rotating part 106, kneading massages of different intensities and rhythms can be achieved. This design allows the massage module 101 to not only move on the guide component 113, but also to perform dynamic massage movements in specific areas, enhancing the diversity and flexibility of the massage.

[0058] Better, refer to Figure 2 as well as Figure 5 As shown, there are multiple massage parts 107, which are arranged circumferentially around the rotating part 106; the multiple massage parts 107 include at least one spherical structure 108 and at least one finger-like structure 109.

[0059] The rotating part 106 of this application embodiment is provided with a connecting arm 110, and the other end of the connecting arm 110 extends radially along the rotating part 106 and is connected to the massage part 107.

[0060] It should be noted that the massage part 107 in this embodiment of the application directly contacts the user's body parts. The massage part 107 can be designed into different shapes according to different massage needs. For example, multiple massage parts 107 can be respectively set as a spherical structure 108, a finger-shaped structure 109 and a flat-bottomed structure, which can simulate different massage movements of human hands.

[0061] In practical use, the second drive unit 105 drives the rotating part 106 to rotate, thereby enabling the pre-selected massage part 107 to come into contact with the user, achieving rapid switching of the massage part 107. Compared with the prior art, the present application embodiment can quickly switch the massage part 107 without disassembly and installation.

[0062] It should be noted that in this embodiment of the application, the human-hand-like massage device is installed at the end of a robotic arm and controlled by the robotic arm.

[0063] When the second drive unit 105 rotates and the spherical structure 108 first contacts the human body surface, the robotic arm moves to massage the human body, achieving an elbow pressure or elbow kneading effect. When the finger-like structure 109 first contacts the human body surface, the robotic arm moves to massage the human body, achieving a finger pressure or finger kneading effect. When the finger-like structure 109 and the spherical structure 108 simultaneously contact the human body, the robotic arm moves to massage the human body, achieving a hand-pinching effect, thus realizing the purpose of the massage robot's end effector having rich functions.

[0064] It should be noted that the first drive unit 100 causes the two massage modules 101 to move back and forth rapidly through the guide component 113, which allows the spherical structure 108 to quickly pound the massage area, forming an effect similar to pounding massage with both hands.

[0065] As an optional implementation method, refer to Figure 3 as well as Figure 4 As shown, it also includes a protective shell 111; the first drive unit 100 and the guide component 113 are installed inside the protective shell 111; a clearance opening is provided on the protective shell 111, the extension path of which is consistent with the guide path of the guide component 113; the massage module 101 extends to the outside of the protective shell 111 through the clearance opening.

[0066] It should be noted that, in this embodiment of the application, the protective shell 111 enables the installation and protection of the first drive unit 100 and the guide assembly 113. The size of the clearance opening can be set as needed by those skilled in the art, and is not specifically limited here.

[0067] Additionally, it should be noted that both the first drive unit 100 and the second drive unit 105 in the embodiments of this application can be servo motors or other drive modules. Those skilled in the art can choose according to their needs.

[0068] This application provides a massage robot, including a robotic arm and the aforementioned humanoid hand massage device. The end of the robotic arm is provided with a snap-fit ​​structure; the humanoid hand massage device is provided with a quick-change flange 112 that connects to the snap-fit ​​structure. (Refer to...) Figure 3 as well as Figure 4As shown, the quick-change flange 112 in this embodiment enables quick assembly and disassembly from the end effector of the robotic arm.

[0069] It should be noted that the protective shell 111 in this embodiment is also provided with a wire harness fixing flange, which is used to fix and protect the wires led out from the protective shell 111.

[0070] This application embodiment uses a robotic arm to drive a human-hand-like massage device to provide massage services to users. Unlike existing technologies that require frequent changes of massage heads of different shapes to achieve different massage effects, this application embodiment achieves multiple massage functions through the coordinated movement of multiple massage modules 101, eliminating the need to switch massage heads, simplifying the operation process, and improving the user experience.

[0071] The above description is merely a preferred 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.

Claims

1. A humanoid hand massage device, characterized by, It includes a first drive unit, a guide component, and at least two massage modules movably disposed on the guide component; the first drive unit drives the massage modules to move along the guide path of the guide component to perform any one of the massage actions of kneading, squeezing, and stretching.

2. The humanoid hand massaging device according to claim 1, wherein The guide assembly includes a first threaded rod; the first threaded rod has a first threaded segment and a second threaded segment arranged axially; the first threaded segment and the second threaded segment have opposite thread directions; the massage module is respectively provided on the first threaded segment and the second threaded segment; the first drive unit drives the first threaded rod to rotate, so as to move the two massage modules away from or closer to each other.

3. The humanoid hand massaging device according to claim 1, wherein The guide assembly includes two second threaded rods; each second threaded rod is correspondingly provided with one massage module, and the first drive unit drives the two second threaded rods to rotate, so as to drive the two massage modules to move closer or further apart from each other.

4. The humanoid hand massaging device according to claim 3, wherein The two second threaded rods extend at a preset angle, and the two second threaded rods are arranged in a figure-eight shape.

5. The humanoid hand massaging device according to claim 1, wherein The guide assembly includes a guide shaft and a linkage mechanism; the first drive unit drives the massage module to slide on the guide shaft through the linkage mechanism.

6. The humanoid hand massaging device according to any one of claims 1-5, wherein, The massage module includes a second drive unit, a rotating part, and a massage part disposed on the rotating part; the rotating part is connected to the second drive unit, and the second drive unit drives the massage part to swing back and forth through the rotating part for kneading massage.

7. The humanoid hand massaging device according to claim 6, wherein The device has a plurality of massage portions, which are arranged circumferentially around the rotating portion; each massage portion includes at least one spherical structure and at least one finger-like structure.

8. The humanoid hand massaging device according to claim 7, wherein, The rotating part is provided with a connecting arm, and the other end of the connecting arm extends radially along the rotating part and is connected to the massage part.

9. The humanoid hand massaging device according to any one of claims 1-5, wherein, It also includes a protective shell; the first drive unit and the guide component are installed inside the protective shell; the protective shell has an opening whose extension path is consistent with the guide path of the guide component; the massage module extends to the outside of the protective shell through the opening.

10. A massaging robot characterized by comprising: The invention includes a robotic arm and the humanoid hand massage device as described in any one of claims 1-9, wherein the end of the robotic arm is provided with a snap-fit ​​structure; and the humanoid hand massage device is provided with a quick-change flange connected to the snap-fit ​​structure.

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