A fascia gun

Abstract

The utility model relates to fascia gun massage equipment technical field discloses a kind of fascia gun, comprising: pressure acquisition module, control module and motor drive module, wherein, pressure acquisition module is used to real-time acquisition muscle and the hardness state of the contact place of massage head, and hardness state is converted into voltage signal output;Control module is connected with pressure acquisition module, for receiving voltage signal, according to voltage signal judgment muscle current state, while matching the massage parameter of adaptation, and generating corresponding control instruction;Motor drive module is connected with control module, for receiving control instruction, according to control instruction adjustment the rotational speed and amplitude of massage head.Pressure acquisition module can real-time acquisition muscle hardness state, control module can according to muscle current state adjustment motor drive module's output power, to provide personalized massage scheme for user's muscle state.

Description

Technical Field

[0001] This utility model relates to the technical field of fascia gun massage equipment, specifically to a fascia gun. Background Technology

[0002] Fascia guns, as devices that relax muscles and fascia through high-frequency vibration, have been widely used in sports rehabilitation and daily health care. Existing fascia guns require manual adjustment of the frequency (i.e., rotation speed) by lightly touching a button, and after adjustment, they can only output a single fixed parameter. If the massage intensity needs to be adjusted, it depends on the user's own subjective feedback and manual repeated button operation. The whole process is cumbersome and it is difficult to match the dynamic changes in muscle state in real time. Utility Model Content

[0003] In view of this, the present invention provides a fascia gun to solve the problem that the massage intensity of existing fascia guns depends entirely on the user's subjective feedback for adjustment and cannot be automatically adapted to the real-time state of the muscles.

[0004] This utility model provides a fascia gun, which includes: a pressure acquisition module, a control module, and a motor drive module, wherein... The pressure acquisition module is used to acquire the hardness status of the muscle at the contact point with the massage head in real time, and convert the hardness status into a voltage signal output. The control module is connected to the pressure acquisition module and is used to receive the voltage signal, determine the current state of the muscle based on the voltage signal, match the appropriate massage parameters, and generate corresponding control commands. The motor drive module is connected to the control module and is used to receive the control commands and adjust the speed and amplitude of the massage head according to the control commands.

[0005] This invention provides a fascia gun with a pressure acquisition module that can collect muscle stiffness in real time. The control module can adjust the output power of the motor drive module according to the current muscle state, thereby providing a personalized massage solution for the user's muscle state.

[0006] In one alternative implementation, the pressure acquisition module employs a strain gauge sensor, which integrates a Wheatstone full-bridge circuit connecting four piezoresistors.

[0007] In one optional implementation, the control module includes a microcontroller unit that pre-stores the correspondence between voltage signals and the current state of the muscle.

[0008] In one optional implementation, the motor drive module includes a brushless DC motor and an inverter circuit, wherein, The inverter circuit is used to convert DC power into three-phase AC power to drive the brushless DC motor. The motor drive module adopts a sine wave output mode. By adjusting the amplitude and frequency of the sine wave, the amplitude and rotation speed of the massage head are adjusted accordingly.

[0009] In one optional embodiment, the inverter circuit includes: a U / V / W three-phase inverter circuit, wherein each phase inverter circuit includes: a first MOSFET array and a second MOSFET array, wherein... The power supply terminal of the first MOSFET array is connected to the positive terminal of the battery, the motor load terminal of the first MOSFET array is connected to the three-phase winding of the brushless DC motor, and the control terminal of the first MOSFET array receives the high-level signal of the microcontroller unit. The ground terminal of the second MOSFET array is connected to the dedicated ground of the motor, the motor load terminal of the second MOSFET array is connected to the three-phase winding of the brushless DC motor, and the control terminal of the second MOSFET array receives the low-level signal of the microcontroller unit.

[0010] In one optional implementation, each phase inverter circuit further includes: a first resistor, a second resistor, a third resistor, a fourth resistor, a first capacitor, and a second capacitor, wherein, One end of the first resistor is connected to the microcontroller unit, and the other end of the first resistor is connected to one end of the second resistor, one end of the first capacitor, and the control terminal of the first MOSFET array, respectively. The other end of the second resistor is connected to the other end of the first capacitor. One end of the third resistor is connected to the microcontroller unit, and the other end of the third resistor is connected to one end of the fourth resistor, one end of the second capacitor, and the control terminal of the second MOSFET array, respectively. The other end of the fourth resistor and the other end of the second capacitor are both connected to the dedicated grounding for the motor.

[0011] In one optional implementation, the fascia gun further includes a human-computer interaction module electrically connected to the control module, used to display the current state of the muscles, the recommended massage program matched by the control module, and the real-time rotation speed of the massage head.

[0012] In one optional implementation, the human-computer interaction module is provided with operating components for the user to confirm recommended massage parameters or manually switch massage modes.

[0013] In one alternative implementation, the current state of the muscle includes a normal state, a mildly tense state, and a severely tense state.

[0014] In one optional embodiment, the fascia gun further includes an accelerometer connected to the control module, used to detect the vibration and motion state of the fascia gun during the massage process and send the data to the control module.

[0015] In one optional embodiment, the fascia gun further includes an electromyography (EMG) sensor connected to the control module for detecting and transmitting electrical activity of the muscle to the control module.

[0016] In one optional embodiment, the fascia gun further includes an ultrasonic sensor connected to the control module for detecting changes in muscle tissue structure and elasticity, and transmitting the data to the control module. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a principle block diagram of a fascia gun according to an embodiment of the present utility model; Figure 2 This is a circuit diagram of a motor drive module according to an embodiment of the present utility model; Figure 3 This is a principle block diagram of another fascia gun according to an embodiment of the present utility model. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0020] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" 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; they can also refer to the internal connection of two components; and they can refer to a wireless connection or a wired connection. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0022] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0023] This utility model provides a fascia gun, such as Figure 1 As shown, the system includes a pressure acquisition module, a control module, and a motor drive module. The pressure acquisition module collects real-time data on the hardness of the muscle at the contact point with the massage head and converts this hardness into a voltage signal output. The control module, connected to the pressure acquisition module, receives the voltage signal, determines the current state of the muscle based on the signal, matches appropriate massage parameters, and generates corresponding control commands. The motor drive module, connected to the control module, receives the control commands and adjusts the rotation speed and amplitude of the massage head accordingly.

[0024] Specifically, the pressure acquisition module captures the hardness state of the muscle at the contact point with the massage head in real time, and then converts this physical hardness into a voltage signal, providing raw data to the control module. After receiving the voltage signal from the pressure acquisition module, the control module determines the muscle state, matches the corresponding rotation speed and amplitude parameters, and generates control commands to send to the motor drive module. The motor drive module receives the commands from the control module and adjusts the rotation speed and amplitude of the massage head. The current muscle state includes a normal state, a slightly tense state, and a severely tense state.

[0025] This invention provides a fascia gun with a pressure acquisition module that can collect muscle stiffness in real time. The control module can adjust the output power of the motor drive module according to the current muscle state, thereby providing a personalized massage solution for the user's muscle state.

[0026] In one alternative implementation, the pressure acquisition module employs a strain gauge sensor, which integrates a Wheatstone full-bridge circuit connecting four piezoresistors.

[0027] Specifically, the pressure acquisition module uses a Nutricia MSK10-P7 strain gauge sensor, which integrates a Wheatstone full-bridge circuit and consists of four piezoresistors. Under stress, two piezoresistors are in a tensile state, and two are in a compressive state. As muscle stiffness increases, the reaction force on the sensor increases accordingly, and the piezoresistors simultaneously undergo tensile or compressive deformation. Their resistance values ​​change linearly with the degree of deformation, thus converting the muscle strain signal into an acquireable electrical signal.

[0028] This sensor uses a printable resistor package, measuring 10mm × 5mm × 2.5mm, with an initial stable resistance of 6kΩ. When an external force is applied to the sensor, the resistance change caused by deformation is further converted into a voltage output signal. The AW86801 main control chip's built-in PGA (Programmable Gain Amplifier) ​​works in conjunction with the control algorithm to enable the MSK10-P7 sensor to accurately identify the location (X, Y) of the force and the magnitude (F) of the applied force. Regardless of the strength of the original signal, the PGA amplifies it to the appropriate range. Combined with the chip's 24-bit resolution, this significantly improves measurement accuracy and dynamic range, ensuring accurate capture of muscle feedback force data and guaranteeing signal quality under complex operating conditions.

[0029] The strain gauge sensor used in the pressure acquisition module is a high-sensitivity piezoresistive flexible material. Its resistance changes significantly under tension or compression. By capturing and analyzing this change, the voltage output calculation formula is derived: Vm = KεVcc / 2. Where K is the strain coefficient, typically 2-5 for metal foil and up to 150 for semiconductor silicon; ε is the strain value, i.e., the ratio of deformation to original length, usually expressed in microstrain με, where 1 με = 10⁻⁶. -6 Vcc is the power supply voltage. Based on the above formula, a control algorithm is written and burned into the control module. This algorithm drives the pressure sensor and the fascia gun to form a closed-loop linkage, ultimately achieving real-time response between muscle status and device output.

[0030] In addition, the strain gauge sensor, through a full-bridge circuit design, can automatically cancel out ambient temperature interference and suppress temperature drift; at the same time, it is superimposed with a temperature drift compensation algorithm to further enhance the detection stability of the smart fascia gun under different temperature environments.

[0031] In one alternative implementation, the control module includes a microcontroller unit that stores a correspondence between voltage signals and the current state of the muscle.

[0032] Specifically, the core of the control module is the Shanghai Awinic AW86801 microcontroller unit (MCU). This MCU integrates an ARM® Cortex™-M0+ multi-channel ADC with a built-in high-precision 24-bit Σ-Δ ADC, achieving a signal-to-noise ratio >110dB, and is adapted to the signal processing requirements of the pressure acquisition module. Based on the correlation between the signal characteristics of the pressure acquisition module and the physiological state of the muscle, this MCU establishes a correspondence between voltage signals and the current muscle state.

[0033] The process of constructing the voltage signal-muscle current state correspondence is as follows: First, through controlled variable experiments, sample data of muscle state-voltage signals under different scenarios are collected. The collected muscle state-voltage interval data are calibrated to form a standardized correspondence table, which is pre-stored in the FLASH memory unit within the MCU. When the fascia gun is working, the MSK10-P7 sensor collects the voltage signal corresponding to the muscle reaction force in real time and transmits it to the ADC module of the AW86801; the ADC converts the analog voltage into a digital voltage value. The microcontroller unit calls the pre-stored voltage signal-muscle state correspondence table on-chip, compares the pre-processed real-time digital voltage value with the voltage interval in the table, and quickly locates the corresponding muscle state label. If the match is a normal state, a mild tension state, or a severe tension state, the microcontroller unit directly calls the pre-stored PWM sine wave parameters (frequency, amplitude) in the corresponding table and outputs them to the motor drive module to achieve automatic adaptation of muscle state-massage intensity.

[0034] In one alternative implementation, the motor drive module includes a brushless DC motor and an inverter circuit, wherein the inverter circuit converts DC power into three-phase AC power to drive the brushless DC motor. The motor drive module employs a sine wave output mode, adjusting the amplitude and frequency of the sine wave to correspondingly adjust the amplitude and rotational speed of the massage head.

[0035] Specifically, based on the muscle state data fed back by the pressure acquisition module, the control module calls upon the pre-stored muscle-sine wave parameter correspondence and outputs a control signal to the motor drive module. After receiving the control signal, the motor drive module's inverter circuit, according to the amplitude and frequency requirements of the sine wave in the control signal, controls the turn-on and turn-off timing of the internal MOSFETs to convert the DC power supply of the fascia gun system into three-phase AC power that meets the parameter requirements. This three-phase AC sine wave ultimately drives the brushless DC motor, causing the massage head to output amplitude and speed adapted to the current muscle state. Using a sine wave output instead of a PWM square wave avoids vibration and shock, reducing muscle discomfort and the risk of injury.

[0036] Because brushless DC motors are highly efficient, have a long lifespan, and are suitable for applications with high performance requirements, the motor drive module uses a brushless DC motor. Compared to traditional brushed motors, brushless DC motors do not require a mechanical commutation structure, which reduces friction loss and noise, while avoiding performance degradation caused by commutation sparks. They can stably handle the high-frequency massage scenarios of fascia guns over a long period of time.

[0037] In one optional implementation, the inverter circuit includes: a U / V / W three-phase inverter circuit, wherein the three-phase inverter circuits are completely identical, and in this embodiment, it is used as... Figure 2 The U-phase inverter circuit in the example is used for illustration. Figure 3 As shown, the U-phase inverter circuit includes a first MOSFET array Q5 and a second MOSFET array Q6. The power supply terminal of the first MOSFET array Q5 is connected to the positive terminal VBAT of the battery, and the motor load terminal of the first MOSFET array Q5 is connected to the three-phase windings of the brushless DC motor. The control terminal of the first MOSFET array Q5 receives a high-level signal UH from the microcontroller unit. The ground terminal of the second MOSFET array Q6 is connected to the dedicated motor ground MOTOR GND, and the motor load terminal of the second MOSFET array Q6 is connected to the three-phase windings of the brushless DC motor. The control terminal of the second MOSFET array Q6 receives a low-level signal UL from the microcontroller unit.

[0038] Specifically, the U-phase inverter circuit of the fascia gun motor drive system uses two CMN3006TRF3 MOSFET arrays (denoted as the first MOSFET array Q5 and the second MOSFET array Q6) to work with other phase circuits to drive and control the three-phase windings of the brushless motor. Each CMN3006TRF3 MOSFET array integrates two MOSFETs, whose core function is to precisely control the motor's on / off state through switching, while also adjusting the motor speed in conjunction with control signals. Each MOSFET array also has three half-bridge output terminals (S1, S2, S3), which are directly connected to the three-phase windings of the brushless motor and are the key interfaces for current transmission to the motor. Thus, the brushless motor replaces the traditional mechanical commutation with electronic commutation. This circuit receives and responds to the UH and UL control signals through the MOSFET array, dynamically switching the current flow path in the motor windings, so that a periodically changing rotating magnetic field is formed in the three-phase windings of the motor. This rotating magnetic field generates electromagnetic interaction with the permanent magnet inside the motor, thereby generating driving torque, and finally driving the motor to rotate stably, realizing the power output of the fascia gun massage function.

[0039] In this embodiment, VBAT is the positive terminal of the battery, which directly provides the DC voltage required for the operation of the entire U-phase inverter circuit and the motor; MOTOR_GND is the dedicated grounding terminal for the motor, with one end connected to the negative terminal of the motor and the other end connected to the common grounding terminal of the system, forming a stable current return loop to ensure the safety of the circuit and motor operation.

[0040] In one alternative implementation, such as Figure 2 As shown, the U-phase inverter circuit also includes: a first resistor R48, a second resistor R49, a third resistor R50, a fourth resistor R51, a first capacitor C72, and a second capacitor C73. One end of the first resistor R48 is connected to the microcontroller unit, and the other end of the first resistor R48 is connected to one end of the second resistor R49, one end of the first capacitor C72, and the control terminal of the first MOSFET array Q5. The other end of the second resistor R49 is connected to the other end of the first capacitor C72. One end of the third resistor R50 is connected to the microcontroller unit, and the other end of the third resistor R50 is connected to one end of the fourth resistor R51, one end of the second capacitor C73, and the control terminal of the second MOSFET array Q6. The other ends of the fourth resistor R51 and the second capacitor C73 are both connected to the dedicated motor ground.

[0041] Specifically, the first resistor R48 serves as a current-limiting protection resistor, used to limit the current output from the MCU to the control terminal of the first MOSFET array Q5. The second resistor R49 serves as a bias stabilizing resistor, stabilizing the potential of the control terminal of the first MOSFET array Q5. The first capacitor C72 serves as a high-frequency filter capacitor, used to absorb high-frequency noise in the control signal. The third resistor R50 serves as a current-limiting protection resistor, used to limit the current output from the MCU to the control terminal of the second MOSFET array Q6. The fourth resistor R51 serves as a pull-down bias resistor, used to reliably pull the potential of the control terminal of the second MOSFET array Q6 to MOTOR GND when the MCU has no control signal output, preventing MOSFET mis-turn-on caused by signal floating and ensuring stable turn-off of the low-side switch in the non-operating state. The second capacitor C73 serves as a high-frequency filter capacitor, used to filter out high-frequency noise in the low-level control signal output by the MCU.

[0042] In one alternative implementation, such as Figure 3 As shown, the fascia gun also includes a human-computer interaction module electrically connected to the control module, used to display the current state of the muscles, the recommended massage program matched by the control module, and the real-time rotation speed of the massage head. The human-computer interaction module has operating components for users to confirm recommended massage parameters or manually switch massage modes.

[0043] Specifically, the control module processes the muscle state data fed back by the pressure acquisition module, the parameters of its own matched massage program, and the real-time working data of the motor drive module into visual information, and then transmits it to the TFT-LCD screen for display. After the control module matches a recommended massage program and displays it on the screen, the user needs to complete the operation confirmation by lightly touching the operating component (such as a button) before the system outputs an execution command to the motor drive module. This design can avoid uncomfortable massage caused by misidentification of muscle state.

[0044] If the user is not satisfied with the recommended settings provided by the control module, they can manually switch massage modes or adjust massage parameters by touching a button. In this case, the human-machine interface module will transmit the user's manual operation command to the control module. Upon receiving the command, the control module will output the corresponding sine wave control signal to the motor drive module, and the TFT-LCD screen will simultaneously update with the new mode and parameters.

[0045] In one alternative implementation, such as Figure 3 As shown, the fascia gun also includes an accelerometer, which is connected to the control module to detect the vibration and motion state of the fascia gun during the massage process and send the data to the control module.

[0046] Specifically, the accelerometer can capture vibration and motion data in real time during the fascia gun massage. After receiving the data from the accelerometer, the control module combines it with the muscle state identified by the pressure acquisition module to infer whether the current massage intensity and frequency are suitable for the user's muscle state.

[0047] In one alternative implementation, such as Figure 3 As shown, the fascia gun also includes an electromyography (EMG) sensor, which is connected to the control module to detect the electrical activity of the muscles and send the data to the control module.

[0048] Specifically, the electromyography (EMG) sensor is used to capture electrical activity signals generated during muscle contraction and relaxation, and transmits the collected muscle electrical activity signals to the control module. After receiving the electrical activity signals from the EMG sensor, the control module calls upon the pre-stored correspondence between muscle electrical activity features and muscle state to extract and compare features, accurately determining the current tension and fatigue state of the muscle.

[0049] In one alternative implementation, such as Figure 3 As shown, the fascia gun also includes an ultrasonic sensor, which is connected to the control module to detect changes in muscle tissue structure and elasticity and send the data to the control module.

[0050] Specifically, the ultrasonic sensor emits high-frequency ultrasonic signals that penetrate muscle tissue and receives the reflected echo signals, enabling the detection of changes in muscle tissue structure and elasticity. The ultrasonic sensor converts these changes into quantifiable data and transmits it to the control module. The control module then combines this data with pre-stored muscle tissue / elasticity characteristics and muscle state correspondences to indirectly infer the degree of muscle tension and fatigue.

[0051] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A fascia gun, characterized in that, The fascia gun includes: a pressure acquisition module, a control module, and a motor drive module, wherein, The pressure acquisition module is used to acquire the hardness status of the muscle at the contact point with the massage head in real time, and convert the hardness status into a voltage signal output. The control module is connected to the pressure acquisition module and is used to receive the voltage signal, determine the current state of the muscle based on the voltage signal, match the appropriate massage parameters, and generate corresponding control commands. The motor drive module is connected to the control module and is used to receive the control commands and adjust the speed and amplitude of the massage head according to the control commands.

2. The fascia gun according to claim 1, characterized in that, The pressure acquisition module uses a strain gauge sensor, which integrates a Wheatstone full-bridge circuit connecting four piezoresistors.

3. The fascia gun according to claim 1, characterized in that, The control module includes a microcontroller unit, which stores the correspondence between voltage signals and the current state of the muscle.

4. The fascia gun according to claim 3, characterized in that, The motor drive module includes a brushless DC motor and an inverter circuit, wherein, The inverter circuit is used to convert DC power into three-phase AC power to drive the brushless DC motor. The motor drive module adopts a sine wave output mode. By adjusting the amplitude and frequency of the sine wave, the amplitude and rotation speed of the massage head are adjusted accordingly.

5. The fascia gun according to claim 4, characterized in that, The inverter circuit includes a U / V / W three-phase inverter circuit, wherein each phase inverter circuit includes a first MOSFET array and a second MOSFET array, wherein... The power supply terminal of the first MOSFET array is connected to the positive terminal of the battery, the motor load terminal of the first MOSFET array is connected to the three-phase winding of the brushless DC motor, and the control terminal of the first MOSFET array receives the high-level signal of the microcontroller unit. The ground terminal of the second MOSFET array is connected to the dedicated ground of the motor, the motor load terminal of the second MOSFET array is connected to the three-phase winding of the brushless DC motor, and the control terminal of the second MOSFET array receives the low-level signal of the microcontroller unit.

6. The fascia gun according to claim 5, characterized in that, Each phase inverter circuit also includes: a first resistor, a second resistor, a third resistor, a fourth resistor, a first capacitor, and a second capacitor, wherein, One end of the first resistor is connected to the microcontroller unit, and the other end of the first resistor is connected to one end of the second resistor, one end of the first capacitor, and the control terminal of the first MOSFET array, respectively. The other end of the second resistor is connected to the other end of the first capacitor. One end of the third resistor is connected to the microcontroller unit, and the other end of the third resistor is connected to one end of the fourth resistor, one end of the second capacitor, and the control terminal of the second MOSFET array, respectively. The other end of the fourth resistor and the other end of the second capacitor are both connected to the dedicated grounding for the motor.

7. The fascia gun according to claim 1, characterized in that, The fascia gun also includes a human-computer interaction module electrically connected to the control module, used to display the current state of the muscles, the recommended massage program matched by the control module, and the real-time rotation speed of the massage head.

8. The fascia gun according to claim 7, characterized in that, The human-computer interaction module is equipped with operating components, allowing users to confirm recommended massage parameters or manually switch massage modes.

9. The fascia gun according to claim 7, characterized in that, The current state of muscles includes normal state, mild tension state, and severe tension state.

10. The fascia gun according to claim 1, characterized in that, The fascia gun also includes an accelerometer, which is connected to the control module and is used to detect the vibration and motion state of the fascia gun during the massage process and send the data to the control module.

11. The fascia gun according to claim 1, characterized in that, The fascia gun also includes an electromyography (EMG) sensor, which is connected to the control module and is used to detect the electrical activity of the muscles and send the data to the control module.

12. The fascia gun according to claim 1, characterized in that, The fascia gun also includes an ultrasonic sensor, which is connected to the control module and is used to detect changes in muscle tissue structure and elasticity, and send the data to the control module.

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