A universal, multi-stage adjustable massage device with a back-and-forth motion.

Abstract

A universal multi-stage control massage device of a back-and-forth movement, comprising a back-and-forth vibration mechanism (2), characterized in that: the back-and-forth vibration mechanism (2) includes a drive component (211); the drive component (211) comprises a drive motor (21101) which serves to provide a drive source; the drive component (211) further comprises a Hall encoder (21102) and a pole pair magnet ring I (21103), a bottom part of the drive motor (21101) is arranged on a head side of the Hall encoder (21102); The vibration mechanism further includes: a mounting seat (215), a rod seat (212) and a mounting steel shaft (214), wherein the mounting seat (215) and the rod seat (212) are rigidly connected by the mounting steel shaft (214); a reciprocating threaded spindle (216) to the underside of which a drive end of the drive motor (21101) is firmly connected; and a reciprocating slide (217) which is threaded in connection with an outer part of the reciprocating threaded spindle (216), wherein an inner part of the reciprocating slide (217) is slidably connected to an outer part of the mounting steel shaft (214), the inner part of the reciprocating slide (217) is rigidly connected to a vibration motor (218); furthermore, a sliding steel shaft (213) and a steel shaft fastening part (219), both ends of the sliding steel shaft (213) are engaged in the steel shaft fastening part (219); the back-and-forth vibration mechanism (2) further comprises: a support beam (221), an outer part of the support beam (221) is firmly connected to an inner part of an outer coating (1); a helical gear (2211) with which the drive end of the drive motor (21101) is in engagement connection; a main drive shaft (2210), wherein the helical gear (2211) is rigidly connected to an outer part of the main drive shaft (2210); a synchronous wheel I (228) which is provided on the outer part of the main drive shaft (2210); a ball slide rail (224) which is firmly connected to a front, rear side of the support beam (221); as well as a three-way ball slide (225) which is connected to the synchronous wheel I (228) by means of a synchronous belt; a support roller reinforcement steel shaft (2216) is rotatably connected to an inner part of the support carrier (221), an outer part of the support roller reinforcement steel shaft (2216) is fixedly connected to a synchronizing support roller I (2217), a synchronizing support roller II (2218) is fixedly connected to a right side of the synchronizing support roller I (2217), a synchronizing belt tensioning slide (2213) is detachably connected to a left inner part of the three-way ball slide (225), a synchronizing belt tensioning slide (2214) is provided on an inner part of the synchronizing belt tensioning slide (2213), an outer part of the synchronizing belt tensioning slide (2214) is threaded to a synchronizing belt tensioning screw (2215), on a front, rear side of the inner part of the A drive locking device (2219) is firmly connected to the three-way ball sliding piece (225).

Description

Technical field

[0001] The present invention relates to the technical field of massage devices, specifically a universal multi-stage control massage device of a back-and-forth movement. State of the art

[0002] A massage device is a tool that uses physical vibration, kneading, pressing, and other methods to stimulate human muscles and acupuncture points in order to relieve fatigue and relax body and mind. The core of the device, where the massage function is achieved through an integrated unit, involves using mechanical vibration, kneading, pressing, and other physical methods to directly affect human muscles or acupuncture points in order to relieve pain, promote blood circulation, and relax body and mind. The most common types include handheld massagers, shoulder and neck massagers, and massage cushions that attach to the waist, etc. These devices are characterized by ease of use, portability, and immediate application without assembly, making them suitable for precise localized massage or daily relaxation at any time.

[0003] In current technology, the intensity of some massage devices cannot be adjusted due to the degree of muscle pain. If the massage is too light, it has no effect; if it is too strong, it can easily lead to discomfort or even muscle damage. Furthermore, the device can be difficult to adapt to different muscle curves, the massage surface is uneven, and local areas cannot be effectively stimulated. Therefore, a universal, multi-stage adjustable massage device with a back-and-forth motion is proposed to address these shortcomings. Disclosure of the invention

[0004] With regard to the shortcomings of the existing technology, the present invention provides a universal multi-stage control massage device with a back-and-forth movement, solving the problem that part of the massage devices cannot be controlled according to needs.

[0005] To achieve the above objective, the present invention is made possible by the following technical solution: a universal multi-stage control massage device of a back-and-forth movement, comprising an outer coating, wherein a drive mechanism is provided on an inner part of the outer coating, a drive component comprising a drive motor that serves to provide a power source; The drive component further includes a Hall encoder and a pole pair magnet ring I; a bottom part of the drive motor is arranged on a head side of the Hall encoder.

[0006] The drive mechanism also includes, for example: a mounting seat, a rod seat and a mounting steel shaft, wherein the mounting seat and the rod seat are rigidly connected by the mounting steel shaft; wherein the drive motor is rigidly connected to one underside of the rod seat; wherein a bottom side of the Hall encoder is arranged on a head side of the pole pair magnet ring I; a reciprocating threaded spindle, to the underside of which a drive end of the drive motor is rigidly connected, wherein a head end of the reciprocating threaded spindle is rotatably connected to an inner part of the mounting seat; and a reciprocating sliding piece which is threaded in connection with the outer part of the reciprocating threaded spindle, wherein an inner part of the reciprocating sliding piece is slidably connected to the outer part of the fastening steel shaft.

[0007] Preferably, the inner part of the reciprocating sliding piece is rigidly connected to a vibration motor.

[0008] Preferably, the drive mechanism further comprises a sliding steel shaft and a steel shaft mounting part, the sliding steel shaft is provided parallel to the mounting steel shaft, the sliding steel shaft passes through the reciprocating sliding piece, both ends of the sliding steel shaft are engaged in the steel shaft mounting part, a lower end of the reciprocating threaded spindle is rotated within the rod seat under the drive of the drive motor.

[0009] Preferably the drive mechanism further comprises: a support beam, wherein an outer part of the support beam is firmly connected to an inner part of the outer coating; a helical gear with which the drive end of the drive motor is in engagement; a main drive shaft, wherein the helical gear is rigidly connected to an outer part of the main drive shaft; a synchronous wheel I, which is provided on the outer part of the main drive shaft; a ball slide rail which is rigidly connected to a front and rear side of the support beam; and a three-way ball slide, which is slidably connected to an inner part of the ball slide rail, is in drive connection with the synchronous wheel I by means of a synchronous belt.

[0010] Preferably, the drive component further comprises a Hall encoder and a pole pair magnet ring I, a right protective cover and a left protective cover are firmly connected to a base part of the support carrier, and an outer part of the drive motor is arranged on an inner part of the support carrier and the right protective cover.

[0011] Preferably a pole pair magnet ring II is arranged on a bottom part of the three-way ball slide, a Hall zero point switch is arranged on the inner part of the support carrier, a synchronizer wheel II (229) is arranged on a right side of the synchronizer wheel I, and a reinforcing steel shaft is rigidly connected to an inner part of the main drive shaft.

[0012] Preferably, an inner part of the support support is rotatably connected to a support roller reinforcing steel shaft, an outer part of the support roller reinforcing steel shaft is rigidly connected to a synchronizing support roller I, and a synchronizing support roller II is rigidly connected to a right side of the synchronizing support roller I.

[0013] Preferably, a synchronous belt tensioning slide is detachably connected to a left inner part of the three-way ball slide, and a synchronous belt tensioning slide rod is provided on an inner part of the synchronous belt tensioning slide.

[0014] Preferably, an outer part of the synchronous belt tensioning slide rod is threaded in connection with a synchronous belt tensioning screw, and an output locking device is firmly connected to a front and rear side of the inner part of the three-way ball slide.

[0015] The present invention provides a universal multi-stage control massage device with a back-and-forth movement and has the following advantageous effects: 1. In the present invention, a rotation pulse signal of the drive motor is detected in real time by a Hall encoder that fits a pole pair magnet ring, and at the same time a reference zero point of massage parts is set by a reference switch or a finely adjustable Hall zero point switch in order to establish an accurate reference for the multi-stage control, thus increasing the needs and effect of the massage. 2. In the present invention, the starting position is precisely defined by the pole pair magnet ring II and the finely adjustable Hall zero-point switch; in combination with the Hall encoder, the positioning of several stages is made possible to meet the application requirements of a masturbator; a mounting function is integrated into the support carrier made of technical plastic, which is adapted to the interior of the masturbator, increasing the compactness of the structure; the design of the output detent as a rubber disc can further protect the synchronous belt, ensuring long-term, stable operation. Explanation of the illustrations Fig. is a diagram of a Hall encoder of an embodiment I of the present invention; Fig. is a stereogram of embodiment II of the present invention; Fig. is a diagram of a back-and-forth sliding element of an embodiment II of the present invention; Fig. is a diagram of a mounting seat of an embodiment II of the present invention; Fig. is a diagram of a right protective cover of an embodiment III of the present invention; Fig. is a diagram of a support beam of an embodiment III of the present invention; Fig. is a diagram of a left protective cover of an embodiment III of the present invention; Fig. is a diagram of a synchronizing wheel I of an embodiment III of the present invention; Fig. is a diagram of a helical gear of an embodiment III of the present invention;

[0016] where (1) Exterior coating; (2) Drive mechanism; (211) Drive component; (21101) Drive motor; (21102) Hall encoder; (21103) Pole pair magnet ring I; (212) Rod seat; (213) Sliding steel shaft; (214) Mounting steel shaft; (215) Mounting seat; (216) Reciprocating lead screw; (217) Reciprocating sliding piece; (218) Vibration motor; (219) Steel shaft mounting part; (221) Support bracket; (222) Right protective cover; (223) Left protective cover; (224) Ball bearing slide; (225) Three-way ball slide; (226) Pole pair magnet ring II; (227) Hall zero-point switch; (228) Synchronizer wheel I; (229) Synchronizer wheel II; (2210) Main drive shaft; (2211) Helical gear; (2212) Reinforcing steel shaft; (2213) Synchronizer belt tensioner slide; (2214) Synchronizer belt tensioner guide rod; (2215) Synchronizer belt tensioner screw; (2216) Carrying roller reinforcing steel shaft; (2217) Synchronizer carrying roller I; (2218) Synchronizer carrying roller II; (2219) Output detent. Designs

[0017] The technical solution in the embodiments of the present invention is clearly and completely described below in conjunction with the illustrations of the present invention. Obviously, the described embodiments are only part of the embodiments of the present utility model and not the entirety of the embodiments. All other embodiments that could have been obtained by a person skilled in the art without inventive effort based on the embodiments specified in the present invention fall within the scope of protection of the present invention. Example I

[0018] Combined with Fig. until Fig. The embodiment of the present invention provides a universal, multi-stage, reciprocating massage device comprising an outer coating (1) that serves not only for physical protection but also as a reference for assembly. A drive mechanism (2) for providing a drive output and drive control is arranged within the outer coating (1). The outer coating (1) is made of an engineering-grade plastic and forms the housing of the massage device.

[0019] A drive component (211) comprises a drive motor (21101) for supplying the driving force, a Hall encoder (21102) for checking rotational speed and revolutions, and a pole-pair magnetic ring I (21103) that fits the Hall encoder (21102) to enable signal acquisition, the three parts forming a drive test and output unit. The drive motor (21101) is a DC reduction motor, the Hall encoder (21102) is incremental, and the pole-pair magnetic ring I (21103) is a permanent magnet structure with multiple poles that generates a magnetic signal as the motor rotates. Example II

[0020] Combined with Fig. until Fig. In embodiment I, the drive component (211) is used on a massage wand in embodiment II; the drive mechanism (2) consists of the drive component (211), a rod seat (212), a sliding steel shaft (213), a mounting steel shaft (214), a mounting seat (215), a reciprocating threaded spindle (216), a reciprocating sliding piece (217), a vibration motor (218), and a steel shaft mounting part (219). The drive component (211) provides the output of the drive force, the rod seat (212) and the mounting seat (215) form a support frame, the sliding steel shaft (213) and the mounting steel shaft (214) serve as a guide, the reciprocating threaded spindle (216) and the reciprocating sliding piece (217) serve for drive transmission, the vibration motor (218) provides the vibration, and the mounting steel shaft (214) is fastened by the steel shaft mounting part (219).

[0021] Combined with Fig. until Fig. An outer part of a drive motor (21101) is arranged on an inner part of an outer coating (1) to ensure stability when outputting the drive force; a bottom part of the drive motor (21101) is arranged on a head side of a Hall encoder (21102) so that the Hall encoder (21102) can monitor a rotation state of the drive motor (21101) in real time; a bottom side of the Hall encoder (21102) is arranged in contact with a head side of a pole pair magnet ring I (21103), the pole pair magnet ring I (21103) is rotated synchronously with the drive motor (21101), providing a stable output of the magnetic signal for the Hall encoder (21102); A head end of the drive motor (21101) is firmly connected to a bottom of the rod seat (212), the rod seat (212) fulfills the function of support, is made of aluminum alloy and is rust-resistant;A head end of the rod seat (212) is rigidly connected to a bottom of the mounting steel shaft (214), the mounting steel shaft (214) providing longitudinal support for the entire structure; a bottom of the mounting steel shaft (214) is rigidly connected to a bottom of the mounting seat (215), forming a stable longitudinal support frame; a drive end of the drive motor (21101) is rigidly connected to a bottom of the reciprocating threaded spindle (216) by means of a coupling or a splined connection, thereby driving the reciprocating threaded spindle (216) to synchronous rotation; a head end of the reciprocating threaded spindle (216) is rotatably connected to an internally preset mounting bore of the mounting seat (215) by means of a bearing;An inner part of the reciprocating slide (217) is rigidly connected to an outer part of the vibration motor (218), thus providing support for the reciprocating slide (217); the slide steel shaft (213) passes transversely through a preset through-bore of the reciprocating slide (217) and engages in the steel shaft mounting part (219), serving for transverse guidance and position limitation; the inner part of the reciprocating slide (217) is slidably connected to an outer part of the mounting steel shaft (214) by a linear bearing to ensure linear precision of the reciprocating movement; A lower end of the reciprocating threaded spindle (216) is rotatably connected by a bearing to an internally preset mounting position of the rod seat (212), thereby forming a rotary support structure.

[0022] Specifically, the drive motor (21101) drives the reciprocating slide (217) for precise reciprocating movement on the reciprocating threaded spindle (216). The mounting steel shaft (214) and the slide steel shaft (213) together serve to reinforce the guidance of the reciprocating threaded spindle (216) to ensure the stability and linearity of the reciprocating movement. The threaded spindle is driven by the clockwise or counterclockwise rotation of the motor. The linear motion is converted by a threaded fit, and the pivoting motion is dampened by double steel shafts. After starting, the reciprocating slide (217) moves to one end of the drive motor (21101), a preset reference switch is triggered so that a starting position of the reciprocating movement is precisely defined, the reference switch is a micro-lift switch which, after triggering, transmits the signal to a main board;The signal is then captured in real time by a mainboard of a single-chip microcomputer via the Hall encoder (21102) behind the drive motor (21101), the number of pulses output by the drive motor per revolution is calculated, the pulses are captured by the single-chip microcomputer, the precision is increased by doubling the frequency; then, based on a specific position to which the reciprocating slide (217) is to move, the number of revolutions of the drive motor (21101) to be rotated is calculated in reverse, so that the precise positioning of a dwell position of the multi-stage reciprocating movement is enabled, the control requirements of different massage positions are met, the revolution is calculated based on a guide path of the threaded spindle, the motor is controlled by PWM, and the multi-stage positioning is supported. Example III

[0023] Combined with Fig. until Fig.The embodiment of the present invention represents a universal, multi-stage, reciprocating massage device, wherein the drive component (211) in embodiment I is used on a masturbator in embodiment III, which comprises an outer coating (1) and a cover (3) for sealing protection. The outer coating (1) and the cover (3) are connected by threads, and the outer coating (1) is the housing of the masturbator. A drive mechanism (2) is provided on an inner part of the outer coating (1), which further comprises a support bracket (221). It is protected from dust and water by the cover (3) and a sealing ring. The mounting function is integrated into the support bracket (221). The support bracket (221) is made of an engineering plastic, the outer part of which is firmly connected to an internally preset mounting surface of the outer coating (1) by a screw assembly.A base part of the support carrier (221) is firmly connected by a bolt to a right protective cover (222) and a left protective cover (223), the ingress of dust and foreign matter being prevented by the left and right protective covers together; a ball slide rail (224) is firmly connected to a front and rear side of the support carrier (221) by a screw; a three-way ball slide (225) is slidably connected to an inner part of the two ball slide rails (224) by a ball, which can move smoothly back and forth along the ball slide rail (224); a pole pair magnet ring II (226) is arranged on its base part by gluing;A Hall zero-point switch (227) is arranged at a position on the inner part of the support carrier (221) corresponding to the pole pair magnetic ring II (226); the fitting of the pole pair magnetic ring II (226) to the Hall zero-point switch (227) enables the starting position to be checked; the Hall zero-point switch (227) is single-pole; the position is finely adjustable; The inner part of the support carrier (221) is rotatably connected to a synchronizing wheel I (228) by a rotating shaft and a bearing; the rotating shaft is made of a qualified steel material; the bearing is a deep-slot micro ball bearing; the synchronizing wheel I (228) is made of an aluminum alloy; an outer part of the ball slide rail (224) is slidably connected by a detent slot in an internally preset sliding groove of the support carrier (221); a synchronizing support roller II (2218) and the synchronizing wheel I (228) are in drive connection by a synchronous belt, enabling the transmission of the drive force and steering, the synchronous belt being made of polyurethane for toothing; a synchronizing wheel II (229) is arranged on a right-hand side of the synchronizing wheel I (228) by a keyway connection, specifically a flat keyway connection, the number of teeth of the synchronizing wheel II (229) being equal to the number of teeth of the synchronizing wheel I (228);An inner part of synchronizer wheel II (229) is rigidly connected to a main drive shaft (2210) by a splined connection; synchronizer wheel I (228) is provided at a corresponding position on an outer part of the main drive shaft (2210) and is secured by a fastening bolt to prevent relative rotation; an inner part of the main drive shaft (2210) is rigidly connected to a reinforcing steel shaft (2212) by an interference fit, thus increasing the strength and torsional stiffness of the structure of the main drive shaft (2210), and the torsional strength is further increased by tempering the reinforcing steel shaft (2212); The outer part of the main drive shaft (2210) is rigidly connected by a splined connection to a helical gear (2211), which is used to change the direction of the drive transmission; the splined connection specification is the same; the direction of the drive force is changed by the helical gear (2211); a synchronous belt tensioning slide (2213) is detachably connected to a left inner part of the three-way ball slide (225) by a screw to facilitate subsequent maintenance and tension control; A synchronous belt tensioning slide bar (2214) is installed in an inner part of the synchronous belt tensioning slide bar (2213), an outer part of the synchronous belt tensioning slide bar (2214) is threaded together with a synchronous belt tensioning screw (2215), by tightening the synchronous belt tensioning screw (2215) the tension of the synchronous belt can be regulated to ensure the stability of the transmission;An inner part of the support carrier (221) is rotatably connected to a support roller reinforced steel shaft (2216) via the bearing; an outer part of the support roller reinforced steel shaft (2216) is rigidly connected to a synchronizing support roller I (2217) by a keyed connection, the keyed connection is fitting, the structure of the synchronizing support roller I (2217) and the synchronizing wheel I (228) is identical; a synchronizing support roller II (2218) is rigidly connected to the right side of the synchronizing support roller I (2217) by a one-piece forming or the keyed connection to form the structure of a support roller assembly, the direction of transmission is changed by the support roller assembly;A drive locking device (2219) is firmly connected to a front and rear side of the inner part of the three-way ball slide (225) by means of a screw to secure the synchronous belt, so that the three-way ball slide (225) moves synchronously with the synchronous belt. The locking device is secured by the screw, and the rubber disc on the inside protects the belt. The outer part of the drive motor (21101) is firmly arranged by means of a screw within a mounting chamber enclosed by the support bracket (221) and the right protective cover (222). The motor is secured by the screw, and the mounting chamber fits the housing. One drive end of the drive motor (21101) engages with the helical gear (2211) via a gear engagement structure to enable the stable transmission of the drive force.

[0024] Specifically, a reduction gear consisting of the drive motor (21101) in combination with a reduction structure drives a drive synchronous gear assembly comprising the main drive shaft (2210), synchronous gear I (228), synchronous gear II (229) and a support roller assembly comprising synchronous support roller I (2217), synchronous support roller II (2218), the three-way ball slide (225) is pulled by the synchronous belt for stable reciprocating motion, a ball roller structure between the ball slide rail (224) and the three-way ball slide (225) significantly reduces the frictional force in the reciprocating motion process, increases the smoothness of the movement and reduces wear. The principle of multi-stage positioning is as follows: after starting, the drive motor (21101) is rotated clockwise, driving the three-way ball slide (225) to move in the direction of the Hall zero-point switch (227),When the pole pair magnet ring II (226) on the three-way ball slide (225) is near the Hall zero-point switch (227), the Hall zero-point switch (227) triggers the signal. After receiving the signal, the reference zero point is set by the main board. Subsequently, the pulse signal is detected by a single-chip microcomputer on the main board via the Hall encoder (21102) behind the drive motor (21101). The number of pulses output by the drive motor per revolution is calculated. Then, based on a specific position to which the reciprocating slide (217) is to move, the number of revolutions of the drive motor (21101) to be rotated is calculated, so that the dwell position of the multi-stage positioning is precisely controlled, enabling multi-stage massage control of several positions. Operating principle:

[0025] When the use of the massage device is required, the drive end outputs the drive force for rotation after the drive motor (21101) is started: first, the pole pair magnet ring I (21103) is driven to synchronous rotation in order to provide the magnetic signal for the Hall encoder (21102), thus enabling the speed check; afterwards, the drive force is transmitted to the lower end of the reciprocating threaded spindle (216) via a coupling or a splined gear structure.The reciprocating threaded spindle (216) is not rotated with the reciprocating threaded spindle (216) because it is threaded in connection with the reciprocating slide (217) and the reciprocating slide (217) is attached to the mounting steel shaft (214) by the linear bearing. Since the reciprocating threaded spindle (216) cannot be rotated with the threaded spindle, the rotary motion of the reciprocating threaded spindle (216) is converted into a linear reciprocating motion of the reciprocating slide (217) along the mounting steel shaft (214). At the same time, the sliding steel shaft (213) passes through the reciprocating slide (217) and is attached to the steel shaft mounting part (219), further limiting the radial pivoting of the reciprocating slide (217).The vibration motor (218) synchronously performs the linear back-and-forth movement with the reciprocating sliding piece (217), and its own starting generates the vibration, ultimately enabling the massage effect.

[0026] When the use of the masturbator is required, the drive end outputs the driving force for rotation after starting the drive motor (21101) (suitable for a reduction gear). Through the engagement of the gear at the drive end with the helical gear, the driving force is transmitted to the helical gear (2211). Because the helical gear (2211) is fixed to the outer part of the main drive shaft (2210) (a reinforcing steel shaft (2212) is installed in the inner part of the main drive shaft (2210) to increase torsional strength), the main drive shaft (2210) is driven to synchronous rotation when the helical gear (2211) rotates, thus completing the change in the direction of the drive transmission.During the rotation of the main drive shaft (2210), the synchronizer wheel II (229) on the outer part rotates synchronously with the shaft. The keyed connection drives the synchronizer wheel I (228) into rotation. The synchronizer wheel I (228) then engages the synchronizer support roller II (2218), which is attached to the support roller's reinforced steel shaft (2216), forming a drive fit with the synchronizer support roller I (2217) via the synchronous belt, creating a closed belt drive circuit. During this time, the synchronous belt tensioning slide (2213), the synchronous belt tensioning guide rod (2214), and the synchronous belt tensioning screw (2215) adjust the tension of the synchronous belt, thus preventing slippage.

[0027] The three-way ball slide (225) is attached to the synchronous belt by means of a drive locking device (2219), when the synchronous belt is moved the three-way ball slide (225) is driven to linear back-and-forth movement along the ball slide rail (224) on the support carrier (221), so that the massage effect is enabled.

[0028] Although embodiments of the present invention are shown and described, it is understandable to the person skilled in the art that several changes, modifications, substitutions and variations may have been made to these embodiments without deviating from the principles and spirit of the present invention; the scope of the present invention is limited by the attached claims and their equivalents.

Claims

[1] A universal multi-stage control massage device of a back-and-forth motion, comprising a back-and-forth vibration mechanism (2), characterized by , that: the back-and-forth vibration mechanism (2) includes a drive component (211); the drive component (211) comprises a drive motor (21101) which serves to provide a drive source; the drive component (211) further comprises a Hall encoder (21102) and a pole pair magnet ring I (21103), a bottom part of the drive motor (21101) is arranged on a head side of the Hall encoder (21102); The vibration mechanism further includes: a mounting seat (215), a rod seat (212) and a mounting steel shaft (214), wherein the mounting seat (215) and the rod seat (212) are rigidly connected by the mounting steel shaft (214); a reciprocating threaded spindle (216) to the underside of which a drive end of the drive motor (21101) is firmly connected; and a reciprocating slide (217) which is threaded in connection with an outer part of the reciprocating threaded spindle (216), wherein an inner part of the reciprocating slide (217) is slidably connected to an outer part of the mounting steel shaft (214), the inner part of the reciprocating slide (217) is rigidly connected to a vibration motor (218); furthermore, a sliding steel shaft (213) and a steel shaft fastening part (219), both ends of the sliding steel shaft (213) are engaged in the steel shaft fastening part (219); the back-and-forth vibration mechanism (2) further comprises: a support beam (221), an outer part of the support beam (221) is firmly connected to an inner part of an outer coating (1); a helical gear (2211) with which the drive end of the drive motor (21101) is in engagement connection; a main drive shaft (2210), wherein the helical gear (2211) is rigidly connected to an outer part of the main drive shaft (2210); a synchronous wheel I (228) which is provided on the outer part of the main drive shaft (2210); a ball slide rail (224) which is firmly connected to a front, rear side of the support beam (221); as well as a three-way ball slide (225) which is connected to the synchronous wheel I (228) by means of a synchronous belt; a support roller reinforcement steel shaft (2216) is rotatably connected to an inner part of the support carrier (221), an outer part of the support roller reinforcement steel shaft (2216) is fixedly connected to a synchronizing support roller I (2217), a synchronizing support roller II (2218) is fixedly connected to a right side of the synchronizing support roller I (2217), a synchronizing belt tensioning slide (2213) is detachably connected to a left inner part of the three-way ball slide (225), a synchronizing belt tensioning slide (2214) is provided on an inner part of the synchronizing belt tensioning slide (2213), an outer part of the synchronizing belt tensioning slide (2214) is threaded to a synchronizing belt tensioning screw (2215), on a front, rear side of the inner part of the A drive locking device (2219) is firmly connected to the three-way ball sliding piece (225). [2] A universal multi-stage control massage device of a back-and-forth movement according to claim 1, characterized by, that the drive mechanism (2) further comprises: a mounting seat (215), a rod seat (212) and a mounting steel shaft (214), wherein the mounting seat (215) and the rod seat (212) are rigidly connected by the mounting steel shaft (214); wherein the drive motor (21101) is rigidly connected to an underside of the rod seat (212); wherein a bottom side of the Hall encoder (21102) is arranged on a head side of the pole pair magnet ring I (21103); a reciprocating threaded spindle (216) to the underside of which a drive end of the drive motor (21101) is rigidly connected, wherein a head end of the reciprocating threaded spindle (216) is rotatably connected to an inner part of the mounting seat (215); and a reciprocating sliding piece (217) which is threaded in connection with the outer part of the reciprocating threaded spindle (216), wherein the inner part of the reciprocating sliding piece (217) is slidably connected to the outer part of the fastening steel shaft (214). [3] A universal multi-stage control massage device of a back-and-forth movement according to claim 2, characterized by , that the inner part of the reciprocating sliding piece (217) is firmly connected to a vibration motor (218). [4] A universal multi-stage control massage device of a back-and-forth movement according to claim 2, characterized by, that the drive mechanism (2) further comprises a sliding steel shaft (213) and a steel shaft fastening part (219), the sliding steel shaft (213) is provided parallel to the fastening steel shaft (214), the sliding steel shaft (213) passes through the reciprocating slide (217), both ends of the sliding steel shaft (213) are engaged in the steel shaft fastening part (219), and a lower end of the reciprocating threaded spindle (216) is rotated within the rod seat (212) under the drive of the drive motor (21101). [5] A universal multi-stage control massage device of a back-and-forth movement according to claim 4, characterized by , that the drive mechanism (2) further comprises: a support beam (221), wherein an outer part of the support beam (221) is rigidly connected to an inner part of an outer coating (1); a helical gear (2211) with which the drive end of the drive motor (21101) is in engagement connection; a main drive shaft (2210), wherein the helical gear (2211) is rigidly connected to an outer part of the main drive shaft (2210); a synchronous wheel I (228) which is provided on the outer part of the main drive shaft (2210); a ball slide rail (224) which is firmly connected to a front, rear side of the support beam (221); and a three-way ball slide (225) which is slidably connected to an inner part of the ball slide rail (224) is in drive connection with the synchronous wheel I (228) by means of a synchronous belt. [6] A universal multi-stage control massage device of a back-and-forth movement according to claim 5, characterized by, that the drive component (211) further comprises a Hall encoder (21102) and a pole pair magnet ring I (21103), a right protective cover (222) and a left protective cover (223) are firmly connected to a base part of the support carrier (221), and an outer part of the drive motor (21101) is arranged on an inner part of the support carrier (221) and the right protective cover (222). [7] A universal multi-stage control massage device of a back-and-forth movement according to claim 6, characterized by , that a pole pair magnet ring II (226) is arranged on a bottom part of the three-way ball slide (225), a Hall zero point switch (227) is arranged on the inner part of the support carrier (221), a synchronizer wheel II (229) is arranged on a right side of the synchronizer wheel I (228), and a reinforcing steel shaft (2212) is firmly connected to an inner part of the main drive shaft (2210). [8] A universal multi-stage control massage device of a back-and-forth movement according to claim 7, characterized by , that an inner part of the support carrier (221) is rotatably connected to a support roller reinforcing steel shaft (2216), an outer part of the support roller reinforcing steel shaft (2216) is rigidly connected to a synchronizing support roller I (2217), and a synchronizing support roller II (2218) is rigidly connected to a right side of the synchronizing support roller I (2217). [9] A universal multi-stage control massage device of a back-and-forth movement according to claim 8, characterized by , that a synchronous belt tensioning slide (2213) is detachably connected to a left inner part of the three-way ball slide (225), and a synchronous belt tensioning slide (2214) is provided on an inner part of the synchronous belt tensioning slide (2213). [10] A universal multi-stage control massage device of a back-and-forth movement according to claim 9, characterized by, that an outer part of the synchronous belt tensioning slide rod (2214) is threaded in connection with a synchronous belt tensioning screw (2215), and that an output locking device (2219) is firmly connected to a front, rear side of the inner part of the three-way ball slide (225).

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