CN111281730B - Control method of massage chair for performing split-pushing massage on back - Google Patents
Control method of massage chair for performing split-pushing massage on back Download PDFInfo
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- CN111281730B CN111281730B CN201811487949.3A CN201811487949A CN111281730B CN 111281730 B CN111281730 B CN 111281730B CN 201811487949 A CN201811487949 A CN 201811487949A CN 111281730 B CN111281730 B CN 111281730B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/007—Kneading
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5002—Means for controlling a set of similar massage devices acting in sequence at different locations on a patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5064—Position sensors
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/081—Back
Abstract
The invention provides a control method of a massage chair for performing partial push massage on the back, wherein two groups of kneading heads are arranged on the massage chair, a first motor for driving the kneading heads to rotate, a second motor for driving the kneading heads to move along the height direction of a massage person and a third motor for driving the kneading heads to move back and forth, a control system acquires the height of the massage person, and an initial massage position and a final massage position of the back of the massage person are arranged in the height direction, and the back is massaged by partial push, which is different from the non-targeted massage in the existing massage chair.
Description
Technical Field
The invention relates to a massage control method of a massage armchair, in particular to a massage armchair control method for performing divided pushing and massage on the back.
Background
The massage chair utilizes the mechanical rolling force action and the mechanical force extrusion to carry out massage, and the manual massage can dredge channels and collaterals, lead qi and blood to circulate and keep the yin-yang balance of the organism, so that people can feel relaxed muscles after massage, have flexible joints, excite people, eliminate fatigue and play an important role in ensuring the health. However, the existing massage chairs only can massage the back of the body in a general way, and cannot massage special parts of the body specifically, namely, the massage chairs have few massage forms or types and cannot bring about better experience.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a massage chair control method for performing a split massage on the back.
In order to achieve the above and other related objects, the present invention provides a method for controlling a massage chair for performing a partial push massage on a back, the massage chair having two sets of kneading heads, a first motor for driving the two sets of kneading heads to rotate, a second motor for driving the two sets of kneading heads to move along a height direction of a massage person, a third motor for driving the two sets of kneading heads to move back and forth, and a control system for acquiring a height of the massage person, and a starting massage position and an ending massage position of the back of the massage person in the height direction; the control method of the massage chair for performing the split-pushing massage on the back comprises the following steps:
1) the control system controls the second motor to drive the two groups of kneading heads to move to a starting massage position, controls the first motor to execute movement, enables the two groups of kneading heads to rotate, enables the distance between the two groups of kneading heads to reach the minimum value in the rotating process, and controls the third motor to enable the two groups of kneading heads to move to a rear limit position;
2) the control system controls the second motor to drive the two groups of kneading heads to move towards the end massage position at a preset speed towards the end; the control system controls the first motor to perform movement, so that the two groups of kneading heads rotate, and the distance between the two groups of kneading heads is widened in the rotating process; the control system controls the third motor to enable the two groups of kneading heads to move forwards in a limiting manner;
3) when the distance between the two groups of kneading heads reaches the maximum value, the control system controls the first motor and the second motor to stop; when the two groups of kneading heads reach a front limit, the control system controls the third motor to stop;
4) the control system controls the second motor to drive the two groups of kneading heads to move towards the initial massage position at a preset moving speed towards the initial end; the moving speed towards the terminating end is greater than the moving speed towards the starting end; the control system controls the first motor to perform movement, so that the two groups of kneading heads rotate, and the distance between the two groups of kneading heads is narrowed during the rotation; the control system controls the third motor to enable the two groups of kneading heads to move backwards in a limiting manner;
5) when the distance between the two groups of kneading heads reaches the minimum value, the control system controls the first motor and the second motor to stop; when the two groups of kneading heads reach a rear limit position, the control system controls the third motor to stop;
6) repeating step 2), until the two groups of kneading heads reach the end massage position before repeating step 2), performing an end moving step: the control system controls the second motor to drive the two groups of kneading heads to move in the same direction as the direction of moving towards the end massage position in the step 2) at a preset speed towards the end, and controls the first motor to perform movement, so that the two groups of kneading heads rotate, and the distance between the two groups of kneading heads is widened in the rotating process; the control system controls the third motor to enable the two groups of kneading heads to move forwards in a limiting mode, and then controls the first motor and the second motor to stop when the distance between the two groups of kneading heads reaches the maximum value; when the two groups of kneading heads reach the front limit, the control system controls the third motor to stop, and then the step 7) is carried out;
7) the control system controls the third motor to enable the two groups of kneading heads to move to a rear limit position; then, after the control system controls the second motor to drive the two groups of kneading heads to move to the initial massage position at a preset moving speed towards the initial end, the control system controls the first motor to execute movement, so that the two groups of kneading heads rotate, and the distance between the two groups of kneading heads reaches the minimum value in the rotating process; after which step 2) is repeated.
Preferably, the starting massage position corresponds to a lumbosacral demarcation line and the ending massage position corresponds to a shoulder reference point; alternatively, the starting massage position corresponds to a shoulder reference point and the ending massage position corresponds to a lumbosacral demarcation line.
Preferably, in step 3), after the first motor, the second motor and the third motor are stopped and the first motor, the second motor and the third motor are stopped for 2-3 seconds, step 4) is performed; in step 5), after the first motor, the second motor, and the third motor are all stopped, and the first motor, the second motor, and the third motor are stopped for 2 to 3 seconds, step 6) is performed.
Preferably, the front limit and the rear limit of the kneading head are realized by matching front and rear limit magnets with first induction electronic elements and second induction electronic elements which are arranged in front and rear, and feeding back signals to the control system, and the front and rear limit magnets are arranged on a front and rear linkage rod which is in transmission connection with the kneading head.
Preferably, the method for detecting the distance between the two groups of kneading heads comprises the following steps: spacing magnets are mounted on kneading linkage rods in transmission connection with the kneading heads, an induction circuit board is fixed on the first motor, narrow and wide induction elements corresponding to the minimum value and the maximum value of the spacing between the two groups of kneading heads respectively are arranged in the induction circuit board, and the current spacing value between the two groups of kneading heads is obtained by feeding back signals to a control system through the spacing magnets in the induction spacing between the narrow and wide induction elements.
As described above, the method for controlling a massage chair for performing a split-push massage on the back according to the present invention has the following advantageous effects: the back massage machine can perform separate push massage on the back of a human body, achieves an optimized separate push massage mode on the back, and improves diversification of back massage.
Drawings
Fig. 1 shows a massage chair.
Fig. 2 is a schematic view of a massage movement in the massage chair.
Fig. 3 is a schematic view showing a state where the pitch of the kneading heads in the massage movement is widened.
Fig. 4 is a schematic view showing a state in which the pitch of the kneading heads in the massage movement is narrowed.
Fig. 5 is a schematic view showing a rear limit state of a kneading head in the massage movement.
Fig. 6 is a schematic view showing a state of a front limit of a kneading head in the massage movement.
Description of the element reference numerals
1 first Motor
2 leather belt
3 first gear box
4 induction circuit board
5 spacing magnet
6 kneading head
7 kneading linkage rod
8 cam
9 kneading crank
10 securing bolt
11 base
12 controller
13 massage machine core
14-stroke guide rail
15 drive gear
16 second motor
17 third motor
18 second gearbox
19 front and rear linkage rod
20 pinion
21 front and rear guide rail gear
22 first inductive electronic component
23 front and rear direction limiting magnet
24 rear limit baffle
25 front limit baffle
26 second inductive electronic component
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Please refer to fig. 1 to 6. It should be understood that the structures, ratios, sizes, and the like shown in the drawings are only used for matching the disclosure of the present disclosure, and are not used for limiting the conditions that the present disclosure can be implemented, so that the present disclosure is not limited to the technical essence, and any structural modifications, ratio changes, or size adjustments should still fall within the scope of the present disclosure without affecting the efficacy and the achievable purpose of the present disclosure. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
The directions in this specification are defined as: sitting in the massage chair according to the human body, wherein the height direction of the human body is the up-down direction, the front-back direction of the human body is the front-back direction, the face of the human body faces to the front, and the back of the human body faces to the back; similarly, the clockwise direction and the counterclockwise direction corresponding to the human face are the clockwise direction and the counterclockwise direction in this specification.
As shown in fig. 1 and 6, the massage chair of the present invention has a specific structure for massaging the upper part of the human body (including the shoulder, back and waist) comprising: a controller 12, a massage machine core 13 and a stroke mechanism which can make the massage machine core 13 move up and down along the back of the human body; the massage machine core 13 is provided with two sets of kneading heads 6, a first motor 1 for driving the kneading heads 6 to rotate, a second motor 16 for driving the kneading heads 6 to move in the height direction (i.e., up-down direction) of the massage person, and a third motor 17 for driving the kneading heads 6 to move back and forth.
In this embodiment, the first motor 1 is fixed on the base 11, the first motor 1 drives the first gear box 3 to move through the belt 2, the first gear box 3 drives the kneading linkage rod 7, the kneading linkage rod 7 drives the cam 8 in the kneading crank 9 to rotate, the rotation of the cam 8 drives the kneading crank 9 to move, the fixing bolt 10 drives the kneading heads 6 to move, the kneading heads 6 can drive the two groups of kneading heads 6 to rotate, when the two groups of kneading heads 6 rotate counterclockwise, as shown in fig. 3, the direction indicated in the figure is the counterclockwise direction, and the distance between the two groups of kneading heads 6 is widened; when the kneading heads 6 of both sets are rotated clockwise, as shown in fig. 4, which is a clockwise rotation direction, the distance between the kneading heads 6 of both sets becomes narrow.
In order to detect the distance between the two groups of kneading heads 6, in the embodiment, a spacing limiting magnet 5 is installed on a kneading linkage rod 7 in transmission connection with the kneading heads 6, an induction circuit board 4 is fixedly arranged on a first gear box 3 of a first motor 1, a narrow induction element corresponding to the minimum value of the spacing between the two groups of kneading heads 6 and a wide induction element corresponding to the maximum value of the spacing between the two groups of kneading heads 6 are arranged in the induction circuit board 4, and a signal is fed back to a controller through the spacing limiting magnet 5 by the narrow and wide induction elements, so that whether the current spacing value between the two groups of kneading heads 6 is the minimum value or the maximum value is obtained. Namely, the controller 12 outputs a command to enable the first motor 1 to drive the kneading heads 6 to move back and forth, the kneading linkage rod 7 rotates for one circle, the induction circuit board 4 can generate wide and narrow signals to the controller 12, and the controller 12 can determine the distance between the two groups of kneading heads according to the fed-back signals, so as to drive other action mechanisms (namely, the second motor 16 and the third motor 17) to act. In the embodiment, the cam 8 rotates for one circle, the kneading crank 9 moves clockwise or anticlockwise according to an elliptical track, the distance between the two groups of kneading heads 6 at the narrowest part is 3cm, and the distance between the two groups of kneading heads at the widest part is 21 cm.
In this embodiment, the second motor 16 can drive the massage machine core 13 to move on the travel guide rail 14, so as to realize the up-and-down movement of the massage machine core. The second motor 16 is connected with the transmission gear 15 and forms the stroke mechanism together with the stroke guide rail 14, and the second motor 16 rotates to drive the transmission gear 15 to rotate along the stroke guide rail 14, so that the massage machine core 13 moves up and down along the back of the human body.
The third motor 17 is fixed on the base 11, the third motor 17 rotates to drive the gear in the second gear box 18 to rotate, so as to drive the front and rear linkage rods 19 to move, the pinions 20 fixed on the front and rear linkage rods 19 also rotate synchronously, and the pinions 20 are main transmission gears to drive the front and rear guide rail gears 21 to move forwards and backwards.
In this embodiment, the front and rear linkage rod 19 is provided with a front and rear limiting magnet 23, the first induction electronic element 22 and the second induction electronic element 26 are fixed on the base 11 in a front and rear manner, the first induction electronic element 22 and the second induction electronic element 26 are both located within an induction range of the front and rear limiting magnet 23, the front and rear limiting magnet 23 rotates, the first induction electronic element 22 can generate a front limiting signal or the second induction electronic element 26 can generate a rear limiting signal, the front limiting signal and the rear limiting signal can be provided to the controller 12, and the controller 12 determines whether the kneading head 6 is located at a front position or a rear position after receiving the signals, so as to control other actuating mechanisms (i.e., the first motor 1 and the second motor 16) to actuate. It can also be understood that, as shown in fig. 5 and 6, when the pinion 20 moves to the rear limit fence 24, a rear limit signal is generated, and when the pinion 20 moves to the front limit fence 25, a front limit signal is generated. Figure 5 shows the massage movement 13 in the forward limit, seen with the rear limit stop 24. The massage movement 13 is shown in figure 6 in a rear limit position, where the front limit stop 25 is seen.
In this embodiment, the control system is the controller 12. The massage chair is provided with a height detector (not shown) which can detect the height reached by the two groups of kneading heads 6.
The control system of the invention, namely the controller 12 can obtain the height of the massage personnel, the initial massage position and the final massage position of the back of the massage personnel in the height direction; in a first case, the starting massage position corresponds to a lumbosacral demarcation line and the ending massage position corresponds to a shoulder reference point; alternatively, in the second case, the starting massage position corresponds to a shoulder reference point and the ending massage position corresponds to a lumbosacral demarcation line. The shoulder reference point corresponds to the upper edge of a first thoracic vertebra of the human body, namely is horizontal to the Jianjing acupoint; the lumbosacral demarcation line is defined as: the fifth lumbar and sacrum boundary; the back and waist line is defined as: the twelfth thoracic vertebra and the first lumbar vertebra.
In this embodiment, in the method for controlling a massage chair for performing split-pushing massage on the back, two groups of kneading heads 6 are provided on the massage chair, a first motor 1 for driving the two groups of kneading heads 6 to rotate, a second motor 16 for driving the two groups of kneading heads 6 to move along the height direction of a massage person, a third motor 17 for driving the two groups of kneading heads 6 to move back and forth, and a control system, wherein the control system obtains the height of the massage person, and an initial massage position and a final massage position of the back of the massage person in the height direction; the control method of the massage chair for performing the split-pushing massage on the back comprises the following steps:
1) the control system controls the second motor 16 to drive the two groups of kneading heads 6 to move to the initial massage position, controls the first motor 1 to execute movement, enables the two groups of kneading heads 6 to rotate, enables the distance between the two groups of kneading heads 6 to reach the minimum value in the rotating process, and controls the third motor 17 to enable the two groups of kneading heads 6 to move to the rear limit;
2) the control system controls the second motor 16 to drive the two groups of kneading heads 6 to move towards the massage termination position at a preset speed towards the termination end; the control system controls the first motor 1 to perform movement, so that the two groups of kneading heads 6 rotate, and the distance between the two groups of kneading heads 6 is widened in the rotating process; the control system controls the third motor 17 to enable the two groups of kneading heads 6 to move forwards in a limiting way; the step realizes the sub-pushing towards the position of ending massage on the back;
3) when the distance between the two groups of kneading heads 6 reaches the maximum value, the control system controls the first motor 1 and the second motor 16 to stop; when the two groups of kneading heads 6 reach the front limit, the control system controls the third motor 17 to stop;
4) the control system controls the second motor 16 to drive the two groups of kneading heads 6 to move towards the initial massage position at a preset moving speed towards the initial end; the moving speed towards the terminating end is higher than the moving speed towards the starting end; the control system controls the first motor 1 to perform movement, so that the two groups of kneading heads 6 rotate, and the distance between the two groups of kneading heads 6 is narrowed in the rotating process; the control system controls the third motor 17 to enable the two groups of kneading heads 6 to move backwards in a limiting way; the step realizes the sub-pushing towards the initial massage position of the back;
5) when the distance between the two groups of kneading heads 6 reaches the minimum value, the control system controls the first motor 1 and the second motor 16 to stop; when the two groups of kneading heads 6 reach the rear limit, the control system controls the third motor 17 to stop;
6) repeating step 2), until the two sets of kneading heads 6 reach the end massage position before repeating step 2), performing an end moving step: the control system controls the second motor 16 to drive the two groups of kneading heads 6 to move in the same direction as the direction of moving towards the end massage position in the step 2) at a preset speed towards the end, and controls the first motor 1 to move so that the two groups of kneading heads 6 rotate and the distance between the two groups of kneading heads 6 is widened in the rotating process; the control system controls the third motor 17 to enable the two groups of kneading heads 6 to move forwards in a limiting way, and then controls the first motor 1 and the second motor 16 to stop when the distance between the two groups of kneading heads 6 reaches the maximum value; when the two groups of kneading heads 6 reach the front limit, the control system controls the third motor 17 to stop, and then the step 7) is carried out; in the step, when the two groups of kneading heads 6 do not reach the massage termination position before repeating the step 2), the steps 2) to 5 can be repeated; when the two groups of kneading heads 6 reach the massage termination position before repeating the step 2), carrying out a termination position moving step;
7) the control system controls the third motor 17 to move the two groups of kneading heads 6 to the rear limit; then, the control system controls the second motor 16 to drive the two sets of kneading heads 6 to move to the initial massage position at a preset moving speed towards the initial end, and controls the first motor 1 to execute movement, so that the two sets of kneading heads 6 rotate, and the distance between the two sets of kneading heads 6 reaches the minimum value in the rotating process; after which step 2) is repeated. Step 7 is a step of returning to the initial massage position.
Since the control system controls the first motor 1 to perform the movement, the time taken for the two sets of kneading heads 6 to rotate and the distance between the two sets of kneading heads 6 to widen during the rotation until the distance between the two sets of kneading heads 6 reaches the maximum value is equal to the time taken for the control system to control the first motor 1 to perform the movement, the two sets of kneading heads 6 to rotate and the distance between the two sets of kneading heads 6 to narrow during the rotation until the distance between the two sets of kneading heads 6 reaches the minimum value, in the case that the moving speed toward the terminal end is greater than the moving speed toward the starting end, the distance that the two sets of kneading heads 6 move toward the terminal massage position after passing through steps 2) and 3) is greater than the distance that the two sets of kneading heads 6 move toward the starting massage position after passing through steps 4) and 5) in the height direction of the back of the massage person; this enables the two sets of kneading heads 6 to be gradually moved towards the end massage position.
When the two sets of kneading heads 6 reach the end massage position, the end moving step is performed, and then the step of returning to the initial massage position is performed. In the step 7), the control system controls the third motor 17 to move the two sets of kneading heads 6 to the rear limit position, and then controls the second motor 16 to drive the two sets of kneading heads 6 to move to the initial massage position at a preset moving speed towards the initial end, so that the two sets of kneading heads 6 do not prop against the back in the process of returning to the initial massage position, and the back of the massage person can be relaxed.
In step 3), after the first motor 1, the second motor 16 and the third motor 17 are stopped, and the first motor 1, the second motor 16 and the third motor 17 are stopped for 2 to 3 seconds, the step 4) is performed; this allows the back of the massaging person to relax between step 3) and step 4).
In step 5), after the first motor 1, the second motor 16, and the third motor 17 are stopped, the first motor 1, the second motor 16, and the third motor 17 are stopped for 2 to 3 seconds, and then step 6) is performed. This allows the back of the massaging person to relax between step 5) and step 6).
In the present invention, in the first case, the initial massage position corresponds to the lumbosacral boundary line, and the final massage position corresponds to the shoulder reference point, in which case the separate pushing massage is performed gradually upward; in the second case, the initial massage position corresponds to the shoulder reference point and the final massage position corresponds to the lumbosacral boundary, in which case the partial massage is performed gradually downward. The method of the invention can provide two different comfortable massage experiences for massage personnel.
The following takes as an example a first case, which is: the control method of the massage chair for performing the push-sharing massage on the back, wherein the initial massage position corresponds to the lumbosacral boundary, and the final massage position corresponds to the shoulder reference point, comprises the following steps:
1) the control system controls the second motor 16 to drive the two groups of kneading heads 6 to move to the initial massage position, namely the massage machine core 13 moves along the stroke guide rail 14 to reach the initial massage position; the control system controls the first motor 1 to perform movement, so that the two groups of kneading heads 6 rotate, the distance between the two groups of kneading heads 6 reaches the minimum value in the rotating process, and controls the third motor 17 to move the two groups of kneading heads 6 to the rear limit position, in the embodiment, the rear limit signal is fed back to the controller through the second sensing electronic element 26 and the front and rear limiting magnets 23;
2) the control system controls the second motor 16 to drive the two groups of kneading heads 6 to move towards the massage termination position at a preset moving speed towards the termination end, namely, the massage machine core 13 moves upwards along the stroke guide rail 14 at a preset moving speed towards the termination end; the control system controls the first motor 1 to perform movement, so that the two groups of kneading heads 6 rotate, and the distance between the two groups of kneading heads 6 is widened in the rotating process; the control system controls the third motor 17 to enable the two groups of kneading heads 6 to move forwards in a limiting way;
3) when the distance between the two groups of kneading heads 6 reaches the maximum value, the control system controls the first motor 1 and the second motor 16 to stop, in the embodiment, the distance between the two groups of kneading heads 6 reaches the maximum value of 21 cm; when the two groups of kneading heads 6 reach the front limit, the control system controls the third motor 17 to stop, in this embodiment, the front limit signal is fed back to the controller through the first sensing electronic element 22 and the front and back limit magnets 23; after the first motor 1, the second motor 16 and the third motor 17 are all stopped, stopping the first motor 1, the second motor 16 and the third motor 17 for 2-3 seconds;
4) the control system controls the second motor 16 to drive the two groups of kneading heads 6 to move towards the initial massage position at a preset moving speed towards the initial end, namely, the massage machine core 13 moves downwards along the stroke guide rail 14 at a preset moving speed towards the initial end; the moving speed towards the terminating end is higher than the moving speed towards the starting end; the control system controls the first motor 1 to perform movement, so that the two groups of kneading heads 6 rotate, and the distance between the two groups of kneading heads 6 is narrowed in the rotating process; the control system controls the third motor 17 to enable the two groups of kneading heads 6 to move backwards in a limiting way;
5) when the distance between the two groups of kneading heads 6 reaches the minimum value, the control system controls the first motor 1 and the second motor 16 to stop, in the embodiment, the distance between the two groups of kneading heads 6 reaches the minimum value of 3 cm; when the two groups of kneading heads 6 reach the rear limit, the control system controls the third motor 17 to stop, in the embodiment, the rear limit signal is fed back to the controller through the second sensing electronic element 26 and the front and rear direction limit magnets 23, and after the first motor 1, the second motor 16 and the third motor 17 stop, the first motor 1, the second motor 16 and the third motor 17 stop for 2-3 s;
6) repeating step 2), until the two sets of kneading heads 6 reach the end massage position before repeating step 2), performing an end moving step: the control system controls the second motor 16 to drive the two groups of kneading heads 6 to move in the same direction as the direction of moving towards the end massage position in the step 2) at a preset moving speed towards the end, namely, the massage machine core 13 moves upwards along the stroke guide rail 14 at a preset moving speed towards the end; the control system controls the first motor 1 to perform movement, so that the two groups of kneading heads 6 rotate, and the distance between the two groups of kneading heads 6 is widened in the rotating process; the control system controls the third motor 17 to enable the two groups of kneading heads 6 to move forwards in a limiting way, and then controls the first motor 1 and the second motor 16 to stop when the distance between the two groups of kneading heads 6 reaches the maximum value, wherein in the embodiment, the distance between the two groups of kneading heads 6 reaches the maximum value of 21 cm; when the two groups of kneading heads 6 reach the front limit, the control system controls the third motor 17 to stop, and then the step 7) is carried out;
7) the control system controls the third motor 17 to move the two groups of kneading heads 6 to the rear limit position, in the embodiment, the rear limit signal is fed back to the controller through the second induction electronic element 26 and the front and rear limit magnets 23; then, the control system controls the second motor 16 to drive the two sets of kneading heads 6 to move to the initial massage position at a preset moving speed towards the initial end, that is, the massage machine core 13 moves downwards along the stroke guide rail 14 at a preset moving speed towards the final end, and the control system controls the first motor 1 to execute movement, so that the two sets of kneading heads 6 rotate, and the distance between the two sets of kneading heads 6 in the rotating process reaches the minimum value, in the embodiment, the distance between the two sets of kneading heads 6 reaches the minimum value of 3 cm; after which step 2) is repeated.
In the first case, the process of gradually pushing up and separately reaching the lumbosacral boundary through the back after reaching the shoulder reference position and then through the back is realized, and the cycle can be sequentially repeated, so that comfortable massage enjoyment can be provided for a massage person. In the second case, stepwise downward pushing is realized, and comfortable massage enjoyment can be provided for a massage person.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (4)
1. The massage chair is characterized in that two groups of kneading heads are arranged on the massage chair, a first motor for driving the two groups of kneading heads to rotate, a second motor for driving the two groups of kneading heads to move along the height direction of a massage person, a third motor for driving the two groups of kneading heads to move back and forth and a control system are arranged on the massage chair, and the control system acquires the height of the massage person, and the initial massage position and the final massage position of the back of the massage person in the height direction; the massage chair for performing the split-pushing massage on the back comprises the following steps:
1) the control system controls the second motor to drive the two groups of kneading heads to move to a starting massage position, controls the first motor to execute movement, enables the two groups of kneading heads to rotate, enables the distance between the two groups of kneading heads to reach the minimum value in the rotating process, and controls the third motor to enable the two groups of kneading heads to move to a rear limit position;
2) the control system controls the second motor to drive the two groups of kneading heads to move towards the end massage position at a preset speed towards the end; the control system controls the first motor to perform movement, so that the two groups of kneading heads rotate, and the distance between the two groups of kneading heads is widened in the rotating process; the control system controls the third motor to enable the two groups of kneading heads to move forwards in a limiting manner;
3) when the distance between the two groups of kneading heads reaches the maximum value, the control system controls the first motor and the second motor to stop; when the two groups of kneading heads reach a front limit, the control system controls the third motor to stop;
4) the control system controls the second motor to drive the two groups of kneading heads to move towards the initial massage position at a preset moving speed towards the initial end; the moving speed towards the terminating end is greater than the moving speed towards the starting end; the control system controls the first motor to perform movement, so that the two groups of kneading heads rotate, and the distance between the two groups of kneading heads is narrowed during the rotation; the control system controls the third motor to enable the two groups of kneading heads to move backwards in a limiting manner;
5) when the distance between the two groups of kneading heads reaches the minimum value, the control system controls the first motor and the second motor to stop; when the two groups of kneading heads reach a rear limit position, the control system controls the third motor to stop;
6) repeating step 2), until the two groups of kneading heads reach the end massage position before repeating step 2), performing an end moving step: the control system controls the second motor to drive the two groups of kneading heads to move in the same direction as the direction of moving towards the end massage position in the step 2) at a preset speed towards the end, and controls the first motor to perform movement, so that the two groups of kneading heads rotate, and the distance between the two groups of kneading heads is widened in the rotating process; the control system controls the third motor to enable the two groups of kneading heads to move forwards in a limiting mode, and then controls the first motor and the second motor to stop when the distance between the two groups of kneading heads reaches the maximum value; when the two groups of kneading heads reach the front limit, the control system controls the third motor to stop, and then the step 7) is carried out;
7) the control system controls the third motor to enable the two groups of kneading heads to move to a rear limit position; then, after the control system controls the second motor to drive the two groups of kneading heads to move to the initial massage position at a preset moving speed towards the initial end, the control system controls the first motor to execute movement, so that the two groups of kneading heads rotate, and the distance between the two groups of kneading heads reaches the minimum value in the rotating process; thereafter repeating step 2);
the starting massage position corresponds to a lumbosacral demarcation line and the ending massage position corresponds to a shoulder reference point; alternatively, the starting massage position corresponds to a shoulder reference point and the ending massage position corresponds to a lumbosacral demarcation line.
2. The massage chair for divided pushing and massaging the back according to claim 1, wherein:
in step 3), after the first motor, the second motor and the third motor are all stopped, and the first motor, the second motor and the third motor are stopped for 2-3 seconds, then step 4) is carried out;
in step 5), after the first motor, the second motor, and the third motor are all stopped, and the first motor, the second motor, and the third motor are stopped for 2 to 3 seconds, step 6) is performed.
3. The massage chair for divided pushing and massaging the back according to claim 1, wherein: the front limiting part and the rear limiting part of the kneading head are matched with the first induction electronic element and the second induction electronic element which are arranged in the front and the rear directions through front and rear limiting magnets to feed back signals to the control system, and the front and rear limiting magnets are arranged on a front linkage rod and a rear linkage rod which are connected with the kneading head in a transmission way.
4. The massage chair for divided pushing and massaging the back according to claim 1, wherein: the method for detecting the distance between the two groups of kneading heads comprises the following steps: spacing magnets are mounted on kneading linkage rods in transmission connection with the kneading heads, an induction circuit board is fixed on the first motor, narrow and wide induction elements corresponding to the minimum value and the maximum value of the spacing between the two groups of kneading heads respectively are arranged in the induction circuit board, and the current spacing value between the two groups of kneading heads is obtained by feeding back signals to a control system through the spacing magnets in the induction spacing between the narrow and wide induction elements.
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| CN201811487949.3A CN111281730B (en) | 2018-12-06 | 2018-12-06 | Control method of massage chair for performing split-pushing massage on back |
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