CN112438857A

CN112438857A - Control method of massage chair for carrying out oval massage on shoulder, waist and back

Info

Publication number: CN112438857A
Application number: CN201910823215.6A
Authority: CN
Inventors: 林琪; 王贵华; 王军良; 刘广涛
Original assignee: Shanghai Rongtai Health Technology Corp Ltd
Current assignee: Shanghai Rongtai Health Technology Corp Ltd
Priority date: 2019-09-02
Filing date: 2019-09-02
Publication date: 2021-03-05

Abstract

The invention provides a massage chair control method for carrying out oval massage on shoulder, waist and back, wherein two groups of kneading heads are arranged on a 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 and a controller are arranged on the massage chair, and the controller acquires an initial massage position and an oval massage track; four vertexes of the elliptical massage track respectively correspond to an initial massage position, a first middle position, an edge position and a second middle position; the connecting line of the first middle position and the second middle position is in the same direction with the height direction of the massage personnel; the back is massaged by the oval track, which is different from the massage without pertinence in the existing massage chair.

Description

Control method of massage chair for carrying out oval massage on shoulder, waist and back

Technical Field

The invention relates to a massage control method of a massage armchair, in particular to a massage armchair control method for carrying out oval massage on the shoulder, waist and 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 elliptical massage of the back and shoulder.

In order to achieve the above and other related objects, the present invention provides a control method for a massage chair for elliptical massage of shoulder, waist and back, the massage chair is provided with 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 the height direction of a massage person, and a controller, wherein the controller obtains an initial massage position and an elliptical massage track; four vertexes of the elliptical massage track respectively correspond to an initial massage position, a first middle position, an edge position and a second middle position; the connecting line of the first middle position and the second middle position is in the same direction with the height direction of the massage personnel; the control method of the massage chair for carrying out the oval massage on the shoulder, waist and back comprises the following steps:

1) the controller controls the first motor and the second motor to drive the two groups of kneading heads to move to an initial massage position; when the two groups of kneading heads move to the initial massage position, the distance between the two groups of kneading heads reaches the minimum value;

2) the controller controls the first motor to perform movement, so that the two groups of kneading heads rotate, the distance between the two groups of kneading heads is widened during the rotation, and simultaneously, the controller controls the second motor to drive the two groups of kneading heads to move, so that the two groups of kneading heads move towards the corresponding first middle positions along the preset elliptical massage tracks;

3) when the two groups of kneading heads move to the corresponding first middle positions, the controller controls the first motor to perform a motion, so that the two groups of kneading heads rotate, and the spacing between the two groups of kneading heads continues to widen during the rotation, and simultaneously, the controller controls the second motor to drive the two groups of kneading heads to move, so that the two groups of kneading heads move towards the corresponding edge positions along the preset elliptical massage track;

4) when the two sets of kneading heads are moved to the respective edge positions, the spacing between the two sets of kneading heads reaches a maximum value; the controller 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, and controls the second motor to drive the two groups of kneading heads to move, so that the two groups of kneading heads move towards the corresponding second middle positions along the preset elliptical massage tracks;

5) when the two groups of kneading heads move to the corresponding second intermediate positions, the controller controls the first motor to perform a motion so that the two groups of kneading heads rotate and the distance between the two groups of kneading heads continues to narrow during the rotation, and simultaneously, the controller controls the second motor to drive the two groups of kneading heads to move so that the two groups of kneading heads move towards the corresponding initial massage positions along the preset elliptical massage tracks;

6) when the two groups of kneading heads move to the corresponding initial massage positions, returning to the step 2).

Preferably, the first motor moves to enable the distance between the two groups of kneading heads to be detected by the following method: a spacing limiting magnet is arranged on a kneading linkage rod in transmission connection with the kneading head, an induction circuit board is fixed on the first motor, and a narrow induction element and a wide induction element are arranged in the induction circuit board; the narrow sensing elements correspond to the minimum of the two sets of kneading head spacings, and the wide sensing elements correspond to the maximum of the two sets of kneading head spacings; the narrow sensing element and the wide sensing element send feedback signals of the spacing magnets to the controller, so that the controller can learn the spacing values of the two groups of kneading heads.

Further, when the massage chair control method is to perform an upmassage, the first intermediate position is higher than the second intermediate position, the first intermediate position is an upper intermediate position, and the second intermediate position is a lower intermediate position; when the massage chair control method is to perform a downward massage, the first intermediate position is lower than the second intermediate position, the second intermediate position is an upper intermediate position, and the first intermediate position is a lower intermediate position.

Furthermore, the sensing circuit board is provided with an upper middle position sensing element, the upper middle position sensing element corresponds to the distance value when the two groups of kneading heads move to the middle position of the upper part, and the upper middle position sensing element sends a feedback signal of the sensed spacing magnet to the controller, so that the controller can know the distance value of the two groups of kneading heads.

Still further, when the massage chair control method is to perform an upward massage, a preset distance between the edge position and the second middle position in the elliptical massage trajectory is divided by a preset speed at which the second motor drives the kneading heads to move, so as to obtain a movement time from the edge position to the edge of the second middle position of the kneading heads, and when the controller obtains that the movement time from the edge position to the second middle position of the kneading heads reaches the movement time from the edge to the lower middle position, the two groups of kneading heads move to the corresponding second middle positions;

when the massage chair control method is to perform a downward massage, dividing a distance between the initial massage position and the first middle position in the preset elliptical massage track by a preset speed at which the second motor drives the kneading head to move, so as to obtain a time from the initial massage position to the first middle position when the kneading head moves from the initial massage position to the first middle position, and when the controller obtains that the time from the initial massage position to the first middle position when the kneading head moves from the initial massage position to the first middle position reaches the time from the initial massage position to the lower middle position, moving the kneading heads to the corresponding first middle position.

Furthermore, a fourth motor for driving the two groups of kneading heads to beat the massage personnel forwards is also arranged on the massage chair; in one or more of the steps 2) to 5), the controller controls the fourth motor to drive the two groups of kneading heads to perform a beating massage on a massage person while controlling the first motor to perform a movement.

As described above, the method for controlling a massage chair for elliptical massage of the back, shoulder, waist and the like according to the present invention has the following advantageous effects: the massage device can massage the shoulders, the waist and the back of a human body along an elliptical track, improves the comfort level of the shoulder, the waist and the back massage and realizes the diversification of the shoulder, the waist and the 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.

Fig. 7 is a schematic view showing the trajectory of the kneading-up massage of example 1.

Fig. 8 is a schematic view showing the trajectory of the downmassage in example 2.

Description of the element reference numerals

1 first Motor

2 kneading belt

3 first gear box

4 induction circuit board

5 spacing magnet

6 kneading head

7 kneading linkage rod

8 kneading 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

27 fourth motor

28 knocking belt

29 knocking linkage rod

30 knocking cam

31 knocking handle

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.

The massage chair of the invention, it is to the upper portion of the human body (including shoulder, back and waist) massage concrete structure includes: 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 person to be massaged, a third motor 17 for driving the kneading heads 6 to move back and forth, and a fourth motor for driving the two sets of kneading heads 6 to beat the person to be massaged forward.

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 kneading belt 2, the first gear box 3 drives the kneading linkage 7, the kneading linkage 7 drives the kneading cam 8 in the kneading crank 9 to rotate, the rotation of the kneading cam 8 drives the kneading crank 9 to move, the kneading head 6 is driven to move through the fixing bolt 10, which 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 which is 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, and 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; when the distance between the two groups of kneading heads 6 is the minimum value, the narrow induction element induces the distance limiting magnet 5 to feed back a signal; when the distance between the two groups of kneading heads 6 is the maximum value, the wide sensing element senses the feedback signal of the distance limiting magnet 5; and sending a feedback signal of the sensed spacing limiting magnet 5 to the controller 12, and knowing whether the current spacing value between the two groups of kneading heads 6 is the minimum value or the maximum value by the controller 12. That is, the controller 12 outputs a command to make the first motor 1 drive the kneading heads 6 to move back and forth, the kneading linkage 7 rotates for one turn, when a wide signal or a narrow signal generated on the sensing circuit board 4 is sent to the controller 12, the controller 12 determines the distance between the two groups of kneading heads 6 according to the fed-back signal, and then drives other action mechanisms (i.e., the second motor 16 and the third motor 17) to act. In the embodiment, the kneading cam 8 rotates for one circle, so that 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 13. 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 travel range of the travel rail 14 is 0-21 cm.

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, the pinions 20 are main transmission gears 15, and 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 are fixed on the base 11 front and rear, the first induction electronic element 22 and the second induction electronic element are both located in the 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 the front position or the 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.

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 fourth motor 27 is a knocking motor, the fourth motor 27 is connected with a knocking belt 28, the knocking belt 28 is connected with a knocking linkage rod 29, the knocking linkage rod 29 is movably arranged on the base 11, a knocking cam 30 is arranged on the knocking linkage rod 29, the knocking cam 30 is connected with a knocking handle 31, and the knocking handle 31 is connected with the kneading crank 9. The fourth motor 27 drives the knocking belt 28, the knocking belt 28 drives the knocking linkage 29, the knocking linkage 29 drives the knocking cam 30 to rotate, the knocking cam 30 drives the knocking handle 31 to move, and the knocking handle 31 drives the kneading crank 9 to move, so that the kneading head 6 on the kneading crank 9 performs a knocking action. The striking motor 27 can drive the kneading head 6 to perform a constant-speed striking motion or a variable-speed striking motion for the massage worker as required by the customer.

Example 1

As shown in fig. 1 to 7, in the present embodiment, in the method for controlling a massage chair for performing an elliptical massage on the back of the shoulder, waist and back, two sets of kneading heads 6 are provided on the massage chair, a first motor 1 for driving the two sets of kneading heads 6 to rotate, a second motor 16 for driving the two sets of kneading heads 6 to move in the height direction of the massage person, and a controller 12 are provided, and the controller 12 obtains a start massage position, an elliptical massage trajectory, and the height of the massage person; four vertexes of the elliptical massage track respectively correspond to the initial massage position, the first middle position, the edge position and the second middle position; the connecting line of the first middle position and the second middle position is in the same direction with the height direction of the massagers; in the embodiment, the control method of the massage chair is that when the massage chair performs the upward massage, the first middle position is higher than the second middle position, the first middle position is an upper middle position, and the second middle position is a lower middle position;

the control method of the massage chair for carrying out the oval massage on the shoulder, waist and back comprises the following steps:

1) the controller 12 controls the first motor 1 and the second motor 16 to drive the two groups of kneading heads 6 to move to the initial massage position; when the two sets of kneading heads 6 are moved to the initial massaging position, the distance between the two sets of kneading heads 6 reaches the minimum value;

2) the controller 12 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 is widened in the rotating process, and meanwhile, the controller 12 controls the second motor 16 to drive the two groups of kneading heads 6 to move upwards, so that the two groups of kneading heads 6 move towards the corresponding upper middle positions along the preset elliptical massage tracks;

3) when the two groups of kneading heads 6 move to the corresponding upper middle positions, the controller 12 controls the first motor 1 to execute movement, so that the two groups of kneading heads 6 rotate, the distance between the two groups of kneading heads 6 is continuously widened in the rotating process, and meanwhile, the controller 12 controls the second motor 16 to drive the two groups of kneading heads 6 to move downwards, so that the two groups of kneading heads 6 move towards the corresponding edge positions along the preset elliptical massage track;

4) when the two sets of kneading heads 6 are moved to the corresponding edge positions, the distance between the two sets of kneading heads 6 reaches a maximum value; the controller 12 controls the first motor 1 to execute movement, so that the two groups of kneading heads 6 rotate, the distance between the two groups of kneading heads 6 is narrowed in the rotating process, and the controller 12 controls the second motor 16 to drive the two groups of kneading heads 6 to move downwards, so that the two groups of kneading heads 6 move towards the corresponding lower middle positions along the preset elliptical massage tracks;

5) when the two groups of kneading heads 6 move to the corresponding lower middle positions, the controller 12 controls the first motor 1 to execute movement, so that the two groups of kneading heads 6 rotate, the spacing between the two groups of kneading heads 6 is continuously narrowed in the rotating process, and simultaneously, the controller 12 controls the second motor 16 to drive the two groups of kneading heads 6 to move upwards, so that the two groups of kneading heads 6 move towards the corresponding initial massage positions along the preset elliptical massage tracks;

6) when the two sets of kneading heads 6 are moved to the respective initial massage positions, return is made to step 2).

The sensing circuit board 4 is provided with an upper and middle position sensing element, the upper and middle position sensing element corresponds to a distance value when the two sets of kneading heads 6 move to an upper middle position, the upper and middle position sensing element sends a sensed feedback signal of the spacing magnet 5 to the controller 12, and the controller 12 knows that the distance value of the two sets of kneading heads 6 between the two sets of kneading heads 6 is a middle value, which is 12cm in this embodiment.

The distance between the edge position and the second middle position in the preset elliptical massage track is divided by the speed of the preset second motor 16 driving the kneading heads 6 to move to obtain the moving time of the kneading heads 6 from the edge position to the edge of the second middle position, and when the controller 12 obtains the moving time of the two groups of kneading heads 6 from the edge position to the second middle position and the moving time of the edge to the lower middle position, the two groups of kneading heads 6 move to the corresponding second middle position.

The massage chair is provided with a third motor 17 for driving the two kneading heads 6 to move back and forth, and in step 1), the controller 12 controls the third motor 17 to drive the two kneading heads 6 to move to the position set by the customer in the back and forth direction, and then the controller 12 controls the third motor 17 to stop.

In the present embodiment, the upper middle position of one of the two sets of kneading heads 6 moving along the elliptical trajectory is at point a, and the lower middle position is at point B; the other of the two sets of kneading heads 6 has an upper middle position at point C and a lower middle position at point D.

Example 2

As shown in fig. 1 to 6 and 8, in the present embodiment, in the method for controlling a massage chair for elliptical massage of the back, shoulder and waist, two sets of kneading heads 6 are provided on the massage chair, a first motor 1 for driving the two sets of kneading heads 6 to rotate, a second motor 16 for driving the two sets of kneading heads 6 to move in the height direction of the massage person, and a controller 12, wherein the controller 12 obtains a start massage position, an elliptical massage trajectory, and the height of the massage person; four vertexes of the elliptical massage track respectively correspond to the initial massage position, the first middle position, the edge position and the second middle position; the connecting line of the first middle position and the second middle position is in the same direction with the height direction of the massagers; in this embodiment, when the massage chair control method is to perform a downward kneading massage, the first intermediate position is lower than the second intermediate position, the second intermediate position is an upper intermediate position, and the first intermediate position is a lower intermediate position;

2) the controller 12 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 is widened in the rotating process, and meanwhile, the controller 12 controls the second motor 16 to drive the two groups of kneading heads 6 to move downwards, so that the two groups of kneading heads 6 move towards the corresponding lower middle positions along the preset elliptical massage tracks;

3) when the two groups of kneading heads 6 move to the corresponding lower middle positions, the controller 12 controls the first motor 1 to execute movement, so that the two groups of kneading heads 6 rotate, the distance between the two groups of kneading heads 6 is continuously widened in the rotating process, and meanwhile, the controller 12 controls the second motor 16 to drive the two groups of kneading heads 6 to move upwards, so that the two groups of kneading heads 6 move towards the corresponding edge positions along the preset elliptical massage track;

4) when the two sets of kneading heads 6 are moved to the corresponding edge positions, the distance between the two sets of kneading heads 6 reaches a maximum value; the controller 12 controls the first motor 1 to execute movement, so that the two groups of kneading heads 6 rotate, the distance between the two groups of kneading heads 6 is narrowed in the rotating process, and the controller 12 controls the second motor 16 to drive the two groups of kneading heads 6 to move upwards, so that the two groups of kneading heads 6 move towards the corresponding upper middle positions along the preset elliptical massage tracks;

5) when the two groups of kneading heads 6 move to the corresponding upper middle positions, the controller 12 controls the first motor 1 to execute movement, so that the two groups of kneading heads 6 rotate, the spacing between the two groups of kneading heads 6 is continuously narrowed in the rotating process, and simultaneously, the controller 12 controls the second motor 16 to drive the two groups of kneading heads 6 to move downwards, so that the two groups of kneading heads 6 move towards the corresponding initial massage positions along the preset elliptical massage tracks;

The distance between the initial massage position and the first middle position in the preset elliptical massage track is divided by the speed of the preset second motor 16 driving the kneading heads 6 to move, so that the moving time of the kneading heads 6 from the initial massage position to the first middle position from the initial to the lower middle position is obtained, and when the controller 12 obtains the moving time of the two groups of kneading heads 6 from the initial massage position to the first middle position from the initial to the lower middle position, the two groups of kneading heads 6 move to the corresponding first middle position.

Example 3

As shown in fig. 1 to 6, in the present embodiment, in the method for controlling a massage chair for performing an elliptical massage on the back of the shoulder, waist and back, two sets of kneading heads 6 are provided on the massage chair, a first motor 1 for driving the two sets of kneading heads 6 to rotate, a second motor 16 for driving the two sets of kneading heads 6 to move in the height direction of the massage person, a fourth motor 27 for driving the two sets of kneading heads 6 to perform a tapping massage, and a controller 12, wherein the controller 12 obtains a start massage position, an elliptical massage trajectory, and the height of the massage person; four vertexes of the elliptical massage track respectively correspond to the initial massage position, the first middle position, the edge position and the second middle position; the connecting line of the first middle position and the second middle position is in the same direction with the height direction of the massagers; in the embodiment, the control method of the massage chair is that when the massage chair performs the upward massage, the first middle position is higher than the second middle position, the first middle position is an upper middle position, and the second middle position is a lower middle position;

2) the controller 12 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; meanwhile, the controller 12 controls the second motor 16 to drive the two groups of kneading heads 6 to move upwards, and the two groups of kneading heads 6 move towards the corresponding upper middle positions along the preset elliptical massage tracks; meanwhile, the controller 12 controls the fourth motor 27 to drive the two groups of kneading heads 6 to carry out beating massage on the massage personnel;

3) when the two sets of kneading heads 6 move to the respective upper intermediate positions, the controller 12 controls the fourth motor 27 to stop; the controller 12 controls the first motor 1 to execute movement, so that the two groups of kneading heads 6 rotate, the distance between the two groups of kneading heads 6 is continuously widened in the rotating process, and meanwhile, the controller 12 controls the second motor 16 to drive the two groups of kneading heads 6 to move downwards, so that the two groups of kneading heads 6 move towards corresponding edge positions along a preset elliptical massage track;

5) when the two groups of kneading heads 6 move to the corresponding lower middle positions, the controller 12 controls the first motor 1 to execute movement, so that the two groups of kneading heads 6 rotate, and the distance between the two groups of kneading heads 6 is continuously narrowed in the rotating process; meanwhile, the controller 12 controls the second motor 16 to drive the two sets of kneading heads 6 to move upwards, so that the two sets of kneading heads 6 move towards the corresponding initial massage positions along the preset elliptical massage tracks; meanwhile, the controller 12 controls the fourth motor 27 to drive the two groups of kneading heads 6 to carry out beating massage on the massaged;

Example 4

As shown in fig. 1 to 6, in the present embodiment, in the method for controlling a massage chair for performing an elliptical massage on the back of the shoulder, waist and back, two sets of kneading heads 6 are provided on the massage chair, a first motor 1 for driving the two sets of kneading heads 6 to rotate, a second motor 16 for driving the two sets of kneading heads 6 to move in the height direction of the massage person, a fourth motor 27 for driving the two sets of kneading heads 6 to perform a tapping massage, and a controller 12, wherein the controller 12 obtains a start massage position, an elliptical massage trajectory, and the height of the massage person; four vertexes of the elliptical massage track respectively correspond to the initial massage position, the first middle position, the edge position and the second middle position; the connecting line of the first middle position and the second middle position is in the same direction with the height direction of the massagers; in this embodiment, when the massage chair control method is to perform a downward kneading massage, the first intermediate position is lower than the second intermediate position, the second intermediate position is an upper intermediate position, and the first intermediate position is a lower intermediate position;

2) the controller 12 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; meanwhile, the controller 12 controls the second motor 16 to drive the two groups of kneading heads 6 to move downwards, and the two groups of kneading heads 6 move towards the corresponding lower middle positions along the preset elliptical massage tracks; meanwhile, the controller 12 controls the fourth motor 27 to drive the two groups of kneading heads 6 to carry out beating massage on the massage personnel;

3) when the two sets of kneading heads 6 move to the respective lower intermediate positions, the controller 12 controls the fourth motor 27 to stop; the controller 12 controls the first motor 1 to execute movement, so that the two groups of kneading heads 6 rotate, the distance between the two groups of kneading heads 6 is continuously widened in the rotating process, and meanwhile, the controller 12 controls the second motor 16 to drive the two groups of kneading heads 6 to move upwards, so that the two groups of kneading heads 6 move towards corresponding edge positions along a preset elliptical massage track;

5) when the two groups of kneading heads 6 move to the corresponding upper middle positions, the controller 12 controls the first motor 1 to execute movement, so that the two groups of kneading heads 6 rotate, and the distance between the two groups of kneading heads 6 is continuously narrowed in the rotating process; meanwhile, the controller 12 controls the second motor 16 to drive the two sets of kneading heads 6 to move downwards, so that the two sets of kneading heads 6 move towards the corresponding initial massage positions along the preset elliptical massage tracks; meanwhile, the controller 12 controls the fourth motor 27 to drive the two groups of kneading heads 6 to carry out beating massage on the massaged;

The sensing circuit board 4 is provided with an upper and middle position sensing element, the upper and middle position sensing element corresponds to a distance value when the two sets of kneading heads 6 move to an upper middle position, the upper and middle position sensing element sends a sensed feedback signal of the spacing magnet 5 to the controller 12, and the controller 12 knows that the distance value of the two sets of kneading heads 6 between the two sets of kneading heads 6 is a middle value, which is 12cm in this embodiment. .

Compared with the existing method for massaging by only doing wide and narrow range actions in the horizontal direction, the invention can massage the shoulders, the waist and the back of the masseur along the elliptical track. In addition, a tapping massage can also be achieved by driving the kneading head 6 by the fourth motor. Since the second motor 16 drives the kneading head 6 in the height direction of the massaging person, the kneading head 6 can be moved along an elliptical trajectory in the height direction of 0-21 cm. The invention realizes the targeted massage, enriches the massage forms and improves the comfort level of the massage personnel.

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

1. A control method of a massage chair for carrying out oval massage on the shoulder, waist and back 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 and a controller are arranged on the massage chair, and the controller acquires an initial massage position, an oval massage track and the height of the massage person; four vertexes of the elliptical massage track respectively correspond to an initial massage position, a first middle position, an edge position and a second middle position; the connecting line of the first middle position and the second middle position is in the same direction with the height direction of the massage personnel; the control method of the massage chair for carrying out the oval massage on the shoulder, waist and back comprises the following steps:

2. The control method of a massage chair for elliptical massage of the back, shoulder and waist as claimed in claim 1, wherein: the method for detecting the distance between the two groups of kneading heads by the movement of the first motor comprises the following steps: a spacing limiting magnet is arranged on a kneading linkage rod in transmission connection with the kneading head, an induction circuit board is fixed on the first motor, and a narrow induction element and a wide induction element are arranged in the induction circuit board; the narrow sensing elements correspond to the minimum of the two sets of kneading head spacings, and the wide sensing elements correspond to the maximum of the two sets of kneading head spacings; the narrow sensing element and the wide sensing element send feedback signals of the spacing magnets to the controller, so that the controller can learn the spacing values of the two groups of kneading heads.

3. The control method of the massage chair for elliptical massage of the shoulder, waist and back as claimed in claim 2, wherein:

when the massage chair control method is to perform an upward massage, the first intermediate position is higher than the second intermediate position, the first intermediate position is an upper intermediate position, and the second intermediate position is a lower intermediate position;

when the massage chair control method is to perform a downward massage, the first intermediate position is lower than the second intermediate position, the second intermediate position is an upper intermediate position, and the first intermediate position is a lower intermediate position.

4. The control method of a massage chair for elliptical massage of the back, shoulder and waist as claimed in claim 3, wherein:

the sensing circuit board is internally provided with an upper middle position sensing element, the upper middle position sensing element corresponds to two groups of distance values when the kneading heads move to the middle position of the upper part, and the upper middle position sensing element sends feedback signals of sensed distance limiting magnets to the controller, so that the controller knows the two groups of distance values of the kneading heads.

5. The control method of a massage chair for elliptical massage of the back, shoulder and waist as claimed in claim 4, wherein:

when the massage chair control method is to perform an upward massage, dividing a distance between the edge position and the second middle position in the preset elliptical massage track by a preset speed at which the second motor drives the kneading head to move to obtain a moving time from the edge position to the edge of the second middle position of the kneading head to the lower middle position, and when the controller obtains that the moving time from the edge position to the second middle position of the kneading head reaches the moving time from the edge position to the lower middle position, moving the kneading heads to the corresponding second middle position;

6. The control method of the massage chair for elliptical massage of the shoulder, waist and back as claimed in claim 2, wherein:

the massage chair is also provided with a fourth motor for driving the two groups of kneading heads to beat the massage personnel forwards;

in one or more of the steps 2) to 5), the controller controls the fourth motor to drive the two groups of kneading heads to perform a beating massage on a massage person while controlling the first motor to perform a movement.