CN116115473A - Massage apparatus and control method thereof - Google Patents

Massage apparatus and control method thereof Download PDF

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Publication number
CN116115473A
CN116115473A CN202211685659.6A CN202211685659A CN116115473A CN 116115473 A CN116115473 A CN 116115473A CN 202211685659 A CN202211685659 A CN 202211685659A CN 116115473 A CN116115473 A CN 116115473A
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CN
China
Prior art keywords
massage
massage head
controller
pressure
head
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211685659.6A
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Chinese (zh)
Inventor
余成洋
陈奋良
朱育伦
余林蔚
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SKG Health Technologies Co Ltd.
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SKG Health Technologies Co Ltd.
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Publication date
Application filed by SKG Health Technologies Co Ltd. filed Critical SKG Health Technologies Co Ltd.
Priority to CN202211685659.6A priority Critical patent/CN116115473A/en
Publication of CN116115473A publication Critical patent/CN116115473A/en
Pending legal-status Critical Current

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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
    • 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
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/006—Percussion or tapping massage
    • 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
    • A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
    • A61H23/02—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive
    • 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
    • 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
    • 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
    • A61H2201/5071—Pressure sensors
    • 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
    • A61H2205/04—Devices for specific parts of the body neck
    • 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
    • A61H2205/10—Leg

Abstract

The invention relates to the technical field of massage instruments, and discloses a massage instrument and a control method thereof, which are used for improving the comfort level of massage. A massage apparatus comprising: the device comprises a controller, a driving mechanism, a pressure sensor and a massage head; the pressure sensor is used for generating a pressure signal in real time when the massage head massages the human body; the controller is used for adjusting the massage parameters of the massage head to enable the pressure value corresponding to the pressure signal generated by the pressure sensor to be in the preset threshold range when judging that the pressure value corresponding to the pressure signal is out of the preset threshold range; the massage parameters of the massage head comprise massage force, the moving direction of the massage head and the swing amplitude of the massage head.

Description

Massage apparatus and control method thereof
Technical Field
The invention relates to the technical field of massage instruments, in particular to a massage instrument and a control method thereof.
Background
Along with the continuous development of electronic technology, different kinds of massage apparatuses with different functions gradually enter the daily life and work of people. Common massage instruments include a neck massage instrument, an eye massage instrument, a waist massage instrument and the like, and the massage instrument can relieve fatigue of human body parts in a massage mode.
However, in the process of massaging the human body part by the massager, the stress of the massage head in the massager is uneven due to the hardness degree or the size of the human body part, so that the massage comfort level under the current massage parameters is lower.
Disclosure of Invention
The invention provides a massage instrument and a control method thereof, which are used for improving the comfort level of massage.
The first aspect of the present invention provides a massage apparatus comprising: the device comprises a controller, a driving mechanism, a pressure sensor and a massage head; the pressure sensor is used for generating a pressure signal in real time when the massage head massages a human body; the controller is used for adjusting the massage parameters of the massage head to enable the pressure value corresponding to the pressure signal generated by the pressure sensor to be located in the preset threshold range when judging that the pressure value corresponding to the pressure signal is located outside the preset threshold range; the massage parameters of the massage head comprise massage force, the moving direction of the massage head and the swing amplitude of the massage head.
In a possible implementation manner, the controller is configured to adjust the massage parameter of the massage head when it is determined that the pressure value corresponding to the pressure signal is smaller than the minimum value of the preset threshold range, where adjusting the massage parameter of the massage head includes one or more of increasing the massage force, changing the moving direction of the massage head, and increasing the swing amplitude of the massage head.
In a possible implementation manner, the controller is further configured to, when it is determined that the pressure value corresponding to the pressure signal is smaller than the minimum value of the preset threshold range, adjust a massage parameter of the massage head if a difference between the minimum value and the pressure value corresponding to the pressure signal is greater than or equal to a first preset value, where the adjusting the massage parameter of the massage head includes increasing a massage force, changing a moving direction of the massage head, and increasing a swing amplitude of the massage head.
In a possible implementation manner, the controller is configured to adjust the massage parameter of the massage head when it is determined that the pressure value corresponding to the pressure signal is greater than the maximum value of the preset threshold range, where adjusting the massage parameter of the massage head includes one or more of reducing the massage force, changing the moving direction of the massage head, and reducing the swing amplitude of the massage head.
In a possible implementation manner, the controller is further configured to, when it is determined that the pressure value corresponding to the pressure signal is greater than the maximum value of the preset threshold range, adjust a massage parameter of the massage head if a difference between the pressure value corresponding to the pressure signal and the maximum value is greater than or equal to a second preset value, where the adjusting the massage parameter of the massage head includes reducing a massage force, changing a moving direction of the massage head, and reducing a swing amplitude of the massage head.
In a possible embodiment, the driving mechanism comprises a motor, and the controller is used for adjusting the massage parameters of the massage head through level signals, duty cycle, voltage values and current values of the motor.
In a possible implementation manner, the driving mechanism further comprises a rotating shaft, an eccentric shaft mounted on the rotating shaft and a shaft sleeve sleeved with the eccentric shaft, wherein the shaft sleeve is fixedly connected with the massage head; the controller is specifically used for controlling the rotating shaft to rotate with corresponding rotation force according to the level signal, the duty ratio, the voltage value and the current value of the motor; the eccentric shaft is used for converting the rotation motion of the rotation shaft into the swing motion of the shaft sleeve, and controlling the swing force of the swing motion of the shaft sleeve through the rotation force; the shaft sleeve is used for driving the massage head to perform massage work with corresponding massage force through the swing force of the swing motion.
In a possible implementation manner, the controller is specifically further configured to control the rotation shaft to perform a rotational motion in a corresponding rotational direction according to a level signal, a duty cycle, a voltage value, and a current value of the motor; the eccentric shaft is also used for converting the rotation motion of the rotation shaft into the swing motion of the shaft sleeve and controlling the swing direction of the swing motion of the shaft sleeve through the rotation direction; the shaft sleeve is also used for driving the massage head to perform massage work in a corresponding moving direction through the swinging direction of the swinging motion.
In a possible implementation manner, the controller is specifically further configured to control the rotation shaft to perform a rotational motion at a corresponding rotational rate according to a level signal, a duty cycle, a voltage value, and a current value of the motor; the eccentric shaft is also used for converting the rotation motion of the rotation shaft into the swing motion of the shaft sleeve and controlling the swing amplitude of the swing motion of the shaft sleeve through the rotation rate; the shaft sleeve is also used for driving the massage head to perform massage work with the corresponding swing amplitude through the swing amplitude of the swing motion.
A second aspect of the present invention provides a control method of a massage apparatus including a controller, a driving mechanism, a pressure sensor, and a massage head, the control method being applied to the controller, the control method including: the controller acquires pressure signals in real time through the pressure sensor; the controller judges whether the pressure value corresponding to the pressure signal is out of a preset threshold range or not; if yes, the controller adjusts the massage parameters of the massage head so that the pressure value corresponding to the pressure signal generated by the pressure sensor is located in the preset threshold range; the controller drives the massage head to move according to the massage parameters of the massage head through the driving mechanism, wherein the massage parameters comprise massage force, the moving direction of the massage head and swing amplitude of the massage head.
The invention provides a technical scheme, which discloses a massage instrument and a control method thereof, wherein the massage instrument comprises: the device comprises a controller, a driving mechanism, a pressure sensor and a massage head; the pressure sensor is used for generating a pressure signal in real time when the massage head massages the human body; the controller is used for adjusting the massage parameters of the massage head to enable the pressure value corresponding to the pressure signal generated by the pressure sensor to be in the preset threshold range when judging that the pressure value corresponding to the pressure signal is out of the preset threshold range; the massage parameters of the massage head comprise massage force, the moving direction of the massage head and the swing amplitude of the massage head. In the embodiment of the invention, the massage instrument judges whether the pressure value corresponding to the pressure signal is outside the preset threshold value range according to the pressure signal acquired by the pressure sensor, if so, the massage parameters of the massage head are adjusted, and the massage head is driven by the driving mechanism to move according to the adjusted massage parameters, so that the stress of the massage head is balanced, and the comfort level of the massage instrument for massaging the human body part is improved.
Drawings
FIG. 1 is a schematic view of an embodiment of a massage apparatus according to the present invention;
fig. 2 is a schematic diagram of an embodiment of a control method of a massage apparatus according to the present invention.
Detailed Description
The invention provides a massage instrument and a control method thereof, which are used for improving the comfort level of massage.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.
The present invention proposes a massaging apparatus which may be a neck massaging apparatus, a waist massaging apparatus, a leg massaging apparatus, a head massaging apparatus, etc., as an example and not by way of limitation, the present invention is described by taking a neck massaging apparatus as an example.
For easy understanding, the following describes a frame structure of a massage apparatus according to an embodiment of the present invention, referring to fig. 1, and the massage apparatus according to an embodiment of the present invention includes:
the device comprises a controller, a driving mechanism, a pressure sensor and a massage head;
in this embodiment, the carrying body 1, the driving mechanism, the massage head 2 and the pressure sensor, wherein the carrying body 1 is used as a carrying structure of the massage apparatus, and can be configured according to different parts of a human body, for example, when the massage apparatus is a neck massage apparatus, the structure of the massage apparatus can be configured in a semi-arc structure, and cotton pads are laid on the semi-arc concave surface, so that the semi-arc concave surface of the carrying body 1 can fit with the neck of the human body after the user wears the massage apparatus; for another example, when the massage apparatus is a leg massage apparatus, the massage apparatus may be configured in two parallel elongated structures so that the legs of the user can be placed between the two elongated structures.
The bearing main body 1 is provided with a skin approaching side, the driving mechanism is arranged on the bearing main body 1 and is connected with the massage head 2 through a rotating shaft in the driving mechanism, and the massage head 2 is positioned on the skin approaching side. It will be appreciated that when the user wears the carrying body 1 on his/her body, the side of the carrying body 1 adjacent to the massage area may be referred to as the skin proximal side of the carrying body 1.
Specifically, the driving mechanism may be mounted on the carrier body 1 in various mounting manners, for example, in a detachable mounting manner such as a screw locking manner, a clamping manner, etc.; the driving mechanism may also be mounted to the carrier body 1 by a non-detachable mounting manner, for example, by bonding, welding, or the like, and the specific mounting manner of the driving mechanism to the carrier body 1 is not limited herein.
The pressure sensor is used for generating pressure signals in real time when the massage head massages the human body.
The controller is used for adjusting the massage parameters of the massage head to enable the pressure value corresponding to the pressure signal generated by the pressure sensor to be in the preset threshold range when judging that the pressure value corresponding to the pressure signal is out of the preset threshold range;
the massage parameters of the massage head comprise massage force, the moving direction of the massage head and the swing amplitude of the massage head.
In this embodiment, the controller is configured to adjust the massage parameters of the massage head when the pressure value corresponding to the pressure signal is determined to be less than the minimum value of the preset threshold range, where the adjustment of the massage parameters of the massage head includes one or more of increasing the massage force, changing the moving direction of the massage head, and increasing the swing amplitude of the massage head.
In this embodiment, the controller is further configured to, when it is determined that the pressure value corresponding to the pressure signal is smaller than the minimum value of the preset threshold range, adjust a massage parameter of the massage head if a difference between the minimum value and the pressure value corresponding to the pressure signal is greater than or equal to a first preset value, where adjusting the massage parameter of the massage head includes increasing a massage force, changing a moving direction of the massage head, and increasing a swing amplitude of the massage head.
In this embodiment, the controller is configured to adjust a massage parameter of the massage head when it is determined that the pressure value corresponding to the pressure signal is greater than a maximum value of the preset threshold range, where adjusting the massage parameter of the massage head includes one or more of reducing a massage force, changing a moving direction of the massage head, and reducing a swing amplitude of the massage head.
In this embodiment, the controller is further configured to, when it is determined that the pressure value corresponding to the pressure signal is greater than the maximum value of the preset threshold range, adjust a massage parameter of the massage head if a difference between the pressure value corresponding to the pressure signal and the maximum value is greater than or equal to a second preset value, where adjusting the massage parameter of the massage head includes reducing a massage force, changing a moving direction of the massage head, and reducing a swing amplitude of the massage head.
The specific preset threshold range may be set according to an actual application scenario, and by way of example and not limitation, the preset threshold range may be: [10N,20N ], may also be: [10N,30N ].
The specific first preset value may be set according to an actual application scenario, and by way of example and not limitation, the first preset value may be 5N or 6N.
The specific second preset value may be set according to an actual application scenario, and by way of example and not limitation, the second preset value may be 7N or 8N.
It is to be understood that various massage modes, such as kneading massage, knocking massage, and the like, can be realized depending on the massage force, the moving direction of the massage head, and the swing amplitude of the massage head. For example, the massage mode is kneading massage, the massage force is 20N, the moving direction comprises a first preset direction and a second preset direction, the first preset direction is a direction away from the human body part, the second preset direction is a direction close to the human body part, and the swing amplitude is corresponding to the up-down and left-right swing amplitude of the massage head.
In this embodiment, the driving mechanism includes a motor, and the controller is configured to adjust the massage parameters of the massage head by level signals, duty cycle, voltage value, and current value to the motor.
Specifically, the level signal is a signal represented by a level value, the level value is divided into a high level and a low level, the forward and reverse rotation of the motor can be controlled by controlling the level signal, and the duty ratio is a ratio of the power-on time to the total time in one pulse cycle outputted by the motor, for example, the pulse width is 1 μs, and the duty ratio of the pulse sequence of the signal period 4 μs is 0.25. In the embodiment, the controller is used for carrying out duty ratio control on the voltage signal applied to the motor at a certain frequency, and the control on the voltage average value of the voltage signal on the motor is realized by controlling the ratio of the on-off of the simple switch circuit, so that the current control on the driving structure is realized, and the control on the massage head for massage movement is further realized.
In this embodiment, the controller is specifically configured to control the driving mechanism to move according to the massage parameters, so as to drive the massage head to move.
Specifically, after the user opens the massage instrument, the controller controls the driving mechanism to move according to the level signal, the duty ratio, the voltage value and the current value of the motor to perform normal massage operation, for example, the massage instrument performs massage operation according to preset massage parameters, and a pressure signal is generated in real time through the pressure sensor in the process that the driving mechanism drives the massage head to move.
In this embodiment, the controller is specifically configured to control the driving mechanism to move according to the level signal, the duty cycle, the voltage value, and the current value of the motor, so as to drive the massage head to move with a corresponding massage force and/or a corresponding movement direction and/or a corresponding swing amplitude.
Specifically, when the user wears the massage apparatus to perform massage, the massage head for performing a massage motion to the user receives a reaction force of the user, the reaction force generates a pressure signal through the pressure sensor, and different parts of the human body correspond to different reaction forces, for example, a reaction force of human bones to the massage head is large, and a reaction force of human soft tissues to the massage head is small. Further, the reaction force applied by the massage head can be fed back to other components in the massage instrument. According to the principle of acting force and reaction force, when the reaction force of a user to the massage head is larger, the user feels that the massage force of the massage head is larger; when the reaction force of the user to the massage head is smaller, the user feels the massage force of the massage head smaller.
In the embodiment, the driving mechanism further comprises a rotating shaft, an eccentric shaft arranged on the rotating shaft and a shaft sleeve sleeved with the eccentric shaft, wherein the shaft sleeve is fixedly connected with the massage head; the controller is specifically used for controlling the rotating shaft to rotate with corresponding rotation force according to the level signal, the duty ratio, the voltage value and the current value of the motor; the eccentric shaft is used for converting the rotation motion of the rotation shaft into the swing motion of the shaft sleeve, and controlling the swing force of the swing motion of the shaft sleeve through the rotation force; the shaft sleeve is used for driving the massage head to massage with corresponding massage force through the swing force of the swing motion.
Specifically, the driving mechanism is installed in the housing of the massaging apparatus, specifically, in this embodiment, the output end of the motor may be formed as the above-mentioned rotating shaft, or the output end of the motor and the rotating shaft are two different structural members, and the output end of the motor and the rotating shaft may be directly connected or connected through some transmission structure (such as a rack and pinion), which is not limited herein.
Specifically, the eccentric shaft comprises a first transmission section and a second transmission section which are connected with each other by an included angle, the first transmission section is connected with the rotating shaft, an abutting inclined plane is formed on the end face of the first transmission section adjacent to the second transmission section, the abutting inclined plane is arranged by an included angle with the axis of the first transmission section, the abutting inclined plane is also arranged perpendicular to the axis of the second transmission section, and the outer diameter of the abutting inclined plane is larger than that of the second transmission section. When the rotation shaft rotates, the first transmission section can rotate along with the rotation shaft, and the second transmission section can rotate around the rotation shaft of the first transmission section under the drive of the first transmission section. One side of the shaft sleeve is convexly provided with a sliding part, the shell is provided with a guide groove with an opening facing the shaft sleeve, the sliding part can be inserted into the guide groove and can slide back and forth between two ends of the length of the guide groove, the sliding part is in limit fit with the side wall of the guide groove to limit the shaft sleeve to rotate relative to the second transmission section, and the bottom wall of the guide groove is provided with a concave arc surface which is matched with the moving track of the sliding part. When the rotation shaft performs rotation motion, the shaft sleeve sleeved on the second transmission section cannot rotate along with the second transmission section due to the limiting effect of the guide groove, at the moment, the first transmission section and the second transmission section rotate relative to the shaft sleeve, in the process, the propping inclined plane rotates and the propping shaft sleeve moves in the axial direction of the second transmission section, so that the massage head on the shaft sleeve is driven to massage the human body.
In this embodiment, the controller is specifically further configured to control the rotation shaft to perform a rotational movement in a corresponding rotational direction according to a level signal, a duty cycle, a voltage value, and a current value of the motor; the eccentric shaft is also used for converting the rotation motion of the rotation shaft into the swing motion of the shaft sleeve and controlling the swing direction of the swing motion of the shaft sleeve through the rotation direction; the shaft sleeve is also used for driving the massage head to perform massage work in the corresponding moving direction through the swinging direction of the swinging motion.
In this embodiment, the controller is specifically further configured to control the rotation shaft to perform a rotational movement at a corresponding rotational speed according to a level signal, a duty cycle, a voltage value, and a current value of the motor; the eccentric shaft is also used for converting the rotation motion of the rotation shaft into the swing motion of the shaft sleeve and controlling the swing amplitude of the swing motion of the shaft sleeve through the rotation rate; the shaft sleeve is also used for driving the massage head to perform massage work with the corresponding swing amplitude through the swing amplitude of the swing motion.
In the embodiment of the invention, the massage instrument judges whether the pressure value corresponding to the pressure signal is outside the preset threshold value range according to the pressure signal acquired by the pressure sensor, if so, the massage parameters of the massage head are adjusted, and the massage head is driven by the driving mechanism to move according to the adjusted massage parameters, so that the stress of the massage head is balanced, and the comfort level of the massage instrument for massaging the human body part is improved.
For easy understanding, referring to fig. 2, in a control method of a massage apparatus according to an embodiment of the present invention, the massage apparatus includes a controller, a driving mechanism, a pressure sensor, and a massage head, where the control method is applied to the controller, and one embodiment of the control method of the massage apparatus according to the embodiment of the present invention includes:
201. the controller acquires a pressure signal in real time through the pressure sensor;
the number and the installation position of the pressure sensors may be set according to the actual application scenario, and as an example and not by way of limitation, when the number of the pressure sensors is 1, a single pressure sensor may be installed inside the massage head 2, or may be installed in the driving mechanism, so that a pressure signal is obtained through 1 pressure sensor; when the number of the pressure sensors is 2, 2 pressure sensors can be installed in the massage head 2, so that the massage head 2 can acquire pressure signals through the 2 pressure sensors, and also can install 2 pressure sensors in the driving mechanism, so that the driving mechanism can acquire pressure signals through the 2 pressure sensors, and also can respectively install 2 pressure sensors in the massage head 2 and the driving mechanism, so that the massage head 2 can acquire pressure signals through the 1 pressure sensor and the driving mechanism can acquire pressure signals through the 1 pressure sensor, and the like, and the details are omitted.
202. The controller judges whether the pressure value corresponding to the pressure signal is outside a preset threshold range;
it will be appreciated that the pressure signal is an analog signal and that it is necessary to convert the pressure signal into a digital signal, i.e. a pressure value corresponding to the pressure signal.
203. If yes, the controller adjusts the massage parameters of the massage head so that the pressure value corresponding to the pressure signal generated by the pressure sensor is located in a preset threshold range;
the specific preset threshold range may be set according to an actual application scenario, and by way of example and not limitation, the preset threshold range may be: [10N,20N ], may also be: [10N,30N ].
204. The controller drives the massage head to move according to the massage parameters of the adjustment massage head through the driving mechanism, wherein the massage parameters comprise massage force, the moving direction of the massage head and the swing amplitude of the massage head.
For example, the controller drives the massage head to move according to the massage force, the movement direction of the massage head and the swing amplitude of the massage head through the driving mechanism, so that different massage modes, such as kneading massage, knocking massage and the like, can be realized.
In the embodiment of the invention, the massage instrument judges whether the pressure value corresponding to the pressure signal is outside the preset threshold value range according to the pressure signal acquired by the pressure sensor, if so, the massage parameters of the massage head are adjusted, and the massage head is driven by the driving mechanism to move according to the adjusted massage parameters, so that the stress of the massage head is balanced, and the comfort level of the massage instrument for massaging the human body part is improved.
The above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. A massage apparatus, comprising:
the device comprises a controller, a driving mechanism, a pressure sensor and a massage head;
the pressure sensor is used for generating a pressure signal in real time when the massage head massages a human body;
the controller is used for adjusting the massage parameters of the massage head to enable the pressure value corresponding to the pressure signal generated by the pressure sensor to be located in the preset threshold range when judging that the pressure value corresponding to the pressure signal is located outside the preset threshold range;
the massage parameters of the massage head comprise massage force, the moving direction of the massage head and the swing amplitude of the massage head.
2. The massage apparatus of claim 1, wherein,
the controller is used for adjusting the massage parameters of the massage head when judging that the pressure value corresponding to the pressure signal is smaller than the minimum value of the preset threshold range, and the adjustment of the massage parameters of the massage head comprises one or more than two of increasing the massage force, changing the moving direction of the massage head and increasing the swing amplitude of the massage head.
3. The massage apparatus of claim 1, wherein,
the controller is further used for adjusting the massage parameters of the massage head when judging that the pressure value corresponding to the pressure signal is smaller than the minimum value of the preset threshold range, and if the difference value between the minimum value and the pressure value corresponding to the pressure signal is larger than or equal to a first preset value, the adjustment of the massage parameters of the massage head comprises the steps of increasing the massage force, changing the moving direction of the massage head and increasing the swing amplitude of the massage head.
4. The massage apparatus of claim 1, wherein,
the controller is used for adjusting the massage parameters of the massage head when judging that the pressure value corresponding to the pressure signal is larger than the maximum value of the preset threshold range, and the adjustment of the massage parameters of the massage head comprises one or more than two of reducing the massage force, changing the moving direction of the massage head and reducing the swing amplitude of the massage head.
5. The massage apparatus of claim 1, wherein,
the controller is further used for adjusting the massage parameters of the massage head when judging that the pressure value corresponding to the pressure signal is larger than the maximum value of the preset threshold range, and if the difference value between the pressure value corresponding to the pressure signal and the maximum value is larger than or equal to a second preset value, the adjustment of the massage parameters of the massage head comprises reducing the massage force, changing the moving direction of the massage head and reducing the swing amplitude of the massage head.
6. The massage apparatus of claim 1, wherein the drive mechanism includes a motor, and the controller is configured to adjust the massage parameters of the massage head by a level signal, a duty cycle, a voltage value, and a current value to the motor.
7. The massage apparatus of claim 6, wherein the driving mechanism further comprises a rotating shaft, an eccentric shaft mounted to the rotating shaft, and a sleeve sleeved with the eccentric shaft, wherein the sleeve is fixedly connected with the massage head;
the controller is specifically used for controlling the rotating shaft to rotate with corresponding rotation force according to the level signal, the duty ratio, the voltage value and the current value of the motor;
the eccentric shaft is used for converting the rotation motion of the rotation shaft into the swing motion of the shaft sleeve, and controlling the swing force of the swing motion of the shaft sleeve through the rotation force;
the shaft sleeve is used for driving the massage head to perform massage work with corresponding massage force through the swing force of the swing motion.
8. The massage apparatus of claim 7, wherein the controller is further specifically configured to control the rotation shaft to perform a rotational movement in a corresponding rotational direction according to a level signal, a duty cycle, a voltage value, and a current value of the motor;
the eccentric shaft is also used for converting the rotation motion of the rotation shaft into the swing motion of the shaft sleeve and controlling the swing direction of the swing motion of the shaft sleeve through the rotation direction;
the shaft sleeve is also used for driving the massage head to perform massage work in a corresponding moving direction through the swinging direction of the swinging motion.
9. The massage apparatus of claim 7, wherein the controller is further specifically configured to control the rotation shaft to perform a rotational movement at a corresponding rotational rate according to a level signal, a duty cycle, a voltage value, and a current value of the motor;
the eccentric shaft is also used for converting the rotation motion of the rotation shaft into the swing motion of the shaft sleeve and controlling the swing amplitude of the swing motion of the shaft sleeve through the rotation rate;
the shaft sleeve is also used for driving the massage head to perform massage work with the corresponding swing amplitude through the swing amplitude of the swing motion.
10. A control method of a massage apparatus, the massage apparatus including a controller, a driving mechanism, a pressure sensor, and a massage head, the control method being applied to the controller, the control method comprising:
the controller acquires pressure signals in real time through the pressure sensor;
the controller judges whether the pressure value corresponding to the pressure signal is out of a preset threshold range or not;
if yes, the controller adjusts the massage parameters of the massage head so that the pressure value corresponding to the pressure signal generated by the pressure sensor is located in the preset threshold range;
the controller drives the massage head to move according to the massage parameters of the massage head through the driving mechanism, wherein the massage parameters comprise massage force, the moving direction of the massage head and swing amplitude of the massage head.
CN202211685659.6A 2022-12-27 2022-12-27 Massage apparatus and control method thereof Pending CN116115473A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211685659.6A CN116115473A (en) 2022-12-27 2022-12-27 Massage apparatus and control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211685659.6A CN116115473A (en) 2022-12-27 2022-12-27 Massage apparatus and control method thereof

Publications (1)

Publication Number Publication Date
CN116115473A true CN116115473A (en) 2023-05-16

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211685659.6A Pending CN116115473A (en) 2022-12-27 2022-12-27 Massage apparatus and control method thereof

Country Status (1)

Country Link
CN (1) CN116115473A (en)

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