WO2019085571A1 - 智能交互式按摩装置及方法 - Google Patents

智能交互式按摩装置及方法 Download PDF

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Publication number
WO2019085571A1
WO2019085571A1 PCT/CN2018/099178 CN2018099178W WO2019085571A1 WO 2019085571 A1 WO2019085571 A1 WO 2019085571A1 CN 2018099178 W CN2018099178 W CN 2018099178W WO 2019085571 A1 WO2019085571 A1 WO 2019085571A1
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WO
WIPO (PCT)
Prior art keywords
massage
control module
massage device
telescopic
intelligent interactive
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Application number
PCT/CN2018/099178
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English (en)
French (fr)
Inventor
刘勇
俞勇
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深圳市司沃康科技有限公司
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Publication of WO2019085571A1 publication Critical patent/WO2019085571A1/zh

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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
    • A61H9/00—Pneumatic or hydraulic massage

Definitions

  • the invention relates to the technical field of massage equipment, in particular to an intelligent interactive massage device and method.
  • the existing massage apparatus mainly achieves massage stimulation by rotating and rectilinearly moving.
  • the rotation and reciprocating motions always maintain their respective specific frequencies, and it is impossible to interact with the user during the massage process, so that the user experience is poor.
  • the technical problem to be solved by the present invention is to provide an intelligent interactive massage device and method, wherein the intelligent interactive massage device can increase massage interactivity and irritation and improve user experience.
  • the present invention provides an intelligent interactive massage device including a massage mechanism suspended in a housing and a telescopic drive mechanism for driving the massage mechanism for telescopic movement, and controlling the telescopic drive mechanism to perform a control module of the action, a sliding guiding mechanism is disposed between the massaging mechanism and the housing, the massage device further comprises a pressure sensor electrically connected to the control module to collect the physiological data of the user during the massage and/or a pressure sensor between the user and the massage device, The control module controls the frequency and/or speed of the telescopic drive mechanism to drive the massage mechanism telescopic massage according to the data collected by the sensor.
  • the massage mechanism includes a massage stand and a massage cover fixed to the massage stand.
  • the massage cover is a silicone massage cover.
  • the sliding guiding mechanism comprises at least one set of oil-impregnated bearings on the outer side of the massage bracket in the massaging mechanism and a sliding guide bar on the housing which is provided with a pair of oil-impregnated bearings, each set of oil-impregnated bearings comprises two Oil bearing.
  • the sliding guiding mechanism further comprises a U-shaped groove disposed outside the massage bracket, and the U-shaped groove is engaged with another guiding sliding rod disposed on the housing.
  • the telescopic drive mechanism includes a reduction motor and a transmission swing arm connected to the output shaft of the reduction motor, and the transmission swing arm cooperates with the strip hole to rotate the reduction motor into a linear reciprocating motion.
  • the senor is a pressure sensor or an acceleration sensor.
  • a telescopic massage ring is disposed between the outer side of the massage cover and the massage support, and the telescopic massage ring includes a ring memory fixed at one end and a plurality of balls disposed on the ring memory, and the other end of the ring memory
  • the roller is arranged in the arc hole or the curved groove on the massage bracket, and the balls at the two ends of the telescopic massage ring are vertically overlapped before massage, and when the massage is expanded, the one end of the massage bracket slides in the arc hole or the curved groove, so that The diameter of the telescopic massage ring is increased.
  • the massage device further includes a memory and a speaker respectively electrically connected to the control module, wherein the memory stores at least two memories capable of causing audio data of different excitement sound effects, the speaker being controlled according to the control module Output memory An audio data corresponding to a sound effect.
  • the massage device further includes recording massage process control data coupled to the control module and a memory storing the control data.
  • the massage device further includes a wireless transmitting unit that is coupled to the control module to transmit the massage process control data to the outside.
  • the massage device further includes a charging and discharging airbag disposed outside the massage cover and an air pump for charging and discharging the airing and discharging airbag, and the air pump is connected to the control module.
  • the invention also provides a massage method based on intelligent interactive massage, comprising
  • the massage motion is generated, and the frequency and/or speed of the linear reciprocating massage motion is controlled according to the exercise intensity data.
  • the exercise intensity data is increased, the frequency and/or speed of the linear reciprocating massage is increased, and when the exercise intensity data is reduced, the linear reciprocating massage is performed.
  • the frequency and / or speed is reduced.
  • the step of generating the massage motion further comprises outputting a sound effect matching the stimulus according to the frequency, acceleration and/or speed data of the straight reciprocating motion of the massaging mechanism, and the frequency, acceleration and/or speed of the reciprocating motion of the massaging mechanism during the massage.
  • the larger, the output causes an increase in the sound of the excitement.
  • the intelligent interactive massage device of the present invention comprises a massage mechanism suspended in the casing and a telescopic drive mechanism for driving the massage mechanism for telescopic movement, and a control module for controlling the action of the telescopic drive mechanism, wherein the massage mechanism is disposed between the massage mechanism and the casing There is a sliding guiding mechanism, the massage device further comprises a pressure sensor electrically connected to the control module to collect the user physiological data and/or a user and the massage device, and the control module controls the telescopic driving mechanism to drive the massage mechanism according to the data collected by the sensor. Telescopic massage frequency and / or speed. When in use, the user controls the massage device to make a linear reciprocating movement.
  • the control module controls the telescopic drive mechanism to operate according to the preset program according to the feedback data, and when the pressure changes, the expansion and contraction
  • the operating frequency and pressure of the driving mechanism change linearly, and the massage action is controlled by user motion feedback to increase the stimulation of the massage and improve the user experience.
  • FIG. 1 is a schematic structural view of an embodiment of an intelligent interactive massage device.
  • FIG. 2 is a schematic exploded view of an embodiment of an intelligent interactive massage device.
  • Figure 3 is a schematic diagram of the internal structure of the intelligent interactive massage device.
  • Fig. 5 is a schematic view showing the internal structure of another embodiment of the intelligent interactive massage device.
  • Fig. 6 is a schematic view showing another angle structure of another embodiment of the intelligent interactive massage device.
  • Figure 7 is a schematic diagram of the implementation process of the intelligent interactive massage method.
  • the present invention provides an embodiment of an intelligent interactive massaging device.
  • the intelligent interactive massage device comprises: a massage mechanism 3 suspended in the casing 1 and a telescopic drive mechanism 5 for driving the massage mechanism 3 for telescopic movement, and a control module 6 for controlling the movement of the telescopic drive mechanism 5,
  • the massage mechanism 3 is provided with a sliding guiding mechanism (not shown) between the housing 1 and the massage device further comprising a pressure sensor between the user physiological data and/or the user and the massage device when the massage module is electrically connected to the control module (Fig. Not shown), the control module controls the telescopic drive mechanism to drive the massage mechanism to extend the massage frequency and/or speed along the length of the housing according to the data collected by the sensor. The larger the data collected by the pressure sensor, the more the frequency and/or speed of the massage. Big.
  • the housing 1 includes a left cover 11, a right cover 12, and a lower cover 4, wherein the telescopic drive mechanism 5 is fixed to the lower cover 4.
  • the left cover 11 and the right cover 12 may be disposed in a circular shape or other shapes.
  • the left cover 11 and the right cover 12 are fixed to form an arcuate groove structure in the middle, that is, an intermediate contraction, both ends.
  • the central portion is gently contracted toward the middle to form a dumbbell-like structure.
  • it can be designed by the left cover 11 and the right cover 12 as needed, and it is not necessary to provide the lower cover 4.
  • the massage mechanism 3 includes a massage stand 31 and a massage cover 32 fixed to the massage stand 31.
  • the massage cover 32 is made of a flexible material such as silica gel.
  • the telescopic drive mechanism 5 includes a reduction motor 51 and a swing arm 52 connected to the output shaft of the reduction motor 51.
  • Other structures or mechanisms capable of rotating the reduction motor 51 into a linear motion of the bracket may be employed, for example, an eccentric wheel structure.
  • the output shaft of the geared motor 51 can be directly connected to the swing arm 52 and can be rotated by the gear motor 51.
  • the motor 51 can also be combined with a gearbox to realize the function of the gear motor 51, so that the motor can be controlled.
  • the telescopic speed of the massage mechanism 3 is within an acceptable range, and at the same time, sufficient torque can be output to drive the reciprocating movement of the massage mechanism 3.
  • the sliding guide mechanism comprises a massage bracket 31 provided with at least one set of oil-impregnated bearings 33 and a guide slide 13 disposed on the housing 1 in sliding engagement with the group oil-containing bearing 33.
  • Each set of oil-impregnated bearings 33 includes two oil-impregnated bearings.
  • the sliding guide mechanism further includes a U-shaped groove 36 disposed outside the massage bracket 31, and the number of the U-shaped grooves 36 may be one, two or more.
  • the U-shaped groove 36 is in a positional engagement with the other guide sliding rod 13 disposed on the casing 1 .
  • the presence of the U-shaped groove 36 improves the convenience of installation and also limits the guiding slide bar 13 .
  • the massage stand 31 is moved smoothly during the telescopic massage, reducing friction and reducing noise during use.
  • the number of the guide slides 13 is not limited, and two or more may be provided as needed.
  • the number of the guide slides 13 is determined according to the structural cost and reliability, preferably 2-4, and this embodiment Two guiding slides 13 are used and symmetrically distributed outside the massage stand 31.
  • the number of oil-impregnated bearings 33 that cooperate with the guide slides 13 corresponds to the number of guide slides 13, that is, the same number as the guide slides 1; each set of oil-impregnated bearings includes two, two oil-bearing bearings in line and the physical structure of the massage mechanism 3. The axes are parallel.
  • the guide slide bar 13 the oil-impregnated bearing and the U-shaped groove 36 may also be disposed on the housing 1 as needed.
  • the guide slide bar 1 is disposed on the bracket 31, and the working process is the same, and will not be described again.
  • the sensor may employ a pressure sensor as needed to collect the amount of force between the massage mechanism or the massage device and the user during massage.
  • This embodiment takes the working process of taking the pressure between the massage and the user as an example.
  • the control module 6 controls the telescopic drive mechanism to drive the massage mechanism to expand and contract the massage frequency and/or speed along the length of the housing according to the pressure between the massage device and the user collected by the pressure sensor.
  • the control module 6 controls the frequency of the movement of the telescopic drive mechanism 5 to be larger and/or faster. That is to say, the data size collected by the sensor controls the rotation speed of the reduction motor 51 in the telescopic drive mechanism 5, and the frequency or speed of controlling the telescopic movement of the massage mechanism 3 is realized to achieve interactive massage.
  • control module 6 can also control the operation of the reduction motor 51 according to the preset current waveform according to the data collected by the sensor, so that the speed reduction motor 51 drives the massage mechanism 3 to have the same stretching and current waveform, and can also achieve interaction. massage.
  • the position where the sensor is disposed is not particularly limited. For example, it may be disposed at the cup mouth of the massage mechanism 3, the end of the housing 1 or other force or acceleration data that can be collected between the massage device and the user in the use state. position.
  • the sensor in order to better collect the relevant data, is disposed at the mouth of the cup or in the middle of the housing 1 for facilitating the holding of the force, one end of the housing 1 or the cup opening of the massaging mechanism 3.
  • the control module controls the work of the telescopic drive machine according to the preset data of the control module according to the data collected by the sensor, such as the pressure.
  • the frequency or speed changes.
  • the control module increases the speed or frequency of the reciprocating motion of the massaging mechanism; when the pressure becomes small, the control module reduces the speed or frequency of the reciprocating motion of the massaging mechanism.
  • the massage frequency or speed is controlled according to the user's physical reaction, so that the massage device can interact with the user, thereby increasing the stimulation of the massage and improving the user experience.
  • the sensor can also adopt a sensor capable of collecting the acceleration of the massage device, and by collecting the acceleration of the movement of the massage device during the massage, the control module 6 controls the frequency or speed of the output of the telescopic drive according to the magnitude of the acceleration, and the specific working process refers to the above implementation. For example, we will not repeat them.
  • the sensor can also adopt other physiological data capable of collecting the user's excitability correlation when using the massage device, such as the heart rate and the like, and the data caused by the stimulation and excitement as the control module to control the movement frequency or speed basis of the telescopic drive machine, and the heart rate is faster and more flexible. The faster the frequency or speed of the driving machine is, the specific working process refers to the above embodiment, and will not be described again.
  • the interactive massage device further comprises a rotation mechanism that is connected with the control module and rotates the massage sleeve or the massage mechanism.
  • the guiding slide bar 13 can also be inclined, so that the massage mechanism is deflected at a certain angle synchronously during the linear reciprocating telescopic movement, and the rotating massage effect is generated, and the angle of the deflection is determined by the inclination angle of the sliding rod, that is, the inclination angle is The angle of inclination formed by the axis of the massage sleeve is determined.
  • the rotating mechanism can also employ a rotary electric machine that is signally coupled to the control module 6 and can cause the massaging mechanism 3 to generate a rotational motion when linearly reciprocatingly telescopically moving.
  • the telescopic drive motor and the control module and the sensor are powered by the battery.
  • the massage ring 37 includes a ring memory 39 fixed at one end. And a plurality of balls 38 disposed on the annular memory body 39.
  • the other end of the annular memory body 39 is fixedly disposed in the arc hole or the curved groove 36 on the massage bracket 31, and the two ends of the massage ring 37 are massaged before the massage.
  • the balls 38 are vertically overlapped; when the massage is inflated, the end of the massage bracket 31 is slid in the arcuate hole or the curved groove 36, so that the diameter of the telescopic massage ring 37 is increased. Since the ball portions of the two ends of the massage ring 37 are vertically overlapped, the massage ring can always form a closed structure during massage, forming a closed enclosure for the massage position, thereby achieving a better massage effect.
  • the massage device further includes a charging and discharging air bag 40 disposed outside the massage cover and an air pump 7 for charging and discharging the air bag 40, and the air pump 7 is connected to the control module 6.
  • the air bag 7 is inflated or deflated by the air pump 7, so that the massage cover can be partially or completely compressed, thereby increasing the massage effect.
  • the present invention also provides another embodiment based on the above embodiments or combinations.
  • the massage device further includes a memory (not shown) and a speaker (not shown) electrically connected to the control module, wherein the memory stores at least two audio data capable of stimulating or inducing sound effects of different excitement levels. And the speaker controls the audio data corresponding to the sound effect of the output memory according to the control module.
  • the memory stores audio data of one, two, three or more different sound effects, and each of the audio data has a binding relationship with an action performed by a program preset in the control module, the pre- The program provided in the control module can output the same number of control commands as the audio data, and each control command corresponds to one audio data to perform a massage action.
  • the control module 6 determines the corresponding control command threshold range according to the sensor data, and outputs a control command corresponding to the threshold range, and the control module controls the massage mechanism 3 to perform the massage action corresponding to the control command.
  • the program preset in the control module can input three kinds of waveform massage effects, such as the first massage waveform is a sine wave, the second massage waveform is a square wave and the third massage waveform is a sawtooth Wave, each waveform is bound to the audio data of a sound effect.
  • the control module controls the massage mechanism 3 to perform the sine wave, and simultaneously outputs the audio audio data corresponding to the sine wave to play the sound.
  • the control module controls the massage mechanism 3 to perform the square wave, and simultaneously outputs the sound effect audio data corresponding to the square wave to play the sound.
  • the control module controls the massage mechanism 3 to perform the sawtooth wave, and simultaneously outputs the sound effect audio data corresponding to the sawtooth wave to play the sound.
  • the control module selects corresponding audio audio data output according to the data input by the sensor, and each waveform and sound effect is collected and input through a limited experiment.
  • the control module selects the output sound effects differently, so that it can achieve a better massage effect by listening to the senses, touch and other sensory sensations, and further improve the user experience.
  • the massage device further includes recording massage process control data and a memory storing the control data, which are connected to the control module, and can record and analyze the control data for the user to manage.
  • the massage process control data can also be sent directly to the wireless transmitting unit that is electrically connected to the control module, for example, can be sent to the smart phone for analysis and management through a dedicated APP software on the smart phone.
  • the present invention can also provide an embodiment of an intelligent interactive massage method based on the above embodiments.
  • the intelligent interactive massage method includes
  • step S11 determining the exercise intensity, collecting the force between the massage device and the user and/or the motion acceleration data of the massage device, and obtaining the exercise intensity data of the massage device;
  • step S12 a massage motion is generated, and the frequency and/or speed of the linear reciprocating massage motion is controlled according to the motion intensity data.
  • the motion intensity data is increased, the frequency and/or speed of the linear reciprocating massage is increased, and when the motion intensity data is decreased, the straight line is The frequency and/or speed of the reciprocating massage is reduced.
  • the massage device is controlled by the user, for example, the movement of the massage device in the above embodiment can be controlled, and pressure is generated between the massage device and the user, such as around the massage portion, and the exercise force of the massage device is determined based on the pressure.
  • the massage device In the case of the power supply of the massage device, it is possible to collect the force, acceleration or data related to the massage excitement between the massage device and the user, and determine the data related to the exercise intensity, that is, the data collected by the corresponding sensor is wired or wireless.
  • the device is transmitted to the massage device control module, parses the input data, compares the parsed data with the preset data, and performs a preset control program according to the comparison result, and controls the massage mechanism to move according to the preset control program. That is, a massage exercise is generated.
  • the exercise intensity data is different, and the corresponding massage movements are also different.
  • the specific massage motion parameters can be adjusted by a preset control program.
  • the massage method can adjust the frequency or speed of the massage in time according to the feedback of the user, thereby increasing the stimulation of the massage and improving the user experience.
  • the step of generating the massage motion further includes outputting a sound effect matching the stimulation according to the frequency, acceleration, and/or velocity data of the straight reciprocating motion of the massaging mechanism, as needed, to increase the irritation during the massage.
  • the greater the frequency, acceleration and/or speed of the reciprocating motion of the massaging mechanism during massage the stronger the stimulation.
  • the matching means that the greater the frequency, acceleration and/or speed of the reciprocating motion of the massaging mechanism, the more the output can cause an increase in the sound effect of the excitement. The smaller the frequency, acceleration, and/or speed, the less the sound that can cause increased excitement.

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Abstract

本发明适用于按摩器材技术领域。本发明公开一种智能交互式按摩装置及方法，其中按摩装置包括悬置于壳体内的按摩机构和驱动按摩机构伸缩运动的伸缩驱动机构，以及与伸缩驱动机构电连接的控制模块，所述按摩机构与壳体之间设有滑动导向机构，还包括设于与控制模块连接的传感器，所述控制模块根据传感器采集的数据控制伸缩驱动机构驱动按摩机构伸缩频率。使用时，由用户控制按摩机构做直线往复移动，当传感器采集到按摩装置与用户之间压力时，控制模块根据反馈的数据按预设的程序控制伸缩驱动机构工作，当压力变化时，伸缩驱动机构的工作频率也变化。通过用户动作反馈来控制按摩动作，实现与按摩装置交互，达到增加按摩的刺激性，改善用户体验。

Description

智能交互式按摩装置及方法 技术领域
本发明涉及按摩器材技术领域，特别涉及一种智能交互式按摩装置及方法。
 背景技术
现有按摩器具，主要通过转动和直线复往运动达到按摩刺激作用。但按摩器具动作过程中转动和往复动作始终保持各自特定的频率工作，无法在按摩过程中与用户进行交互，使得用户的体验较差。
 技术问题
本发明主要解决的技术问题是提供一种智能交互式按摩装置及方法，其中该智能交互式按摩装置可以增加按摩交互性和刺激性，改善用户体验。
 技术解决方案
为了解决上述问题，本发明提供一种智能交互式按摩装置，该智能交互式按摩装置包括，悬置于壳体内的按摩机构和驱动按摩机构作伸缩运动的伸缩驱动机构，以及控制伸缩驱动机构执行动作的控制模块，所述按摩机构与壳体之间设有滑动导向机构，该按摩装置还包括与控制模块电连接采集按摩时用户生理数据和\或用户与按摩装置之间压力传感器，所述控制模块根据传感器采集的数据控制伸缩驱动机构驱动按摩机构伸缩按摩的频率和\或速度。
进一步地说，所述按摩机构包括按摩支架和固定在按摩支架上的按摩套。
进一步地说，所述按摩套为硅胶按摩套。
进一步地说，所述滑动导向机构包括按摩机构中的按摩支架外侧设有至少一组含油轴承和在壳体上设有与一组含油轴承滑动配合的导向滑杆，每组含油轴承包括两个含油轴承。
进一步地说，所述滑动导向机构还包括在按摩支架外侧设置的U形槽，该U形槽与壳体上设置的另一导向滑杆限位配合。
进一步地说，所述按摩支架上还设有与按摩支架伸缩运动方向垂直的条形孔。
进一步地说，所述伸缩驱动机构包括减速电机和与减速电机输出转轴连接的传动摆臂，该传动摆臂与条形孔配合将减速电机转动转为直线往复运动。
进一步地说，所述传感器为压力传感器或加速度传感器。
进一步地说，在所述按摩套外侧与按摩支架之间设有伸缩按摩环，该伸缩按摩环包括一端固定的环形记忆体和设在环形记忆体上多个滚珠，该环形记忆体的另一端设置在按摩支架上的弧形孔或弧形槽内，按摩前所述伸缩按摩环的两端部的滚珠上下重合，按摩膨胀时，按摩支架的一端弧形孔或弧形槽内滑动，使伸缩按摩环的直径增大。
进一步地说，所述按摩装置还包括分别与控制模块电连接的存储器和扬声器，其中所述存储器内存储有至少两个能引起不同兴奋程度音效的音频数据的存储器，所述扬声器根据控制模块控制输出存储器一种音效对应的音频数据。
进一步地说，所述按摩装置还包括与控制模块信号连接的记录按摩过程控制数据和存储该控制数据的存储器。
进一步地说，所述按摩装置还包括与控制模块信号连接将按摩过程控制数据向外发送的无线发送单元。
进一步地说，所述按摩装置还包括设置在按摩套外侧的充放气囊和为充放气囊充放气的气泵，该气泵与控制模块连接。
本发明还提供一种基于智能交互式按摩的按摩方法，包括，
确定运动力度，采集按摩装置与用户之间的作用力和/或按摩装置的运动加速度数据，获得按摩装置的运动力度数据；
产生按摩运动，根据运动力度数据控制直线往复按摩运动的频率和/或速度，当运动力度数据增大时，直线往复按摩的频率和/或速度增加，当运动力度数据减少时，直线往复按摩的频率和/或速度减少。
进一步地说，所述产生按摩运动步骤还包括根据按摩机构直往复运动的频率、加速度和/或速度数据输出与刺激相匹配的音效，按摩时按摩机构直往复运动的频率、加速度和/或速度越大，输出引起兴奋增加的音效。
 有益效果
本发明智能交互式按摩装置，包括悬置于壳体内的按摩机构和驱动按摩机构作伸缩运动的伸缩驱动机构，以及控制伸缩驱动机构执行动作的控制模块，所述按摩机构与壳体之间设有滑动导向机构，该按摩装置还包括与控制模块电连接采集按摩时用户生理数据和\或用户与按摩装置之间的压力传感器，所述控制模块根据传感器采集的数据控制伸缩驱动机构驱动按摩机构伸缩按摩频率和\或速度。使用时，由用户控制按摩装置做直线往复移动，当传感器采集到按摩装置与用户之间压力时，由控制模块根据反馈的数据按预设的程序控制伸缩驱动机构工作，当压力变化时，伸缩驱动机构的工作频率与压力呈线性变化，通过用户动作反馈来控制按摩动作，达到增加按摩的刺激性，改善用户体验。
 附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单介绍，显而易见地，而描述中的附图是本发明的一些实施例，对于本领域普通技术人员来说，在不付出创造性劳动的前提下，还可以根据这些附图获得其他附图。
图1 是智能交互式按摩装置实施例结构示意图。
图2 是智能交互式按摩装置实施例爆炸结构示意图。
图3 是智能交互式按摩装置实施内部结构示意图。
图4 是智能交互式按摩装置实施内部另一角度结构示意图。
图5 是智能交互式按摩装置另一实施内部结构示意图。
图6 是智能交互式按摩装置另一实施内部另一角度结构示意图。
图7 是智能交互式按摩方法实施流程示意图。
下面结合实施例，并参照附图，对本发明目的的实现、功能特点及优点作进一步说明。
 本发明的最佳实施方式
为了使发明的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。
如图1-图4所示，本发明提供一种智能交互式按摩装置实施例。
该智能交互式按摩装置包括：悬置于壳体1内的按摩机构3和驱动按摩机构3作伸缩运动的伸缩驱动机构5，以及控制伸缩驱动机构5执行动作的控制模块6，所述按摩机构3与壳体1之间设有滑动导向机构（附图未标示），该按摩装置还包括与控制模块电连接采集按摩时用户生理数据和\或用户与按摩装置之间的压力传感器（附图未标示），所述控制模块根据传感器采集的数据控制伸缩驱动机构驱动按摩机构沿壳体长度方向伸缩按摩频率和\或速度，当压力传感器采集的数据越大，按摩的频率和/或速度越大。
具体地说，所述壳体1包括左盖11、右盖12和下盖4组组成，其中伸缩驱动机构5与下盖4固定。所述左盖11和右盖12可以设置为圆形或其他形状，为了便于使用时手握固定，所述左盖11和右盖12固定形成中部为弧形槽结构，即中间收缩，两端向中部平缓向中间收缩，形成哑铃状结构。当然根据需要可以通过左盖11、右盖12设计，无需设置下盖4。
所述按摩机构3包括按摩支架31和固定在按摩支架31上的按摩套32，其中按摩套32采用硅胶等柔性材料制作。
所述伸缩驱动机构5包括减速电机51和与减速电机51输出转轴连接的摆臂52，还可以采用其他能将减速电机51转动转为支架直线动作的结构或机构，例如采用偏心轮结构。所述减速电机51的输出转轴是指可以直接与摆臂52连接，在减速电机51带动下可以转动，该减速电机51也可以采用普通电机与减速箱配合来实现减速电机51功能，这样能控制按摩机构3伸缩速度在可接受的范围内，同时能输出足够的扭力驱动按摩机构3往复伸缩运动。
所述滑动导向机构包括的按摩支架31外设有至少一组含油轴承33和在壳体1上设有与组含油轴承33滑动配合的导向滑杆13，每组含油轴承33包括两个含油轴承。所述滑动导向机构还包括在按摩支架31外设置的U形槽36，该U形槽36的数量可以是一个、两个或多个。所述U形槽36与壳体1上设置的另一导向滑杆13限位配合，由于U形槽36的存在，改善安装的便利性，同时也对导向滑杆13起到限位作用，使得按摩支架31在伸缩按摩时移动平稳，减少摩擦，降低使用时的噪声。
所述导向滑杆13的数量不作限定，根据需要可以设两个或多个，该导向滑杆13的数量根据结构成本和可靠性来确定，最好是2-4个为限，本实施例中采用两个导向滑杆13，且对称分布在按摩支架31外侧。与导向滑杆13配合的含油轴承33数量与导向滑杆13数量相对应，即与导向滑杆1的数量相同；每组含油轴承包括两个，两个含油轴承所在直线与按摩机构3的物理轴心平行。U形槽36为两个，两个U形槽36所在直线与按摩机构的物理轴心平行，这样保证按摩机构3在伸缩运动时不会出现干涉，减少阻力。当导向滑杆13的数量为两个及以上时，导向滑杆13均匀分布在壳体所在圆周内。根据需要所述导向滑杆13、含油轴承和U形槽36也可以设置在壳体1上，所述导向滑杆1设置在支架31，其工作过程相同，不再赘述。
所述传感器（附图未标示）根据需要可以采用压力传感器，采集按摩时按摩机构或按摩装置与用户之间的作用力大小。本实施例以采集按摩时与用户之间的压力为例来说其工作过程。
在按摩时，所述控制模块6根据压力传感器采集的按摩装置与用户之间的压力大小来控制伸缩驱动机构驱动按摩机构沿壳体长度方向伸缩按摩频率和\或速度。当传感器采集的数值越大，说明按摩越兴奋，此时控制模块6控制伸缩驱动机构5运动的频率越大和/或速度越快。也就是说，通过传感器采集的数据大小控制伸缩驱动机构5中的减速电机51转速，实现控制按摩机构3伸缩移动的频率或速度，达到交互按摩。当然根据需要，所述控制模块6也可以根据传感器采集的数据，按预设的电流波形控制减速电机51工作，使该减速电机51带动按摩机构3伸缩按摩与电流波形一致，同样也可以达到交互按摩。
所述传感器设置的位置不作特别限定，例如可以设置在按摩机构3的杯口、壳体1端部或其他在使用状态下能采集到按摩装置与用户之间的作用力或加速度数据的大小任意位置。在本实施例中，为了更好采集相关数据，传感器设置在杯口或便于手握受力的壳体1中间、壳体1一个端部或按摩机构3的杯口。
使用时，由用户控制按摩装置移动，当压力传感器采集到按摩装置与用户之间压力时，控制模块根据传感器采集的数据，如压力大小等，按控制模块预设的程序控制伸缩驱动机工作的频率或速度变化，当压力传感器采集的压力变大时，控制模块使按摩机构往复运动的速度或频率增大；当压力变小时，控制模块使按摩机构往复运动的速度或频率减小。实现根据用户身理反应控制按摩动作频率或速度，实现按摩装置能与用户之间交互，达到增加按摩的刺激性，改善用户体验。
所述传感器也可以采用能够采集按摩装置动运加速的传感器，通过采集按摩时按摩装置运动的加速度大小，控制模块6根据加速度大小来控制伸缩驱动机输出的频率或速度，具体工作过程参照上述实施例，不再赘述。所述传感器还可以采用其他能采集使用按摩装置时用户兴奋相关性的生理数据，如心率大小等与受刺激、兴奋引起的数据作为控制模块控制伸缩驱动机运动频率或速度依据，心率越快伸缩驱动机运动频率或速度越快，具体工作过程参照上述实施例，不再赘述。
为了改变按摩机构单一运动，增加多维度运动，形成立体按摩效果，所述交互式按摩装置还包括与控制模块信号连接，并使按摩套或按摩机构转动的旋转机构。也可以将所述导向滑杆13倾斜设置，使得按摩机构在直线往复伸缩运动时，同步产生一定角度发生偏转，产生转动按摩效果，偏转的角度由滑杆的倾斜角度确定，即由倾斜角度与按摩套所在轴心形成的夹角倾斜角度确定。
所述旋转机构还可以采用与控制模块6信号连接的旋转电机和使按摩机构3在直线往复伸缩运动时能产生旋转运动。
为了便于按摩装置使用的便利性，该伸缩驱动电机和控制模块及传感器由电池进行供电。 
在上述实施例基础上，增加按摩效果，在所述按摩套32与按摩支架31之间设有按摩环37，如图5和图6所示，该按摩环37包括一端固定的环形记忆体39和设在环形记忆体39上多个滚珠38，该环形记忆体39的另一端固定设置在按摩支架31上的弧形孔或弧形槽36内，按摩前伸缩按摩环37的两端部的滚珠38上下重合；按摩膨胀时，按摩支架31的一端弧形孔或弧形槽36内滑动，使伸缩按摩环37的直径增大。由于所述按摩环37的两端滚珠部分上下重合，这样可以在按摩时可以始终使按摩环能形成闭合结构，对按摩位置形成闭合的包围，达到更好按摩效果。
根据需要，所述按摩装置还包括设置在按摩套外侧的充放气囊40和为充放气囊40充放气的气泵7，该气泵7与控制模块6连接。在按摩过程中通过气泵7使得充放气囊充气或放气，能使按摩套局部或全部被压缩，增加按摩效果。
在上述各实施例或组合的基础上，本发明还提供另一种实施例。
所述按摩装置还包括分别与控制模块电连接的存储器（附图未标示）和扬声器（附图未标示），其中所述存储器内存储有至少两个能刺激或引发不同兴奋程度音效的音频数据的存储器，所述扬声器根据控制模块控制输出存储器一种音效对应的音频数据。
具体地说，所述存储器存储一个、两个、三个或多个不同音效的音频数据，该每个音频数据与预设在控制模块中的程序执行的动作之间存在绑定关系，该预设在控制模块中的程序可以输出与音频数据数量相同的控制指令，每个控制指令对应一个音频数据，执行一种按摩动作。当压力传感器输入数据后，控制模块6根据传感器数据确定其对应的控制指令阈值范围，并输出该阈值范围对应的控制指令，该控制模块控制按摩机构3按所述控制指令对应的按摩动作。例如，设有三种音效的音频数据，预设在控制模块中的程序可以输三种波形的按摩效果，如第一按摩波形为正弦波，第二按摩波形为方波和第三按摩波形为锯齿波，每种波形与一种音效的音频数据绑定。
当传感器采集的数据在第一种按摩波形阈值范围时，控制模块控制按摩机构3按正弦波执行，同时输出与正弦波对应的音效音频数据，播放声音。当传感器采集的数据在第二种按摩波形阈值范围时，控制模块控制按摩机构3按方波执行，同时输出与方波对应的音效音频数据，播放声音。当传感器采集的数据在第三种按摩波形阈值范围时，控制模块控制按摩机构3按锯齿波执行，同时输出与锯齿波对应的音效音频数据，播放声音。
所述控制模块根据传感器输入的数据选择对应的音效音频数据输出，每种波形和音效通过有限实验进行采集录入。在按摩不同的阶段时，控制模块选择输出的音效不同，这样可以通过听感觉、触觉等多种感观刺激，达到更好的按摩效果，更进一步改善用户体验。
根据需要，所述按摩装置还包括与控制模块信号连接的记录按摩过程控制数据和存储该控制数据的存储器，可以对控制数据进行记录和分析，便于用户进行管理。按摩过程控制数据也可以直接通过与控制模块电连接的无线发送单元向外发送，例如可以发送给智能手机，通过智能手机上的专用APP软件进行分析和管理。
如图7所示，本发明可以在上述实施例的基础上还提出一种智能交互式按摩方法实施例。
该智能交互式按摩方法包括，
S11步骤，确定运动力度，采集按摩装置与用户之间的作用力和/或按摩装置的运动加速度数据，获得按摩装置的运动力度数据；
S12步骤，产生按摩运动，根据运动力度数据控制直线往复按摩运动的频率和/或速度，当运动力度数据增大时，直线往复按摩的频率和/或速度增加，当运动力度数据减少时，直线往复按摩的频率和/或速度减少。
具体地说，由用户控制按摩装置，例如可以控制上述实施例中的按摩装置运动，该按摩装置与用户之间，如按摩部位周围产生压力，根据该压力确定按摩装置运动度力。
在按摩装置供电情况下，能采集按摩装置与用户之间的作用力、加速度或与按摩兴奋相关的数据，确定与运动力度有关的数据，即由相应的传感器将采集的数据以有线或无线方式传输给按摩装置控制模块，对输入的数据进行解析，将解析出的数据与预设的数据比对，并根据比对结果执行预设的控制程序，控制按摩机构按预设的控制程序运动，也即产生按摩运动。运动力度数据不同，对应的按摩运动也不同，具体的按摩运动参数可以通过预设控制程序进行调整。
由于按摩运动与运动力度存在关联性，如将按摩运动与运动力度存在线性关系，即压力传感器采集的数据所对应的值越大，按摩运动的频率、加速度和/或速度越大。该按摩方法可以根据用户使用时的反馈，及时对按摩的频率或速度进行调整，从而达到增加按摩的刺激性，改善用户体验。
根据需要，所述产生按摩运动步骤还包括根据按摩机构直往复运动的频率、加速度和/或速度数据输出与刺激相匹配的音效，以增加按摩时的刺激性。通常情况下，按摩时按摩机构直往复运动的频率、加速度和/或速度越大，则刺激越强。所述匹配是指按摩机构直往复运动的频率、加速度和/或速度越大，输出越能引起兴奋增加的音效。频率、加速度和/或速度越小，能引起兴奋增加的音效越小。
以上实施例仅用于说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换，而这些修改或替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (10)

  1. 智能交互式按摩装置，包括悬置于壳体内的按摩机构和驱动按摩机构作伸缩运动的伸缩驱动机构，以及控制伸缩驱动机构执行动作的控制模块，所述按摩机构与壳体之间设有滑动导向机构，其特征在于，该按摩装置还包括与控制模块电连接采集按摩时用户生理数据和\或用户与按摩装置之间压力的传感器，所述控制模块根据传感器采集的数据控制伸缩驱动机构驱动按摩机构伸缩按摩的频率和\或速度。
  2. 根据权利要求1所述的智能交互式按摩装置，其特征在于，所述滑动导向机构包括按摩机构中的按摩支架外侧设有至少一组含油轴承和在壳体上设有与一组含油轴承滑动配合的导向滑杆，每组含油轴承包括两个含油轴承。
  3. 根据权利要求2所述的智能交互式按摩装置，其特征在于，所述滑动导向机构还包括在按摩支架外侧设置的U形槽，该U形槽与壳体上设置的另一导向滑杆限位配合。
  4. 根据权利要求2或3所述的智能交互式按摩装置，其特征在于，所述按摩支架上还设有与按摩支架伸缩运动方向垂直的条形孔。
  5. 根据权利要求4所述的智能交互式按摩装置，其特征在于，所述伸缩驱动机构包括减速电机和与减速电机输出转轴连接的传动摆臂，该传动摆臂与条形孔配合将减速电机转动转为直线往复运动。
  6. 根据权利要求1所述的智能交互式按摩装置，其特征在于，在所述按摩套外侧与按摩支架之间设有伸缩按摩环，该伸缩按摩环包括一端固定的环形记忆体和设在环形记忆体上多个滚珠，该环形记忆体的另一端设置在按摩支架上的弧形孔或弧形槽内，按摩前所述伸缩按摩环的两端部的滚珠上下重合，按摩膨胀时，按摩支架的一端弧形孔或弧形槽内滑动，使伸缩按摩环的直径增大。
  7. 根据权利要求1所述的智能交互式按摩装置，其特征在于，所述按摩装置还包括分别与控制模块电连接的存储器和扬声器，其中所述存储器内存储有至少两个能引起不同兴奋程度音效的音频数据的存储器，所述扬声器根据控制模块控制输出存储器一种音效对应的音频数据。
  8. 根据权利要求1所述的智能交互式按摩装置，其特征在于，所述按摩装置还包括设置在按摩套外侧的充放气囊和为充放气囊充放气的气泵，该气泵与控制模块连接。
  9. 根据权利要求1所述智能交互式按摩的按摩方法，包括，
    确定运动力度，采集按摩装置与用户之间的作用力和/或按摩装置的运动加速度数据，获得按摩装置的运动力度数据；
    产生按摩运动，根据运动力度数据控制直线往复按摩运动的频率和/或速度，当运动力度数据增大时，直线往复按摩的频率和/或速度增加，当运动力度数据减少时，直线往复按摩的频率和/或速度减少。
  10. 根据权利要求9所述智能交互式按摩的按摩方法，其特征在于，所述产生按摩运动步骤还包括根据按摩机构直往复运动的频率、加速度和/或速度数据输出与刺激相匹配的音效，按摩时按摩机构直往复运动的频率、加速度和/或速度越大，输出越能引起兴奋增加的音效。
PCT/CN2018/099178 2017-11-01 2018-08-07 智能交互式按摩装置及方法 WO2019085571A1 (zh)

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