WO2024098505A1 - 一种接触式按摩拍打装置及按摩器 - Google Patents

一种接触式按摩拍打装置及按摩器 Download PDF

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Publication number
WO2024098505A1
WO2024098505A1 PCT/CN2022/138956 CN2022138956W WO2024098505A1 WO 2024098505 A1 WO2024098505 A1 WO 2024098505A1 CN 2022138956 W CN2022138956 W CN 2022138956W WO 2024098505 A1 WO2024098505 A1 WO 2024098505A1
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WIPO (PCT)
Prior art keywords
beating
flapping
limit position
freedom
massage
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PCT/CN2022/138956
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English (en)
French (fr)
Inventor
陈俊军
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深圳市嘉信通网络科技有限公司
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Application filed by 深圳市嘉信通网络科技有限公司 filed Critical 深圳市嘉信通网络科技有限公司
Priority to EP22940503.0A priority Critical patent/EP4406526A1/en
Priority to US18/374,066 priority patent/US12023295B2/en
Publication of WO2024098505A1 publication Critical patent/WO2024098505A1/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
    • 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
    • A61H19/00—Massage for the genitals; Devices for improving sexual intercourse
    • 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
    • A61H23/0254—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms with electric or magnetic drive with rotary motor
    • 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
    • A61H19/00—Massage for the genitals; Devices for improving sexual intercourse
    • A61H19/40—Devices insertable in the genitals
    • A61H19/44—Having substantially cylindrical shape, e.g. dildos
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0165—Damping, vibration related features
    • 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
    • A61H2201/1215—Rotary 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1418—Cam

Definitions

  • the invention belongs to the technical field of massage health care, relates to a patting massage stimulation technology, and specifically relates to a contact massage patting device and a massager.
  • Massage is a product that directly acts on the object to achieve health care, pleasure and stimulation, and the commercial market is growing rapidly.
  • slapping is an important massage mode. Its massage effect and stimulation of the affected parts are difficult to be replaced by other massage methods. Especially in sexual health massage products, the pleasure and stimulation brought by the slapping effect is irreplaceable.
  • an eccentric vibration motor is set on the massager body, and the inertial eccentric wheel is driven by the motor to rotate, thereby driving the shell of the massager body to vibrate.
  • the impact on the object of action can form a certain slapping feeling.
  • this kind of slapping feeling generally has a high frequency, and the slapping amplitude is not large, and the slapping force is insufficient.
  • the massager is an in-body massager or a massager used close to the skin
  • the vibration/slapping feeling of the massager will be significantly reduced when it is used close to the skin or in-body with a certain force, such as a vibrator, anal plug, and jumping egg in sex toys.
  • a vibrating massager simulates the slapping effect
  • it is usually the massager body (shell) that vibrates as a whole.
  • the vibration generally comes from the reaction force of the vibration formed by the motor and cam inertia in the shell.
  • the shell vibration mode forms an indiscriminate vibration slapping, and there is no solution for the slapping stimulation effect of a certain local area.
  • the present invention provides a massage patting device particularly applicable to a contact massager, and a massager with the patting device as the core.
  • a contact type massage slapping device comprising a slapping device body; wherein the device body comprises:
  • the beating device body comprises:
  • a beating body (2) having at least one movable connection portion and a driving end (23);
  • a flapping drive assembly (5) A flapping drive assembly (5);
  • At least one movable connection portion of the beating body (2) is connected to the connection seat;
  • the beating body (2) has at least one reciprocating swing freedom A relative to the connecting seat;
  • the beating device body is arranged in the containing cavity (1).
  • the beating body (2) has a first beating surface (21);
  • the first beating surface (21) has a first limit position
  • the first limit position is the limit position at which the first beating surface (21) can protrude out of the cavity (1) through the first opening (3) in at least one stroke section of the degree of freedom A.
  • the beating body (2) has a second beating surface
  • the second beating surface has a second limit position
  • the second limit position is the limit position at which the second beating surface can protrude from the cavity (1) through the second opening (4) in at least one stroke section of the degree of freedom A.
  • the flapping drive assembly (5) comprises:
  • the power module is used to drive the eccentric wheel module to rotate
  • the driving end (23) has an eccentric wheel guide hole
  • connection mode between the eccentric wheel guide hole and the eccentric wheel module has a first matching mode
  • the rotation of the eccentric wheel enables the beating body (2) to have at least one reciprocating swing freedom A relative to the connecting seat.
  • connection mode between the eccentric wheel guide hole and the eccentric wheel module has a second matching mode
  • the rotation of the eccentric wheel enables the beating body (2) to have at least one reciprocating swing freedom B relative to the connecting seat.
  • the first flapping surface (21) has:
  • the third limit position is,
  • the first beating surface (21) can protrude from the limit position of the cavity (1) through the first opening (3) in at least one stroke section of the degree of freedom B;
  • the distance b1 between the first beating surface (21) and the plane of the first opening (3) is smaller than the distance a1 between the first beating surface (21) and the plane of the first opening (3) when in the first limit position.
  • the second beating surface has:
  • the fourth limit position is,
  • the second beating surface can protrude from the limit position of the cavity (1) through the second opening (4) in at least one stroke section of the degree of freedom B;
  • the distance b2 between the second beating surface and the plane of the second opening (4) is smaller than the distance a2 between the second beating surface and the plane of the second opening (4) when in the second limit position.
  • the beating device has:
  • the first damping M1 is not less than m times the second damping M2;
  • the second damping M2 is the damping of the object acting on the beating surface under normal use of the beating device
  • the energy storage elastic part has:
  • At least two sets of elastic energy storage units At least two sets of elastic energy storage units
  • the elastic energy storage unit is arranged at any position of the power transmission link from the flapping drive component (5) to the first and/or second flapping surface.
  • k groups of elastic energy storage units, k is an integer not less than 2;
  • the i-th group of elastic energy storage units Ni can provide damping Pi, 1 ⁇ i ⁇ k;
  • Pi is the equivalent damping from the flapping power component to the flapping surface under the action of the i-th group of elastic energy storage units
  • a massager characterized in that:
  • the invention has any one of the contact type massage and beating devices mentioned above.
  • the massage slapping device can be embedded in a contact-type massage device, and the opening-equipped cavity (1) can make the massage device contact the massage object with a large contact massage force, and even when it penetrates into the body and is fully wrapped, the slapping device can still swing freely in the cavity (1).
  • the driving device connected to the slapping body (2) can provide the power for the slapping body (2) to move freely in the cavity (1).
  • the slapping body (2) itself is an inertial component.
  • the inertial slapping body (2) has a good energy storage process, so that when the slapping surface of the slapping body (2) protrudes through the opening and acts on the massage position/stimulation position, it has a large effective power and a significant slapping effect.
  • the slapping body (2) is isolated from the massager body by the cavity (1) provided, and it is found in practice that the scheme is also more effective in reducing unnecessary vibration of the shell.
  • the local action of the patting body (2) can also realize the fixed-point stimulation of specific parts/stimulation points.
  • the opening structure on one or more sides can realize the simultaneous massage/stimulation of multiple points.
  • FIG1 is a schematic structural diagram of a contact-type massage and beating device according to an embodiment of the present invention.
  • FIG2 is a schematic diagram of a bidirectional opening structure of a contact-type massage and beating device according to an embodiment of the present invention
  • FIG3 is a schematic diagram showing the structure of a beating body and a driving assembly of a contact-type massage beating device according to an embodiment of the present invention
  • FIG4 is a schematic diagram showing the connection between the driving assembly and the beating body of the contact-type massage beating device according to an embodiment of the present invention
  • FIG5 is a schematic diagram showing the structure of a beating body and a cavity of a contact-type massage beating device according to an embodiment of the present invention
  • FIG6 is a schematic structural diagram showing a contact-type massaging and beating device according to an embodiment of the present invention applied to a massager.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • a contact type massage slapping device comprising: a slapping device body;
  • the beating device body comprises:
  • a beating body (2) having at least one movable connection portion and a driving end (23);
  • a flapping drive assembly (5) A flapping drive assembly (5);
  • At least one movable connection portion of the beating body (2) is connected to the connection seat;
  • the beating body (2) has at least one reciprocating swing freedom A relative to the connecting seat;
  • the flapping drive assembly (5) is connected to the driving end (23) of the flapping body (2) to provide the flapping body (2) with reciprocating motion power within the degree of freedom A;
  • the beating device body is arranged in the containing cavity (1).
  • connection seat is configured to support the slapping body (2);
  • the slapping body (2) is the main body for realizing the slapping massage stimulation function, and its massage characteristics can be made into replaceable multiple or customized settings according to the different massage types and stimulation parts.
  • the slapping body (2) can have a certain biased design in terms of its own inertia, such as the center of the slapping body (2) can be distributed at the position of the slapping effect as much as possible, and can also be set at other positions according to the massage slapping requirements to obtain a better motion inertia; specifically, the slapping body (2) exhibits a reciprocating swinging motion mode under the action of the driving component.
  • the center adjustment within a reasonable range can improve the torque required to drive the slapping body (2).
  • the natural frequency of the slapping body (2) in motion can also be changed to optimize the dynamic process of the slapping motion.
  • the optimization result can achieve the purpose of changing the energy output efficiency of the driving unit and improving the slapping fluency of the slapping body (2).
  • the chamber (1) is arranged to ensure that the freedom of movement of the flapping body (2) is not hindered during use.
  • the obstacles include contact collision and friction, and may also include obstacles caused by the compression of the medium (such as air) in the chamber (1) in a small space (or the negative pressure formed when the flapping device is cut off from leaving the chamber (1)).
  • the improvement of the medium obstacle can be solved by providing a backflow groove, a hole, etc. on the inner wall of the chamber (1) or the side arm of the main body.
  • the scheme of this embodiment realizes a real flapping massage stimulation effect, and the chamber (1) provides the flapping body (2) with an inertial energy storage space, so that the energy of the flapping action of the flapping body (2) has the characteristics of accumulation and burst point, and the stimulation effect is significantly enhanced.
  • the structure of connecting the flapping body (2) with the connecting seat makes the movement of the flapping body (2) relatively independent, and there is almost no problem of insufficient energy storage of the flapping body (2) and a significant decrease in the flapping effect due to the close contact between the massager body and the massage object (including being wrapped by the body).
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • the beating body (2) has a first beating surface (21);
  • the first beating surface (21) has a first limit position
  • the first limit position is the limit position at which the first beating surface (21) can protrude out of the cavity (1) through the first opening (3) in at least one stroke section of the degree of freedom A.
  • the flapping surface can be designed into different forms or structures according to different massage effects or different characteristics of the action position. Since the flapping body (2) is a reciprocating motion, it has a limit position in the reciprocating motion.
  • the limit position of the present embodiment refers to the limit position that the first flapping surface (21) can reach under the general motion (at any speed) of the driving device.
  • the inertia limit position is due to the fact that there is no rigid body in the strict sense (no recognized elastic deformation) in reality, so the flapping body (2) supporting the flapping surface must be an elastic body (non-rigid body) strictly speaking, which causes the real position that the flapping surface can reach to be not only related to the position that the driving device can bring to by the motion trajectory, but also related to the inertial mass distribution (center of gravity position) and movement speed of the flapping body (2). It may cause that the inertia limit position is greater than the limit position defined in the present embodiment, or it may be smaller.
  • the present embodiment is based on the premise that the flapping body (2) is approximately regarded as a rigid body (the elasticity of the flapping body (2) itself is affected by the inertia of the normal operating speed of the driving device, which meets the standard of being far less than/negligible). Based on this premise, the present application sets the first limit position to a position protruding from the cavity (1) (specifically, the first opening (3) of the cavity (1)). Since the object of application is a contact massage device, the action of the slapping body (2) and the massage object generally starts at the first opening (3) surface of the cavity (1), or the action position is slightly forward (before the slapping body (2) reaches the first opening (3) surface).
  • the massage object Because the massage object is generally flesh, it will protrude from the outside of the cavity (1) to the inside of the cavity (1) (enter the cavity (1)).
  • the effect of this is that the slapping body (2) has a higher inertial energy storage when the massage/stimulation starts, and the movement of the driving device provides a positive driving force (increasing the slapping effect), making the slapping effect more obvious. From the perspective of commercial manufacturing of the massager, this setting can reduce the power demand of the driving device, as well as reduce the systemic requirements such as energy storage and control of the response, thereby reducing costs.
  • Embodiment 3 is a diagrammatic representation of Embodiment 3
  • the cavity (1) has a second opening (4);
  • the beating body (2) has a second beating surface
  • the second beating surface has a second limit position
  • the second limit position is the limit position at which the second beating surface can protrude from the cavity (1) through the second opening (4) in at least one stroke section of the degree of freedom A.
  • the second opening (4) is provided in this embodiment so that the beating surface is increased, and the increased beating surface does not affect the energy consumption of the massage device and the beating effect of the first opening (3), because the beating energy storage of this embodiment is completed in a unidirectional motion.
  • the solution of this embodiment can increase the massage stimulation points/massage stimulation surface in the application of the body-entering/full-covering massager to produce positive effects.
  • Embodiment 4 is a diagrammatic representation of Embodiment 4:
  • the flapping drive assembly (5) comprises:
  • the power module is used to drive the eccentric wheel module to rotate
  • the driving end (23) has an eccentric wheel guide hole
  • connection mode between the eccentric wheel guide hole and the eccentric wheel module has a first matching mode
  • the rotation of the eccentric wheel enables the beating body (2) to have at least one reciprocating swinging freedom A relative to the connecting seat.
  • This embodiment mainly provides a solution for the driving assembly of the beating device, which realizes the reciprocating motion of the beating body (2) by using a simple and reliable power such as a driving motor through an eccentric wheel module and a guide hole (including an eccentric wheel and a related guiding structure that realizes rotation to reciprocating motion).
  • Embodiment 5 is a diagrammatic representation of Embodiment 5:
  • connection mode between the eccentric wheel guide hole and the eccentric wheel module has a second matching mode
  • the rotation of the eccentric wheel enables the beating body (2) to have at least one reciprocating swing freedom B relative to the connecting seat.
  • multiple matching modes are realized by adding eccentric wheel guide holes and connection modes of eccentric wheel modules (the first matching mode should be understood as other matching modes different from the first matching mode, which can be one or more), and the change of the freedom of movement (motion trajectory) of the beating body (2) is realized through different matching modes.
  • the adjustment of the massage mode or industrial multi-model customization can be realized, and the multi-function or multi-mode of the massager can be realized to meet the output of multiple massage/stimulation effects. It can also be combined with intelligent control programs to realize dynamic process/intelligent process control, providing a more powerful basic hardware platform for product diversity and performance upgrades.
  • Embodiment 6 is a diagrammatic representation of Embodiment 6
  • the first flapping surface (21) has:
  • the third limit position is,
  • the first beating surface (21) can protrude from the limit position of the cavity (1) through the first opening (3) in at least one stroke section of the degree of freedom B;
  • the distance b1 between the first beating surface (21) and the plane of the first opening (3) is smaller than the distance a1 between the first beating surface (21) and the plane of the first opening (3) when in the first limit position.
  • Embodiment 7 is a diagrammatic representation of Embodiment 7:
  • the second beating surface has:
  • the fourth limit position is,
  • the second flapping surface can protrude from the limit position of the cavity (1) through the second opening (4) in at least one stroke section of the degree of freedom B;
  • the distance b2 between the second beating surface and the plane of the second opening (4) is smaller than the distance a2 between the second beating surface and the plane of the second opening (4) when in the second limit position.
  • Embodiment 6 and Embodiment 7 are an implementation scheme of the embodiment 5 scheme, so that the flapping device has multiple degrees of freedom. Different flapping impact/stimulation effects are formed.
  • a massage process In terms of massage stimulation, a massage process generally designs multiple action positions, and different action positions have different perceptions of stimulation.
  • the adjustable flapping can meet the massage needs in this regard. For example, the flapping stimulation needs at the bone position and the muscle position are generally quite different.
  • Embodiment 8 is a diagrammatic representation of Embodiment 8
  • the beating device has:
  • the massage stimulation effect of the slapping device is produced by the collision between the slapping body (2) and the object of action, and the collision position is not fixed, in fact, different users have different stimulation requirements, and the collision obstruction position of the slapping body (2) is also significantly different.
  • the slapping body (2) and the drive unit are both made of rigid materials (similar to rigid body materials, the deformation amount can be ignored)
  • the obstruction of the movement of the slapping body (2) may cause the drive device to be blocked, resulting in the failure of the device to slap, which is one of the main problems faced by slapping products.
  • the general solution to this problem is to reduce the blocking stroke, such as making the vibration amplitude of vibration products relatively small. Since the small amplitude will lead to insufficient slapping stimulation effect, the method used in vibration products is to change the vibration frequency to increase the stimulation feeling, but after all, it cannot replace the realization of a real slapping effect.
  • the frequency of the reciprocating slapping massage device is generally much lower than that of the vibration product, but the slapping amplitude and strength are obviously different, so the massage stimulation effect it brings is also obviously different.
  • the present embodiment is aimed at realizing real slapping massage, and proposes a solution to the problem that any stroke position of the slapping end is blocked.
  • the scheme is provided with an energy storage elastic part, and the role of the elastic part is to realize the role of energy storage buffering when the slapping surface is blocked, so it can be arranged on the transmission path of any force.
  • the role of the energy storage elastic part is far more than buffering energy storage for the obstruction phenomenon.
  • Another beneficial effect is that the reciprocating slapping body (2) must have acceleration, deceleration and other processes during the swinging process, and the theoretical speed of the slapping body (2) is zero when it is at the extreme position. If the slapping device only relies on the eccentric wheel structure transmission, what is generally achieved is a swinging mode similar to a pendulum to swing back and forth. If this type of swinging form is applied to the massage slapping device, its disadvantage is that the speed of the slapping body (2) is relatively small (progress deceleration process) at the position where it needs to be slapped (when the slapping surface is close to the extreme position), and its slapping effect is naturally poor.
  • the energy storage elastic part of this embodiment can store energy during the driving process.
  • the rapid (maximum speed) position of the reciprocating beating body (2) can be offset to a position closer to the extreme position of the beating surface. This effect significantly improves the effect of beating massage.
  • the energy storage process of the energy storage elastic part also eliminates the impact of the beating body (2) on the power and transmission system when the reciprocating motion is reversed (the energy loss caused by the impact is large), so that the energy can be concentrated at the moment of the beating action and released explosively.
  • Embodiment 9 is a diagrammatic representation of Embodiment 9:
  • the first damping M1 is not less than m times the second damping M2;
  • the second damping M2 is the damping of the object acting on the beating surface under normal use of the beating device
  • This embodiment is based on the embodiment 8, and the proportional relationship between the first damping M1 and the second damping M2 is set.
  • the improvement effect is: in the slapping process, the rigid transmission and the transmission of the slapping force are relatively sufficient, and the massage object itself is generally flesh/muscle, etc., which is flexible/elastic compared to the slapping body (2). Different settings of the elastic components in the transmission process will bring different slapping effects, and the difference is obvious.
  • the equivalent damping formed by the energy storage elastic part is small (less than or equal to the reaction damping of the massage object), when the slapping body (2) contacts the massage object, the slapping energy is absorbed by the energy storage elastic part, resulting in insufficient energy acting on the massage position, and the slapping effect is significantly reduced.
  • This embodiment sets an equivalent damping relationship of at least 1.2 times, which is found in practice to be able to effectively transmit the slapping energy, and the anti-blocking effect is obvious.
  • the equivalent damping is replaced by 3-4 times, the slapping effect is further improved, the impact stimulation of the slapping is significantly enhanced, and a certain resistance will gradually form in the high-frequency reciprocating of the single. When it reaches more than 4 times, the inertial damping of the reciprocating motion process increases and the energy loss during the motion process increases.
  • Embodiment 10 is a diagrammatic representation of Embodiment 10:
  • the energy storage elastic part has:
  • At least two sets of elastic energy storage units At least two sets of elastic energy storage units
  • the elastic energy storage unit is arranged at any position of the power transmission link from the flapping drive component (5) to the first and/or second flapping surface.
  • Embodiment 11 is a diagrammatic representation of Embodiment 11:
  • k groups of elastic energy storage units, k is an integer not less than 2;
  • the i-th group of elastic energy storage units Ni can provide damping Pi, 1 ⁇ i ⁇ k;
  • Pi is the equivalent damping from the flapping power component to the flapping surface under the action of the i-th group of elastic energy storage units
  • the main function of the optional slapping device provided in Example 10 and Example 11 is to provide multiple groups of elastic energy storage parts with different damping.
  • the difference in the elastic energy storage parts should be understood as the obvious difference in the equivalent elastic damping formed in the system, and generally a difference of at least 1.2 times or more is considered to be significantly different.
  • At least one group of the multiple groups of elastic damping components is significantly different in that the energy storage elastic part with higher damping behaves as rigidity (no energy storage state) in most cases, but can temporarily store energy or prevent stalling when encountering greater damping or occasional collisions, and the stability of the system and user experience can be significantly improved.
  • Embodiment 12 A massager, this embodiment provides a massage device based on the slapping device of any of the above embodiments or invention contents.
  • the massage device is mainly a contact massage device, which includes but is not limited to a massage device with a single massage surface contacting the skin and an in-body fully covered massage device.
  • sexual health massage devices including male-only, female-only or unisex types, such as anal plugs, vibrators, jumping eggs, etc.
  • the terms “install”, “connect”, “connect”, and “assemble” should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components.
  • install e.g., it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components.
  • the term "and/or" herein is merely a description of the association relationship of associated objects, indicating that three relationships may exist.
  • a and/or B may represent three situations: A exists alone, A and B exist at the same time, and B exists alone.
  • the character "/" herein generally indicates that the previously associated objects are in an "or” relationship.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Reproductive Health (AREA)
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Abstract

一种接触式按摩拍打装置，包括，拍打装置主体；具有第一开口（3）的容腔（1）；其中，拍打装置主体包括，具有至少一活动连接部和驱动端的拍打体（2）；连接座；拍打驱动组件（5）；其中，拍打体（2）的至少一活动连接部与连接座相连接；且拍打体（2）具有相对于连接座的至少一往复摆动自由度A；拍打驱动组件（5）与拍打体（2）的驱动端相连接，用于提供拍打体（2）在自由度A内往复运动的动力；拍打装置主体设置于容腔（1）内。通过设置的具有第一开口（3）的容腔（1）可以使得拍打装置以较大的接触按摩力度接触按摩对象，甚至深入体内被全面包裹时，拍打装置仍然能够在容腔（1）内自由摆动。

Description

一种接触式按摩拍打装置及按摩器 技术领域
本发明属于按摩保健技术领域，涉及拍打式按摩刺激技术，具体涉及一种接触式按摩拍打装置及按摩器。
背景技术
按摩是通过对对象的直接作用以达到保健、愉悦和刺激等作用，商业市场增长迅速。在众多的按摩类产品中，拍打式是其中一种重要的按摩模式。其按摩效果和作用部位的刺激感难以被其他按摩方式所替代。特别是在性保健按摩产品中，拍打效果的实现所带来的愉悦刺激感是不可替代的。
在现有的按摩产品中，接触按摩模式的实现有多种，都可被认为是拍打按摩或者拍打按摩模式的延伸。比如，在按摩器主体上设置偏心震动电机，通过电机带动惯性偏心轮旋转，进而带动按摩器主体的壳体发生震动，震动时对作用对象的撞击感即可形成一定的拍打感。但是此类拍打感一般频率较高，且拍打振幅不大，拍打力度不足。特别是，如果按摩器为入体式按摩器或者贴肤使用按摩器，则按摩器在以一定力度贴肤使用或者入体使用时，其震动感/拍打感会有非常明显的减小，如性用品中的震动棒、肛塞以及跳蛋等。并且，震动式按摩器模拟拍打效果时，通常是按摩器主体(壳体)整体形成震动，该震动一般来自于壳体内电机及凸轮惯性形成震动的反作用力，壳体震动模式形成的是无差别的震动拍打，尚无针对某一局部区域的拍打刺激效果解决方案。
发明内容
为解决上述现有技术问题，本发明提供一种特别应用于接触式按 摩器的按摩拍打装置，以及以此拍打装置为核心的按摩器。
为了实现上述目的，本发明采用的技术方案的一种是：
一种接触式按摩拍打装置，包括，拍打装置主体；其特征是，包括，
具有第一开口(3)的容腔(1)；
其中，所述拍打装置主体包括，
具有至少一活动连接部和驱动端(23)的拍打体(2)；
连接座；
拍打驱动组件(5)；
其中，所述拍打体(2)的至少一活动连接部与所述连接座相连接；且，
所述拍打体(2)具有相对于所述连接座的至少一往复摆动自由度A；
其中，所述拍打驱动组件(5)与所述拍打体(2)的驱动端(23)相连接，用于提供所述拍打体(2)在自由度A内的往复运动动力；
其中，所述拍打装置主体设置于所述容腔(1)内。
可选方案的一种，
所述拍打体(2)具有第一拍打面(21)；
其中，所述第一拍打面(21)具有第一极限位；
所述第一极限位为第一拍打面(21)在自由度A的至少一行程段可通过第一开口(3)凸出所述容腔(1)的极限位置。
可选方案的一种，
所述容腔(1)具有第二开口(4)；
所述拍打体(2)具有第二拍打面；
其中，所述第二拍打面具有第二极限位；
所述第二极限位为第二拍打面在自由度A的至少一行程段可通过第二开口(4)凸出所述容腔(1)的极限位置。
可选方案的一种，
所述拍打驱动组件(5)具有，
动力模块；
偏心轮模块；
其中所述动力模块用于驱动偏心轮模块旋转；
所述驱动端(23)具有偏心轮导孔；
所述偏心轮导孔与偏心轮模块连接模式具有第一匹配模式；且，
偏心轮旋转使所述拍打体(2)具有相对于所述连接座的至少一往复摆动自由度A。
可选方案的一种，
所述偏心轮导孔与偏心轮模块连接模式具有第二匹配模式；且，
偏心轮旋转使所述拍打体(2)具有相对于所述连接座的至少一往复摆动自由度B。
可选方案的一种，
在往复摆动自由度B内，所述第一拍打面(21)具有，
第三极限位；
所述第三极限位为，
第一拍打面(21)在自由度B的至少一行程段可通过第一开口(3)凸出所述容腔(1)的极限位置；且，
第一拍打面(21)距离第一开口(3)平面的距离b1，小于，第一极限位时第一拍打面(21)距离第一开口(3)平面的距离a1。
可选方案的一种，
在往复摆动自由度B内，所述第二拍打面具有，
第四极限位；
所述第四极限位为，
第二拍打面在自由度B的至少一行程段可通过第二开口(4)凸出所述容腔(1)的极限位置；且，
第二拍打面距离第二开口(4)平面的距离b2，小于，第二极限位时第二拍打面距离第二开口(4)平面的距离a2。
可选方案的一种，
所述拍打装置具有，
蓄能弹性部；
用于，拍打体(2)在自由度A和/或自由度B内运动受阻于第一阻尼M1时，吸收拍打驱动组件(5)直接作用的，和/或，传递出的动能。
可选方案的一种，
第一阻尼M1不小于m倍的第二阻尼M2；
其中，第二阻尼M2为拍打装置常规使用下的作用对象作用于拍打面的阻尼；
其中，m取值范围为1.2-4。
可选方案的一种，
蓄能弹性部具有，
至少两组弹性蓄能单元；
其中，所述弹性蓄能单元设置于拍打驱动组件(5)到第一和/或第二拍打面的动力传动链路的任意位置。
可选方案的一种，
k组弹性蓄能单元，k为不小于2的整数；
其中，第i组弹性蓄能单元Ni可提供阻尼Pi，1≤i≤k；
其中，Pi为第i组弹性蓄能单元作用下从拍打动力组件到拍打面的等效阻尼；
其中，存在j，使Pj≠Pi；
其中，1≤j≤k，且j≠i。
一种按摩器，其特征是，
具有上述的任一接触式按摩拍打装置。
本发明的有益效果体现在，设置的按摩拍打装置可嵌入到接触式使用的按摩装置上，其设置的具有开口的容腔(1)可以使得按摩装置在以较大的接触按摩力度接触按摩对象，甚至深入体内被全面包裹时，拍打装置仍然能够在容腔(1)内自由摆动。与拍打体(2)连接的驱动装置则可以提供拍打体(2)在容腔(1)内自由运动的动力。拍打体(2)本身为惯性部件，当电机带动偏心轮装置旋转进而带动拍打体(2)在设定自由度内摆动时，惯性拍打体(2)具有较好的蓄能过程，以至于拍打体(2)的拍打面通过开口，凸出并作用到按摩位/刺激位时，其具有较大的作用功率，拍打效果明显。并且通过设置的容腔(1)使得按摩器主体/壳体使得拍打体(2)与按摩器主体隔离，实践中发现该方案在降低壳体的不必要震动方面效果也较为明显。通过拍打体(2)的局部作用还可以实现对特定部位/刺激点位的定点刺激。一面或多面的开口结构可实现多点位同时按摩/刺激。
附图说明
图1所示为本发明一实施例的接触式按摩拍打装置结构示意图；
图2所示为本发明一实施例的接触式按摩拍打装置双向开口结构示意图；
图3所示为本发明一实施例的接触式按摩拍打装置的拍打体与驱动组件结构示意图；
图4所示为本发明一实施例的接触式按摩拍打装置的驱动组件与拍打体连接示意图；
图5所示为本发明一实施例的接触式按摩拍打装置拍打体与容腔结构示意图；
图6所示为本发明一实施例的接触式按摩拍打装置应用于一按摩器的结构示意图。
具体实施方式
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，所描述的实施例仅仅是本发明一部分实施例，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。
请参阅图1-图5所示，本发明提供的具体实施例如下：
实施例1：
一种接触式按摩拍打装置，包括，拍打装置主体；和，
具有第一开口(3)的容腔(1)；
其中，所述拍打装置主体包括，
具有至少一活动连接部和驱动端(23)的拍打体(2)；
连接座；
拍打驱动组件(5)；
其中，所述拍打体(2)的至少一活动连接部与所述连接座相连接；且，
所述拍打体(2)具有相对于所述连接座的至少一往复摆动自由度A；
其中，所述拍打驱动组件(5)与所述拍打体(2)的驱动端(23) 相连接，用于提供所述拍打体(2)在自由度A内的往复运动动力；
其中，所述拍打装置主体设置于所述容腔(1)内。
在本实施例中，连接座被设置为用于支撑拍打体(2)；拍打体(2)是实现拍打按摩刺激功能的主体，其按摩特征可以根据按摩类型和刺激部位的不同而做成可替换的多种或定制设置。拍打体(2)在其自身惯性方面可具有一定的偏向设计，比如拍打体(2)的中心可尽可能分布于拍打作用的位置，也可以根据按摩拍打需求设置在其他位置，以获取一较佳的运动惯性；具体的，拍打体(2)在驱动组件的作用下表现为往复摆动的运动方式，在制造材料一定(总体质量一定)的情况下，合理范围内的中心调节可以改善驱动拍打体(2)所需的力矩，此外，也可以改变运动的拍打体(2)的固有频率，以优化拍打运动的动态过程。优化结果可达到改变驱动单元能量输出效率，提升拍打体(2)拍打流畅度等目的。关于容腔(1)的设置，容腔(1)设置满足拍打体(2)在使用时的运动自由度内不受阻碍，阻碍包括接触的碰撞、摩擦，也可包括容腔(1)在狭小空间内的介质(如空气)挤压(或者截止拍打装置在离开容腔(1)的趋势下形成的负压)所产生的阻碍。改善介质阻碍可以通过在容腔(1)的内壁或者主体侧臂开设倒流槽、孔等方案解决。本实施例的方案实现了真实的拍打按摩刺激效果，且容腔(1)给予了拍打体(2)惯性蓄能空间，使得拍打体(2)的拍打作用的能量有蓄积和爆发点的特征，刺激效果明显增强。通过连接座连接拍打体(2)的结构，使得拍打体(2)的运动相对独立，几乎不会因为按摩器主体与按摩对象的紧密接触(包括被身体包裹)而导致拍打体(2)蓄能不足拍打效果显著下降的问题。
实施例2：
所述拍打体(2)具有第一拍打面(21)；
其中，所述第一拍打面(21)具有第一极限位；
所述第一极限位为第一拍打面(21)在自由度A的至少一行程段可通过第一开口(3)凸出所述容腔(1)的极限位置。
本实施例中，拍打面可以根据不同的按摩功效或作用位置特性不同而设计为不同的形态或构造。由于拍打体(2)是往复运动，在往复运动中即具有极限位，本实施例的极限位是指驱动装置一般运动(以任意速度)下第一拍打面(21)所能到达的极限位置。与之对比的是惯性极限位，其中惯性极限位是由于现实中并不存在严格意义上的刚体(无认可弹性形变)，所以支撑拍打面的拍打体(2)严格来说一定是弹性体(非刚体)，这就导致拍打面所能到达的真实位置不仅与驱动装置仅凭运动轨迹所能带到的位置有关，还与拍打体(2)的惯性质量分布(重心位置)、运动速度等有关。可能导致，惯性极限位大于本实施例所定义的极限位，也可能更小。本实施例是将拍打体(2)近似看作刚体(拍打体(2)的自身弹性受驱动装置正常运转速度下的惯性影响极小，符合远远小于/可忽略的标准)为前提。基于该前提，本申请将第一极限位设置为凸出容腔(1)(具体为容腔(1)的第一开口(3))的位置，由于应用的对象是接触式按摩装置，所以拍打体(2)与按摩对象的作用一般是在容腔(1)的第一开口(3)面开始作用的，或者作用位置略有靠前(在拍打体(2)到达第一开口(3)面之前)，因为按摩对象一般为肉体，会从容腔(1)外部往容腔(1)内部凸出(进入容腔(1))。这样做的效果是，拍打体(2)在开始按摩/刺激时具有较高的惯性蓄能，同时驱动装置的运动提供的是正向驱动力(增加拍打效果)，使得拍打效果较为明显。从按摩器的商品化制造角度考虑，该设置可以降低对驱动装置的功率需求， 以及降低响应的蓄能、控制等系统性需求，降低成本。
实施例3：
所述容腔(1)具有第二开口(4)；
所述拍打体(2)具有第二拍打面；
其中，所述第二拍打面具有第二极限位；
所述第二极限位为第二拍打面在自由度A的至少一行程段可通过第二开口(4)凸出所述容腔(1)的极限位置。
本实施例设置了第二开口(4)使得拍打面增加，并且增加的拍打面并不会影响按摩装置更多的能源消耗以及第一开口(3)的拍打效果，因为本实施例的拍打蓄能实在单向运动中完成的。该实施例的方案可使其在入体式/全包覆式的按摩器应用中增加按摩刺激点位/按摩刺激面而产生积极效果。
实施例4：
所述拍打驱动组件(5)具有，
动力模块；
偏心轮模块；
其中所述动力模块用于驱动偏心轮模块旋转；
所述驱动端(23)具有偏心轮导孔；
所述偏心轮导孔与偏心轮模块连接模式具有第一匹配模式；且，
偏心轮旋转使所述拍打体(2)具有相对于所述连接座的至少一往复摆动自由度A。
本实施例主要提供了拍打装置的驱动组件的一解决方案，通过偏心轮模块及导孔(包括偏心轮及实现旋转到往复运动的相关导向结构)实现了可使用驱动电机等简单可靠的动力实现拍打体(2)的往复运动。
实施例5：
所述偏心轮导孔与偏心轮模块连接模式具有第二匹配模式；且，
偏心轮旋转使所述拍打体(2)具有相对于所述连接座的至少一往复摆动自由度B。
在本实施例中通过增设偏心轮导孔和偏心轮模块的连接模式实现了多种匹配模式(第一匹配模式应被理解为不同于第一匹配模式的其他匹配模式，可以一种，也可以是多种)，且通过不同的匹配模式实现了对拍打体(2)运动自由度(运动轨迹)的改变。该改变应用于按摩器中时，可实现按摩模式的调节或工业多型号定制等，可实现按摩器的多功能或者多模式，满足多种按摩/刺激效果输出，也可结合智能控制程序等实现动态过程/智能过程控制，为产品的多样性、性能升级提供了功能更强的基础硬件平台。
实施例6：
在往复摆动自由度B内，所述第一拍打面(21)具有，
第三极限位；
所述第三极限位为，
第一拍打面(21)在自由度B的至少一行程段可通过第一开口(3)凸出所述容腔(1)的极限位置；且，
第一拍打面(21)距离第一开口(3)平面的距离b1，小于，第一极限位时第一拍打面(21)距离第一开口(3)平面的距离a1。
实施例7：
在往复摆动自由度B内，所述第二拍打面具有，
第四极限位；
所述第四极限位为，
第二拍打面在自由度B的至少一行程段可通过第二开口(4)凸 出所述容腔(1)的极限位置；且，
第二拍打面距离第二开口(4)平面的距离b2，小于，第二极限位时第二拍打面距离第二开口(4)平面的距离a2。
实施例6和实施例7是实施例5方案的一种执行方案，使得拍打装置具有多行程的自由度。形成不同的拍打撞击/刺激效果。在按摩刺激方面，一次按摩过程一般会设计多个作用位置，不同的作用位置对刺激的感知是不同的，拍打的可调节实现能够满足该方面的按摩需求。比如在骨头位置和肌肉位置的拍打刺激需求一般差异较大。
实施例8：
所述拍打装置具有，
蓄能弹性部；
用于，拍打体(2)在自由度A和/或自由度B内运动受阻于第一阻尼M1时，吸收拍打驱动组件(5)直接作用的，和/或，传递出的动能。
由于拍打装置的按摩刺激效果是通过拍打体(2)与作用对象的撞击产生拍打作用的，而撞击的发生位置并不固定，实际上，不同的使用对象对刺激需求并不相同，拍打体(2)的撞击受阻位置也明显不同。如果拍打体(2)和驱动单元均为刚性材质(类似刚体材质，形变量可忽略)，则拍打体(2)运动的受阻可能出现驱动装置堵转的情况发生，导致装置拍打失效，这是做拍打产品面临的主要问题之一。面对该问题的一般解决办法是：减小堵转行程，比如震动类产品就是将震度幅度做得比较小。由于幅度较小将导致拍打刺激效果不足，在震动类产品中采用的方式是改变震动频率以增加刺激感受，但毕竟不能替代实现真实的拍打效果。
往复式的拍打按摩装置一般频率相较于震动产品低很多，但其拍 打幅度和力度明显不同，所以其带来的按摩刺激效果也明显不同。本实施例是以实现真实拍打按摩为目的，提出了针对其拍打末端任意行程位置受阻的问题的解决方案。该方案设置蓄能弹性部，该弹性部的作用在于在拍打面受阻时实现蓄能缓冲的作用，所以可以设置在任意力的传输路径上。同时，蓄能弹性部的作用还远不止于对受阻现象的缓冲蓄能。还有个有益效果是，往复式的拍打体(2)在摆动的过程中必然有加速、减速等过程，在极限位置时拍打体(2)的理论速度为零，而如果拍打装置仅依靠偏心轮结构传动，则一般实现的是类似单摆的摆动方式进行往复摆动，此类摆动形式如果应用于按摩拍打装置其弊端是，在需要拍打的位置(拍打面接近极限位置时)拍打体(2)的速度较小(进度了减速过程)，其拍打效果自然较差。本实施例的蓄能弹性部可以在驱动过程中蓄能，借助蓄能弹性部的蓄能形变，可以将往复运动的拍打体(2)的急速(最高速度)位置偏移至更靠近拍打面极限位置的位置。该效果对拍打按摩的效果提升是明显的。此外，蓄能弹性部的蓄能过程也消除了拍打体(2)往复运动换向时对动力及传动系统的冲击(冲击带来的能量损失较大)，使得能量可以集中在拍打作用的瞬间被爆发式释放。
实施例9：
第一阻尼M1不小于m倍的第二阻尼M2；
其中，第二阻尼M2为拍打装置常规使用下的作用对象作用于拍打面的阻尼；
其中，m取值范围为1.2-4。
本实施例是以实施例8为基础的，设置了第一阻尼M1和第二阻尼M2的比例关系。其改善效果是：在拍打过程中，刚性的传动和拍打对力的传递较为充分，而按摩对象本身一般是肉体/肌肉等，相较 于拍打体(2)其为柔性/弹性，传动过程中的弹性部件的不同设置会带来不同的拍打效果，并且差异明显。比如蓄能弹性部设置形成的等效阻尼较小(小于或等于按摩对象反作用阻尼)，则会在拍打体(2)接触按摩对象时，拍打能量被蓄能弹性部吸收，导致作用在按摩位置的能量不足，拍打效果减退明显。本实施例设置了至少1.2被的等效阻尼关系，其在实践中发现基本能有效传递拍打能量，同时防堵转效果明显。而当等效阻尼替身到3-4倍时，拍打效果进一步提升，拍打的冲击刺激感明显增强，单子高频率的往复中逐渐会形成一定的阻力。当达到4倍以上时，往复运动过程的惯性阻尼增大，能量在运动过程中的损失增大。
实施例10：
蓄能弹性部具有，
至少两组弹性蓄能单元；
其中，所述弹性蓄能单元设置于拍打驱动组件(5)到第一和/或第二拍打面的动力传动链路的任意位置。
实施例11：
k组弹性蓄能单元，k为不小于2的整数；
其中，第i组弹性蓄能单元Ni可提供阻尼Pi，1≤i≤k；
其中，Pi为第i组弹性蓄能单元作用下从拍打动力组件到拍打面的等效阻尼；
其中，存在j，使Pj≠Pi；
其中，1≤j≤k，且j≠i。
实施例10和实施例11所提供的可选拍打装置的主要作用在于，提供了多组阻尼不同的弹性蓄能部。所述弹性蓄能部的不同应被理解为在系统中的形成的等效弹性阻尼的明显不同，一般至少1.2倍以上 的差距才被认为是明显不同。多组弹性阻尼部件的至少一组明显不同是，较高阻尼的蓄能弹性部在大多数情况下表现为刚性(不蓄能的状态)，但可在遇到更大阻尼或者偶发碰撞时临时蓄能或者防堵转，系统的稳定性和用户体验能得到明显提升。
实施例12：一种按摩器，本实施例提供一种以以上任意实施例或发明内容的拍打装置为基础的按摩装置。按摩装置以接触式按摩装置为主，接触式按摩装置包括但不限于单按摩面接触皮肤的按摩装置、入体式被全包覆的按摩装置。
可应用于性保健按摩装置，包括男性专用、女性专用或者男女通用类型，如肛塞、震动棒、跳蛋等。
在本发明的实施例的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“左”、“右”、“坚直”、“水平”、“中心”、“顶”、“底”、“顶部”、“底部”、“内”、“外”、“内侧”、“外侧”等指示的方位或位置关系。
在本发明的实施例的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“组装”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
在本发明的实施例的描述中，具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
在本发明的实施例的描述中，本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。 尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。

Claims (12)

  1. 一种接触式按摩拍打装置，包括，拍打装置主体；其特征是，包括，
    具有第一开口的容腔；
    其中，所述拍打装置主体包括，
    具有至少一活动连接部和驱动端的拍打体；
    连接座；
    拍打驱动组件；
    其中，所述拍打体的至少一活动连接部与所述连接座相连接；且，
    所述拍打体具有相对于所述连接座的至少一往复摆动自由度A；
    其中，所述拍打驱动组件与所述拍打体的驱动端相连接，用于提供所述拍打体在自由度A内的往复运动动力；
    其中，所述拍打装置主体设置于所述容腔内。
  2. 根据权利要求1所述的一种接触式按摩拍打装置，其特征是，
    所述拍打体具有第一拍打面；
    其中，所述第一拍打面具有第一极限位；
    所述第一极限位为第一拍打面在自由度A的至少一行程段可通过第一开口凸出所述容腔的极限位置。
  3. 根据权利要求1或2所述的一种接触式按摩拍打装置，其特征是，
    所述容腔具有第二开口；
    所述拍打体具有第二拍打面；
    其中，所述第二拍打面具有第二极限位；
    所述第二极限位为第二拍打面在自由度A的至少一行程段可通 过第二开口凸出所述容腔的极限位置。
  4. 根据权利要求1-3之任一项权利要求所述的一种接触式按摩拍打装置，其特征是，
    所述拍打驱动组件具有，
    动力模块；
    偏心轮模块；
    其中所述动力模块用于驱动偏心轮模块旋转；
    所述驱动端具有偏心轮导孔；
    所述偏心轮导孔与偏心轮模块连接模式具有第一匹配模式；且，
    偏心轮旋转使所述拍打体具有相对于所述连接座的至少一往复摆动自由度A。
  5. 根据权利要求4所述的一种接触式按摩拍打装置，其特征是，
    所述偏心轮导孔与偏心轮模块连接模式具有第二匹配模式；且，
    偏心轮旋转使所述拍打体具有相对于所述连接座的至少一往复摆动自由度B。
  6. 根据权利要求5所述的一种接触式按摩拍打装置，其特征是，
    在往复摆动自由度B内，所述第一拍打面具有，
    第三极限位；
    所述第三极限位为，
    第一拍打面在自由度B的至少一行程段可通过第一开口凸出所述容腔的极限位置；且，
    第一拍打面距离第一开口平面的距离b1，小于，第一极限位时第一拍打面距离第一开口平面的距离a1。
  7. 根据权利要求5所述的一种接触式按摩拍打装置，其特征是，
    在往复摆动自由度B内，所述第二拍打面具有，
    第四极限位；
    所述第四极限位为，
    第二拍打面在自由度B的至少一行程段可通过第二开口凸出所述容腔的极限位置；且，
    第二拍打面距离第二开口平面的距离b2，小于，第二极限位时第二拍打面距离第二开口平面的距离a2。
  8. 根据权利要求1-7之任一项权利要求所述的一种接触式按摩拍打装置，其特征是，具有，
    蓄能弹性部；
    用于，拍打体在自由度A和/或自由度B内运动受阻于第一阻尼M1时，吸收拍打驱动组件直接作用的，和/或，传递出的动能。
  9. 根据权利要求8所述的一种接触式按摩拍打装置，其特征是，
    第一阻尼M1不小于m倍的第二阻尼M2；
    其中，第二阻尼M2为拍打装置常规使用下的作用对象作用于拍打面的阻尼；
    其中，m取值范围为1.2-4。
  10. 根据权利要求8所述的一种接触式按摩拍打装置，其特征是，蓄能弹性部具有，
    至少两组弹性蓄能单元；
    其中，所述弹性蓄能单元设置于拍打驱动组件到第一和/或第二拍打面的动力传动链路的任意位置。
  11. 根据权利要求10所述的一种接触式按摩拍打装置，其特征是，具有，
    k组弹性蓄能单元，k为不小于2的整数；
    其中，第i组弹性蓄能单元Ni可提供阻尼Pi，1≤i≤k；
    其中，Pi为第i组弹性蓄能单元作用下从拍打动力组件到拍打面的等效阻尼；
    其中，存在j，使Pj≠Pi；
    其中，1≤j≤k，且j≠i。
  12. 一种按摩器，其特征是，
    具有权利要求1-11之任一项权利要求所述的接触式按摩拍打装置。
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