CN-116585166-B - Soft massage executor

CN116585166BCN 116585166 BCN116585166 BCN 116585166BCN-116585166-B

Abstract

The invention relates to the technical field of massage. The soft massage executor comprises a massage execution mechanism, wherein the massage execution mechanism comprises a beating cylinder, the soft massage execution mechanism further comprises a limb movement mechanism capable of moving on a limb, the limb movement mechanism comprises a sleeve body sleeved on the limb, the sleeve body comprises a first standing air bag, a walking air bag and a second standing air bag which are sequentially arranged along the axial direction, the walking air bag is provided with at least three, at least three walking air bags are circumferentially arranged, flexible sheets are connected between every two adjacent walking air bags, two ends of each flexible sheet are respectively connected with the first standing air bag and the second standing air bag, the beating cylinder is arranged on each flexible sheet, a first spring is arranged in each first standing air bag, a second spring is arranged in each second standing air bag, and a third spring is arranged in each walking air bag. The invention is convenient for realizing walking, standing and switching of different modes of massage on limbs by optimizing the structure of the massage instrument. By saving the massage components, the massage of multiple points and multiple areas can be realized.

Inventors

LIU XIAO
WANG MEITANG
YU HANG
WU NANNAN

Assignees

中国人民解放军海军军医大学第一附属医院

Dates

Publication Date: 20260505
Application Date: 20230417

Claims (8)

1. The soft massage executor comprises a massage execution mechanism and is characterized in that the massage execution mechanism comprises a beating cylinder; the limb movement mechanism comprises a sleeve body sleeved on the limb, and the sleeve body comprises a first standing air bag, a walking air bag and a second standing air bag which are sequentially arranged along the axial direction; The walking air bags are at least three, the at least three walking air bags are circumferentially arranged, flexible sheets are connected between the adjacent walking air bags, and two ends of each flexible sheet are respectively connected with the first standing air bags and the second standing air bags; the beating cylinder is arranged on the flexible sheet; A first spring is arranged in the first standing air bag, the first spring is of a spring ring structure, and a first air tap for inflating and deflating is arranged on the first standing air bag; The first standing air bag is used for standing on the limb when the first air nozzle is deflated; A second spring is arranged in the second standing air bag, the second spring is of a spring ring structure, and a second air tap for inflating and deflating is arranged on the second standing air bag; The second standing air bag is used for standing on the limb when the second air nozzle is deflated; A third spring is arranged in the walking air bag, the elastic direction of the third spring is parallel to the axial direction of the walking air bag, and a third air tap for inflating and deflating is arranged on the walking air bag; the walking air bag is used for shortening the axial length when the third air nozzle is deflated, and is used for lengthening the axial length when the third air nozzle is inflated; An included angle is formed between the elastic direction of the third spring and the axial direction of the sleeve body, and in the extension and shortening processes of the walking air bag, the circumferential rotation of the first standing air bag and the second standing air bag is realized, so that the spiral change of the massage position is realized; The device also comprises two positioning straps, wherein the two positioning straps are used for calibrating the massage end point and the massage start point respectively; magnetic materials are fixed on the two positioning belts; the first standing air bag and the second standing air bag are respectively provided with a magnetic sensor, and the control system is connected with the magnetic sensors; when the magnetic sensor on the first standing air bag or the second standing air bag senses the positioning binding belt, the control system controls the limb travelling mechanism to move reversely; When the massage device is used, a user fixes the positioning binding bands at two ends of a region to be massaged, and the travelling mechanism can reciprocate between the two positioning binding bands.
2. The soft massage actuator of claim 1 wherein at least three flexible reinforcement wires are arranged in the flexible sheet along the axial direction of the sleeve body, and two ends of the flexible reinforcement wires are respectively connected with adjacent walking air bags.
3. The soft massage executor of claim 1, wherein when walking, the first standing air bag is deflated and grips limbs, the second standing air bag is inflated and releases limbs, all the walking air bags are inflated and elongated simultaneously, at the moment, the limb movement mechanism takes the position of the first standing air bag as a standing point, and the elongation of the walking air bag enables the second standing air bag to move in a direction away from the first standing air bag, so that the first half step of walking is completed to stretch forwards; then, the second standing air bag firstly deflates and holds the limb, the first standing air bag inflates and releases the limb, all the walking air bags are deflated and shortened together, and at the moment, the limb movement mechanism takes the second standing air bag as a standing point, so that the standing air bag moves towards the two directions of the standing air bag, and the second half step of walking is completed; the limb movement mechanism takes the position of the second standing air bag as a standing point, and the extension of the walking air bag enables the first standing air bag to move in a direction far away from the second standing air bag, so that the first half-step of walking is completed to extend forward; Then, the first standing air bag firstly deflates and holds the limb, the second standing air bag inflates and releases the limb, all the walking air bags are deflated and shortened together, and at the moment, the limb movement mechanism takes the first standing air bag as a standing point, so that the first standing air bag moves towards the standing air bag, and the second half step of walking is completed.
4. The soft massage actuator of claim 1 wherein the hammer massage time of the hammer cylinder is when at least one of the first and second footprints is on the footprints.
5. The soft massage executor of claim 1, wherein an air pressure sensor is installed in the walking air bag and is connected with a control system, and the control system controls the inflation and deflation of the first air nozzle, the inflation and deflation of the second air nozzle and the inflation and deflation of the third air nozzle; the control system stores an induction threshold value in the inflated state of the walking air bag, wherein the induction threshold value is a range value of an air pressure sensor after the walking air bag is inflated for a specific time; Once the walking air bag is inflated for a specific time, when the air pressure value sensed by the air pressure sensor is higher than the sensing threshold value, the inflation elongation of the walking air bag is indicated to be blocked, the control system controls the limb movement mechanism to move reversely, or the control system controls the alarm device to alarm, so that the fault is indicated.
6. The soft massage actuator of claim 1 wherein the control system comprises a track setting module, a massage parameter setting module, a massage point setting module, and a track generating module; the track setting module is used for setting repeated track information on limbs, wherein the repeated track information comprises repeated path length and repeated times; The massage parameter setting module is used for setting the beating frequency of the beating cylinder; The massage point setting module is used for setting massage points which are needed to be passed by the limb walking mechanism in the walking process; the track generation mode is used for analyzing the massage point information set by the massage point setting module to obtain a walking track required by the limb walking mechanism, wherein the walking track passes through the set massage points.
7. The soft massage executor of claim 6, wherein the track generation mode adjusts the adjustment of the walking displacement of the limb walking mechanism in the forward extending and backward shrinking and advancing process by controlling the adjustment of the inflation and deflation of the walking air bags of the limb walking mechanism in the walking process.
8. The soft massage actuator of claim 1 wherein the first spring and the second spring each comprise circumferentially arranged spring segments of equal length two-way shape memory alloy, adjacent spring segments being connected by an insulating node; The two ends of each spring section are connected with lead-out wires which are used for conveying current to the spring sections to heat the spring sections; when the lead-out wire is powered off, the spring section dissipates heat and cools, and the state is restored to normal temperature.

Description

Soft massage executor Technical Field The invention relates to the technical field of massage, in particular to a massager. Background Along with the improvement of living standard, the massage instrument is popular for massaging different parts of human body, such as an eye massage instrument, a cervical vertebra massage instrument, a face massage instrument and the like. In the medical field, the massage instrument can also prevent the muscle and skin of a patient from forming bedsores due to unsmooth blood flow. The prior massage device mainly has the following defects: 1) Unnecessary pain is often caused to the human body by rigid compression; 2) Can not walk on the human body by oneself. 3) The massage heads are arranged in a large area to realize the pressing in a large range, so that the massage device is high in cost and can not be used anytime and anywhere. In summary, there is currently a lack of a soft massager that can be moved over a limb. Disclosure of Invention The present invention has been made to solve the above-mentioned at least one technical problem, and provides a soft massage actuator. The technical scheme of the invention is that the soft massage executor comprises a massage execution mechanism and is characterized in that the massage execution mechanism comprises a beating cylinder; the limb movement mechanism comprises a sleeve body sleeved on the limb, and the sleeve body comprises a first standing air bag, a walking air bag and a second standing air bag which are sequentially arranged along the axial direction; The walking air bags are at least three, the at least three walking air bags are circumferentially arranged, flexible sheets are connected between the adjacent walking air bags, and two ends of each flexible sheet are respectively connected with the first standing air bags and the second standing air bags; the beating cylinder is arranged on the flexible sheet; A first spring is arranged in the first standing air bag, the first spring is of a spring ring structure, and a first air tap for inflating and deflating is arranged on the first standing air bag; The first standing air bag is used for standing on the limb when the first air nozzle is deflated; A second spring is arranged in the second standing air bag, the second spring is of a spring ring structure, and a second air tap for inflating and deflating is arranged on the second standing air bag; The second standing air bag is used for standing on the limb when the second air nozzle is deflated; A third spring is arranged in the walking air bag, the elastic direction of the third spring is parallel to the axial direction of the walking air bag, and a third air tap for inflating and deflating is arranged on the walking air bag; the walking air bag is used for shortening the axial length when the third air nozzle is deflated, and is used for extending the axial length when the third air nozzle is inflated. The invention is convenient for realizing walking, standing and switching of different modes of massage on limbs by optimizing the structure of the massage instrument. By saving the massage components, the massage of multiple points and multiple areas can be realized. Further preferably, the first spring, the second spring and the third spring are all shape memory springs. Further preferably, the flexible sheet is a resiliently flexible sheet. Further preferably, the elastic direction of the third spring is parallel to the axial direction of the sleeve body. Or an included angle exists between the elastic direction of the third spring and the axial direction of the sleeve body. The circumferential rotation of the first standing air bag and the second standing air bag is realized in the extension and shortening processes of the walking air bag, and further the spiral change of the massage position is realized. Greatly improves the position range of massage. Further preferably, at least three flexible reinforcing wires are arranged in the flexible sheet along the axial direction of the sleeve body, and two ends of each flexible reinforcing wire are respectively connected with adjacent walking air bags. Further preferably, when walking, the first standing air bag is deflated and grips limbs, the second standing air bag is inflated and releases limbs, all the walking air bags are inflated and elongated simultaneously, at the moment, the limb movement mechanism takes the position of the first standing air bag as a standing point, and the elongation of the walking air bag enables the second standing air bag to move in a direction far away from the first standing air bag, so that the first half step of walking is completed and the second half step of walking is extended forward; then, the second standing air bag firstly deflates and holds the limb, the first standing air bag inflates and releases the limb, all the walking air bags are deflated and shortened together, and at the moment, the limb movement mechanism takes the sec