Massage chair machine core

Abstract

The utility model relates to a massage armchair machine core which comprises a guide rail, a first walking machine core and a second walking machine core. The first walking machine core and the second walking machine core are matched on the guide rail and can reciprocate along the guide rail. An anti-collision frame facing the second walking machine core is arranged on the side, close to the guide rail, of the first walking machine core. A plurality of anti-collision induction magnets are arranged at the end, away from the first walking machine core, of the anti-collision frame. A Hall sensing element matched with the anti-collision sensing magnet is arranged on the second walking machine core. By arranging the double walking machine cores, the massage area can be effectively increased, and the massage experience is improved; the newly-designed anti-collision frame structure can effectively avoid collision of the two machine cores, meanwhile, the position arrangement of the anti-collision frame can effectively save space, when a plurality of anti-collision induction magnets are arranged on the anti-collision frame, it can be guaranteed that the anti-collision frame is matched with the Hall induction element at any angle, and therefore it is effectively guaranteed that the two machine cores do not collide, and the service life of the anti-collision frame is prolonged. And the setting of the safe distance also provides a safe redundant space for the double machine cores.

Description

Technical Field

[0001] The utility model relates to the technical field of massage movement, in particular to a massage chair movement. Background Art

[0002] The massage chair uses mechanical rolling force and mechanical force to perform massage. Massage can promote blood circulation, improve back pain and prevent diseases, improve sleep quality, and relieve fatigue. The core components of the massage chair mainly include movement, guide rails, motors, materials, etc. The movement is a device that matches the manipulator and controls the motor of the manipulator. It can move freely on the guide rail and perform manipulator massage on the back and buttocks of the human body according to the length of the guide rail. The existing massage chair is generally a single movement setting with a small massage area, so a dual movement structure massage chair is needed.

[0003] The existing massage chair cannot effectively improve the anti-collision effect of the device during operation, and therefore a dual-movement structure massage chair is urgently needed. Utility Model Content

[0004] In order to solve the above problems in the prior art, the utility model provides a massage chair movement.

[0005] In order to achieve the above-mentioned purpose, the main technical solutions adopted by the utility model include:

[0006] A massage chair movement, characterized in that it includes a guide rail and a first walking movement and a second walking movement that can reciprocate along the guide rail; an anti-collision frame facing the second walking movement is provided on the side of the first walking movement close to the guide rail; a plurality of anti-collision induction magnets are provided on the end of the anti-collision frame away from the first walking movement; a Hall induction element that cooperates with the anti-collision induction magnet is provided on the second walking movement; when the anti-collision induction magnet cooperates with the Hall induction element, the projections of the anti-collision frame and the second walking movement in the first direction have an overlapping part, and the first walking movement and the second walking movement have a safety distance in the second direction; the first direction is a direction perpendicular to the side end surface of the anti-collision frame set relative to the guide rail; the second direction is parallel to the travel direction of the first walking movement.

[0007] In one embodiment of the utility model, the first walking movement comprises a housing; the housing is provided with a first shaft and a second shaft parallel to each other; the first shaft is provided with a first driven wheel matched with the guide rail; the second shaft is provided with a first driving wheel matched with the guide rail and a first driving gear meshed with a rack provided on the guide rail; the second shaft is drivingly connected to a third driving motor;

[0008] The first walking movement mechanism first includes a first drive motor connected to the housing; the first drive motor is in transmission connection with a transmission component; the transmission component is in one-way transmission connection with a first transmission shaft to drive the first transmission shaft to rotate unidirectionally; the first drive motor is in transmission connection with a second transmission shaft; a plurality of multifunctional movable components are arranged on the first transmission shaft; the multifunctional movable component includes a first movable arm sleeved on an eccentric shaft; the axis of the eccentric shaft is parallel to the axis of the first transmission shaft and does not coincide; a rotating connection part is arranged on the first movable arm; the rotating connection part is in rotational connection with a swing rod; one end of the swing rod far from the rotating connection part is sleeved on an eccentric wheel arranged on the second transmission shaft; a plurality of kneading movable components capable of moving axially along the second transmission shaft and a displacement adjusting component for driving the kneading movable components to move axially along the second transmission shaft are arranged on the second transmission shaft; the kneading movable component includes a yaw wheel non-rotatably connected to the second transmission shaft; the yaw wheel includes a connecting column eccentrically and obliquely connected to the second transmission shaft; a second movable arm is sleeved on the connecting column; a guide block cooperating with a guide groove is arranged on the second movable arm; the first transmission shaft and the second transmission shaft are arranged in parallel.

[0009] In an embodiment of the present invention, the transmission component includes a second belt pulley; the second belt pulley is connected to a first belt pulley on the output shaft of the first drive motor through a transmission belt; an installation groove is arranged in the middle of the second belt pulley; a one-way bearing is arranged in the installation groove; a pulley seat is arranged on one side of the second belt pulley; the output shaft of the first drive motor includes a second worm; a second worm gear is engaged with the second worm; the second worm gear is connected with a third worm through a fourth transmission shaft; a third worm gear engaged with the third worm is arranged on the second transmission shaft.

[0010] In an embodiment of the present invention, the first movable arm is rotationally connected to the eccentric shaft through a first connection hole; the first movable arm includes a working part and a rotating connection part respectively arranged on both sides of the first connection hole; the rotating connection part is rotationally connected to the swing rod through a rotating shaft;

[0011] The yaw wheel includes a stop ring and a connecting column arranged at an included angle; a yaw wheel gland is fixedly connected to one end of the connecting column far from the stop ring to prevent the second movable arm from disengaging from the connecting column; the second movable arm is rotationally connected to the connecting column through a second connection hole; a rotating working part is arranged on one side of the second movable arm far from the guide block;

[0012] A second bearing is arranged in the first connection hole; the inner ring of the second bearing is sleeved on the eccentric shaft; a limit baffle for limiting the second bearing is sleeved on the eccentric shaft; the limit baffle is fixedly connected to the first movable arm;

[0013] A third bearing is provided on the first transmission shaft; a limit seat is provided above the third bearing; the limit seat is fixedly connected to the housing to limit the third bearing.

[0014] In an embodiment of the present utility model, the kneading and squeezing movable assembly is connected to the connecting seat through a rotating seat; the connecting seat is connected to the displacement adjusting assembly; the displacement adjusting assembly includes a second driving motor; the second driving motor meshes with a first worm gear through a first worm; the first worm gear is arranged on a third transmission shaft; a lead screw portion is formed on the third transmission shaft; the rotation of the third transmission shaft cooperates with the lead screw portion and the connecting seat to realize the linear motion of the connecting seat so as to adjust the position of the kneading and squeezing movable assembly.

[0015] In an embodiment of the present utility model, a receiving cavity for receiving a swing wheel is formed on the connecting seat; a lead screw sleeve receiving groove is provided on the connecting seat; a lead screw sleeve pressing cover is fixedly connected to the lead screw sleeve receiving groove; a lead screw sleeve is limited and fitted in the cavity formed by the lead screw sleeve receiving groove and the lead screw sleeve pressing cover; the lead screw sleeve cooperates with the lead screw portion; a third connecting hole for cooperating with the rotating seat is provided on the connecting seat; the rotating seat is connected to the swing wheel; the guiding groove is a first guiding groove formed below the receiving cavity or a second guiding groove formed on the housing.

[0016] In an embodiment of the present utility model, the second traveling movement mechanism includes a mounting seat; a third shaft and a fourth shaft parallel to each other are provided on the mounting seat; a second driven wheel for cooperating with a guide rail is provided on the third shaft; a second driving wheel for cooperating with the guide rail and a second driving gear for meshing with a rack provided on the guide rail are provided on the fourth shaft; the fourth shaft is in transmission connection with a fourth driving motor;

[0017] The second traveling movement mechanism includes a fifth driving motor connected to the mounting seat; the fifth driving motor is in transmission connection with a fifth transmission shaft; a plurality of kneading and squeezing assemblies are provided on the fifth transmission shaft; the kneading and squeezing assembly includes a second swing wheel that is rotationally stopped and connected to the fifth transmission shaft; the second swing wheel includes an eccentric and inclined second connecting column connected to the fifth transmission shaft; a third movable arm is sleeved on the second connecting column; a support seat is provided on the third movable arm; a connecting frame is rotatably connected to the support seat; a massage head is provided on the connecting frame; an airbag for driving the connecting frame to rotate relative to the support seat is provided between the connecting frame and the support seat.

[0018] In an embodiment of the present utility model, the second swing wheel includes a second stop ring and a second connecting column arranged at an included angle; a second swing wheel pressing cover is fixedly connected to the end of the second connecting column away from the second stop ring to prevent the third movable arm from disengaging from the second connecting column; the third movable arm is rotationally connected to the second connecting column through a sixth connecting hole.

[0019] In an embodiment of the present utility model, a rotating shaft is provided on the support base; a fourth connection hole for cooperating with the rotating shaft is provided on the connecting frame; the fourth connection hole is arranged at one end of the connecting frame; a return spring is connected to the end of the connecting frame away from the fourth connection hole, and the other end of the return spring is connected to a connection block on the support base.

[0020] In an embodiment of the present utility model, the second walking movement mechanism includes a sixth driving motor connected to the mounting base; the sixth driving motor is in transmission connection with a sixth transmission shaft; a hammering component connected to the kneading component is provided on the sixth transmission shaft; the hammering component includes a hammering base rotatably connected to a second eccentric shaft; the second eccentric shaft is connected to the sixth transmission shaft; the axis of the second eccentric shaft is parallel to the axis of the sixth transmission shaft and does not coincide; a connecting rod is movably provided on the hammering base; a ball head is formed at the end of the connecting rod away from the hammering base; a ball head receiving groove for cooperating with the ball head is provided on the third movable arm; the ball head receiving groove is arranged close to the sixth connection hole; the support base is arranged away from the sixth connection hole.

[0021] The beneficial effects of the present utility model are as follows: By providing a double walking movement mechanism, the massage area can be effectively increased, and the massage experience can be improved; the newly designed anti-collision frame structure can effectively prevent the double movement mechanisms from colliding, and at the same time, the position setting of the anti-collision frame can effectively save space. When multiple anti-collision induction magnets are provided on the anti-collision frame, they can cooperate with the Hall induction element at any angle, thereby effectively ensuring that the double movement mechanisms do not collide. The setting of the safety distance also provides a safety redundancy space for the double movement mechanisms, providing a reasonable space for the movement mechanism to decelerate when stopping, and further avoiding the occurrence of collisions; further, since the anti-collision frame is connected to one of the walking movement mechanisms, the position distance between the double movement mechanisms is flexible, which has a better effect and higher accuracy compared with the traditional fixed induction structure.

[0022] The structural design of the first walking movement mechanism enables it to have various massage effects, can realize various massage modes, and meet different usage requirements.

[0023] The second walking movement mechanism also has various massage effects, and the combination of the double movement mechanisms further improves the massage experience effect. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present utility model, and thus should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 is the three-dimensional view of the structure of the present utility model;

[0026] Figure 2 is the top view of the structure of the present utility model;

[0027] Figure 3 is Figure 2 the three-dimensional view of the A-A cross-section in

[0028] Figure 4 is the enlarged schematic view of part B of the present utility model;

[0029] Figure 5 is the exploded view of the first walking movement mechanism of the present utility model;

[0030] Figure 6 is Figure 5 the enlarged schematic view of part C in

[0031] Figure 7 is the exploded view of the second walking movement mechanism of the present utility model;

[0032] Figure 8 is Figure 7 the enlarged schematic view of part D in

[0033] Explanation of reference numerals:

[0034] 1. Guide rail; 2. Wheel groove; 3. Rack mounting part;

[0035] 10. First walking movement mechanism; 11. First shaft; 12. First driven wheel; 13. Second shaft; 14. First driving wheel; 15. First driving gear; 16. Third driving motor;

[0036] 100. Housing; 101. Second guide groove; 102. Grating travel switch; 103. Anti-collision frame; 104. Anti-collision induction magnet; 110. Upper shell; 120. Lower shell; 130. First driving motor; 131. First belt pulley; 132. Second worm; 133. Second worm gear; 134. Fourth transmission shaft; 135. Third worm;

[0037] 200. Transmission component; 210. Second belt pulley; 211. Installation groove; 212. Belt pulley seat; 220. One-way bearing;

[0038] 300. Multifunctional movable component; 301. First transmission shaft; 310. Eccentric shaft; 311. Limit baffle; 312. Third bearing; 313. Limit seat; 320. First movable arm; 321. Rotating connection part; 322. First connection hole; 323. Working part; 330. Second bearing;

[0039] 400. Pinching and Kneading Activity Component; 401. Second Transmission Shaft; 410. Yaw Wheel; 411. Stop Ring; 412. Connecting Column; 413. Yaw Wheel Pressing Cover; 420. Second Activity Arm; 421. Second Connecting Hole; 422. Guide Block; 423. Rotating Working Part; 430. Rotating Seat; 440. Connecting Seat; 441. Accommodating Cavity; 442. Screw Sleeve Accommodating Groove; 443. Screw Sleeve Pressing Cover; 445. First Guide Groove; 446. Guide Projection; 447. Third Connecting Hole; 450. Eccentric Wheel; 460. Swing Rod; 461. Rotating Shaft; 470. Third Worm Gear;

[0040] 500. Displacement Adjustment Component; 501. Third Transmission Shaft; 502. Screw Rod Part; 510. Second Driving Motor; 511. First Worm; 520. First Worm Gear; 530. Screw Sleeve;

[0041] 20. Second Travel Movement Core; 21. Mounting Seat; 22. Third Shaft; 23. Second Driven Wheel; 24. Fourth Shaft; 25. Second Driving Wheel; 26. Second Driving Gear; 27. Fourth Driving Motor; 28. Hall Induction Element;

[0042] 600. Pinching and Kneading Component; 601. Fifth Transmission Shaft; 6011. Fifth Driving Motor; 610. Second Yaw Wheel; 611. Second Stop Ring; 612. Second Connecting Column; 613. Second Yaw Wheel Pressing Cover; 620. Third Activity Arm; 621. Sixth Connecting Hole; 622. Ball Head Accommodating Groove; 623. Support Seat; 6231. Rotating Shaft; 6232. Connecting Block; 6233. Return Spring; 624. Air Bag; 625. Connecting Frame; 6251. Fourth Connecting Hole; 6252. Fifth Connecting Hole; 626. Massage Head;

[0043] 700. Hammering Component; 701. Sixth Transmission Shaft; 7011. Sixth Driving Motor; 710. Second Eccentric Shaft; 720. First Bearing; 730. Hammering Seat; 731. Connecting Rod; 732. Ball Head. Detailed Implementation Manner

[0044] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model. Therefore, the following detailed description of the embodiments of the present utility model provided in the drawings is not intended to limit the scope of the present utility model to be protected, but merely represents the selected embodiments of the present utility model. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0045] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0046] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0047] Embodiment:

[0048] Such as Figure 1As shown, a massage chair movement mechanism includes a guide rail 1 and a first traveling movement mechanism 10 and a second traveling movement mechanism 20 that are cooperated on the guide rail 1 and can reciprocate along the guide rail 1; on one side of the first traveling movement mechanism 10 close to the guide rail 1, there is an anti-collision frame 103 facing the second traveling movement mechanism 20; in one embodiment, the guide rail 1 is preferably provided with one, which can ensure the stability and guiding property when the first traveling movement mechanism 10 and the second traveling movement mechanism 20 move; in one embodiment, the guide rail 1 can also be provided with only one, but the corresponding guiding property and stability will be worse than that of the previous embodiment; in one embodiment, more guide rails 1 can be provided, but as the number of guide rails 1 increases, the cost and structure will be more complex. Therefore, preferably, two relatively arranged guide rails 1 are provided.

[0049] In one embodiment, at one end of the anti-collision frame 103 far from the first traveling movement mechanism 10, there are several anti-collision induction magnets 104; as Figure 5 shown, one anti-collision induction magnet 104 can be provided at one end of the anti-collision frame 103 far from the first traveling movement mechanism 10; in one embodiment, multiple anti-collision induction magnets 104 can be evenly distributed, so as to increase the induction area; for example, multiple can be arranged in an array, or multiple can be arranged in a semicircle, or multiple can be arranged in a straight line. Preferably, multiple are arranged in a straight line along the width direction of the anti-collision frame 103. The width direction of the anti-collision frame 103 is as Figure 5 shown.

[0050] In one embodiment, the first direction is the direction perpendicular to the side end face of the anti-collision frame 103 arranged relative to the guide rail 1. Refer to Figure 4 , it can be understood that the side end face of the anti-collision frame 103 arranged relative to the guide rail 1 is Figure 4 the left end face of the position referred to by the anti-collision frame 103 in Figure 4 , and the first direction is perpendicular to the direction of this end face, which is reflected as the horizontal direction in Figure 4 ; the second direction is parallel to the traveling direction of the first traveling movement mechanism 10, which is reflected as the up and down direction in Figure 4 ; as Figure 4The area represented by C is the overlapping part of the projections in the first direction. The advantage of this design is that the anti-collision frame 103 can partially extend into the interior or side of the second traveling mechanism 20, thereby forming a space for accommodating the anti-collision frame 103, without affecting the mutual approach between the first traveling mechanism 10 and the second traveling mechanism 20. The first traveling mechanism 10 and the second traveling mechanism 20 have a safety distance in the second direction, such as Figure 4 The distance represented by H is the safety distance. The setting of the safety distance provides a safety redundancy space for the dual mechanisms and a reasonable space for the traveling mechanisms to decelerate when stopping, further avoiding the occurrence of collisions. It can be understood that when the distance between the anti-collision induction magnet 104 and the Hall induction element 28 reaches the induction distance, the controller will control the dual mechanisms to stop or move in the reverse direction to avoid the collision of the dual mechanisms. After the control signal is issued, the first traveling mechanism 10 and / or the second traveling mechanism 20 will decelerate until they stop, and this process requires a certain deceleration distance. The safety distance effectively forms a suitable deceleration distance, and the overlapping part C of the projections in the first direction ensures that the first traveling mechanism 10 has the possibility of approaching the second traveling mechanism 20 further during deceleration, without affecting the process of the deceleration stage. It can be understood that the running speeds of the first traveling mechanism 10 and the second traveling mechanism 20 are diverse, so the deceleration distance is also diverse. When finally stopping, the distance between the first traveling mechanism 10 and the second traveling mechanism 20 is also diverse. Through such a design, both the safety distance at the stop can be ensured and the operation of the sensor is not affected. Further, since the anti-collision frame 103 is connected to one of the traveling mechanisms, the position distance between the dual mechanisms is flexible, which is better and more accurate than the traditional fixed induction structure.

[0051] such as Figure 5 As shown, in an embodiment, the first traveling mechanism 10 includes a housing 100; a first shaft 11 and a second shaft 13 parallel to each other are provided on the housing 100; a first driven wheel 12 cooperating with the guide rail 1 is provided on the first shaft 11; a first driving wheel 14 cooperating with the guide rail 1 and a first driving gear 15 meshing with the rack provided on the guide rail 1 are provided on the second shaft 13; the second shaft 13 is in transmission connection with a third driving motor 16.

[0052] such as Figure 3As shown, in one embodiment, the guide rail 1 includes a wheel groove 2, and the size of the wheel groove 2 corresponds to the sizes of the first driven wheel 12 and the first driving wheel 14, so as to better cooperate with the first driven wheel 12 and the first driving wheel 14; at least one side of the wheel groove 2 in contact with the first driven wheel 12 and / or the first driving wheel 14 extends towards the direction of the first walking mechanism 10 to form a rack mounting portion 3; a rack (not shown in the figure) is provided on the rack mounting portion 3, and the first driving gear 15 meshes with the rack. When the first driving gear 15 rotates, it can drive the first walking mechanism 10 to reciprocate along the guide rail 1; in one embodiment, preferably, one side of the wheel groove 2 in contact with the first driven wheel 12 and / or the first driving wheel 14 extends towards the direction of the first walking mechanism 10 to form a rack mounting portion 3, which can simplify the installation steps. At the same time, since the wheel groove 2 can effectively limit the first driven wheel 12 and / or the first driving wheel 14, it also ensures that the first driving gear 15 can effectively mesh with the rack; in one embodiment, preferably, the diameters of the first driven wheel 12 and the first driving wheel 14 are the same.

[0053] As Figure 6 As shown, in one embodiment, the first walking mechanism 10 includes a first driving motor 130 connected to the housing 100; the first driving motor 130 is drivingly connected to a transmission assembly 200; the transmission assembly 200 is drivingly connected to a first transmission shaft 301 in a one-way manner to drive the first transmission shaft 301 to rotate in one direction; through one-way transmission, the switching of the working mode is realized, and the combined effect of multiple working modes is achieved; the first driving motor 130 is drivingly connected to a second transmission shaft 401; a plurality of multifunctional movable components 300 are provided on the first transmission shaft 301; preferably, in one embodiment, two relatively arranged multifunctional movable components 300 are used, which can better realize the kneading and hammering working effects and ensure a large enough massage area when applied to a massager; an eccentric shaft 310 is provided on the first transmission shaft 301; preferably, the eccentric shafts 310 are arranged at both ends of the first transmission shaft 301, the axis of the first transmission shaft 301 is parallel to the axis of the eccentric shaft 310, and the aforementioned two axes do not coincide.

[0054] In one embodiment, the multi-functional movable assembly 300 includes a first movable arm 320 sleeved on an eccentric shaft 310; a rotating connection portion 321 is provided on the first movable arm 320; the rotating connection portion 321 is rotatably connected to a swing rod 460; in one embodiment, the rotating connection portion 321 is rotatably connected to the swing rod 460 through a rotating shaft 461; one end of the swing rod 460 away from the rotating connection portion 321 is sleeved on an eccentric wheel 450 provided on a second transmission shaft 401; on the one hand, the multi-functional movable assembly 300 can make a reciprocating swing motion around the eccentric shaft 310 under the action of the swing rod 460. When applied to a massager, it is equivalent to realizing the kneading massage effect. At this time, the first transmission shaft 301 does not rotate, that is, the transmission assembly 200 does not drive the first transmission shaft 301 to rotate; when the transmission assembly 200 drives the first transmission shaft 301 to rotate, the rotation of the first transmission shaft 301 will drive the eccentric shaft 310 to rotate, and the eccentric rotation of the eccentric shaft 310 will cause the hammering effect of the first movable arm 320. The superposition of the two motions realizes the working mode of coexistence of kneading and hammering.

[0055] In one embodiment, a plurality of clamping and kneading movable assemblies 400 that can move axially along the second transmission shaft 401 and a displacement adjusting assembly 500 for driving the clamping and kneading movable assemblies 400 to move axially along the second transmission shaft 401 are provided on the second transmission shaft 401; the clamping and kneading movable assembly 400 includes a yaw wheel 410 that is non-rotatably connected to the second transmission shaft 401; the yaw wheel 410 includes a connecting column 412 that is eccentric and inclined and connected to the second transmission shaft 401; a second movable arm 420 is sleeved on the connecting column 412; a guide block 422 that cooperates with a guide groove is provided on the second movable arm 420; the clamping and kneading movable assembly 400 can realize the working effect of yawing and kneading under the drive of the second transmission shaft 401 and the guiding action of the guide block 422. When applied to a massager, it is equivalent to realizing the yawing and kneading massage. Preferably, two clamping and kneading movable assemblies 400 are also provided, which are respectively arranged on both sides of the second transmission shaft 401. The two sides of the second transmission shaft 401 are preferably provided with flat heads, so as to ensure the non-rotating connection between the clamping and kneading movable assembly 400 and the second transmission shaft 401, and at the same time, it can move axially along the second transmission shaft 401 under the action of the displacement adjusting assembly 500 to realize the adjustment of the width / displacement distance.

[0056] In one embodiment, the transmission assembly 200 includes a second pulley 210; the second pulley 210 is connected to a first pulley 131 on the output shaft of the first drive motor 130 through a transmission belt (not shown in the figure); an installation groove 211 is provided in the middle of the second pulley 210, Figure 6 The installation groove 211 only indicates the position where it is located. Due to the display angle problem, the specific structure of the installation groove 211 is not shown. It can be understood that the installation groove 211 is Figure 6The groove formed by the concave middle part on the left side of the second pulley 210; a one-way bearing 220 is arranged in the mounting groove 211; the one-way bearing 220 is fixedly / rotationally stopped connected to the first transmission shaft 301. It can be understood that the inner ring of the one-way bearing 220 is fixedly / rotationally stopped connected to the first transmission shaft 301, and the outer ring of the one-way bearing 220 is fixedly / rotationally stopped connected to the mounting groove 211; the one-way rotation of the first transmission shaft 301 can be realized through the one-way bearing 220.

[0057] In one embodiment, a pulley seat 212 is arranged on one side of the second pulley 210; the pulley seat 212 cooperates with the housing 100 to provide a supporting force for the second pulley 210, so that when the second pulley 210 idles relative to the first transmission shaft 301, the influence on the first transmission shaft 301 can be reduced as much as possible.

[0058] In one embodiment, the second pulley 210 can also be set into a worm wheel structure, so as to directly cooperate with the worm arranged on the first driving motor 130 to realize a transmission connection; and the use of a transmission belt drive can better adjust the distance between the first driving motor 130 and the first transmission shaft 301 according to requirements; when using a worm and worm wheel drive, the adjustment of the distance needs to be realized through the size of the worm wheel, which is not conducive to the control of the internal space.

[0059] In one embodiment, the output shaft of the first driving motor 130 includes a second worm 132; a second worm wheel 133 is engaged with the second worm 132; the second worm wheel 133 is connected with a third worm 135 through a fourth transmission shaft 134; a third worm wheel 470 engaged with the third worm 135 is arranged on the second transmission shaft 401.

[0060] In one embodiment, the first movable arm 320 is rotationally connected to the eccentric shaft 310 through a first connection hole 322; the first movable arm 320 includes a working part 323 and a rotational connection part 321 respectively arranged on both sides of the first connection hole 322; when applied to a massager, the working part 323 can act as a massage part to act on the human body to achieve a massage effect.

[0061] In one embodiment, the first connection hole 322 is directly sleeved on the eccentric shaft 310; however, due to the relatively high rotational speed of the eccentric shaft 310 during operation, in one embodiment, a second bearing 330 is arranged in the first connection hole 322; the inner ring of the second bearing 330 is sleeved on the eccentric shaft 310 and is rotationally stopped connected to the eccentric shaft 310; a limit baffle 311 for limiting the second bearing 330 is sleeved on the eccentric shaft 310; the limit baffle 311 is fixedly connected to the first movable arm 320.

[0062] In one embodiment, a third bearing 312 is provided on the shown first transmission shaft 301; a limit seat 313 is provided above the third bearing 312; the limit seat 313 is fixedly connected to the housing 100 to limit the third bearing 312.

[0063] In one embodiment, the yaw wheel 410 includes a stop ring 411 and a connecting column 412 arranged at an angle; a yaw wheel gland 413 is fixedly connected to one end of the connecting column 412 away from the stop ring 411 to prevent the second movable arm 420 from disengaging from the connecting column 412; the second movable arm 420 is rotatably connected to the connecting column 412 through a second connecting hole 421; a rotating working portion 423 is provided at one end of the second movable arm 420 away from the guide block 422; when the rotating working portion 423 is applied to a massager, it can act as a massage head to massage the user.

[0064] In one embodiment, the displacement adjustment assembly 500 can be driven by a cylinder to move linearly, but the cylinder drive has the defects of high cost and large volume; in another embodiment, the displacement adjustment assembly 500 is preferably driven by a lead screw, which can save space and reduce costs; the pinching and kneading activity assembly 400 is connected to the connecting seat 440 through a rotating seat 430; the connecting seat 440 is connected to the displacement adjustment assembly 500; the displacement adjustment assembly 500 includes a second drive motor 510; the second drive motor 510 is engaged with a first worm gear 511 through a first worm 511; the first worm gear 520 is arranged on a third transmission shaft 501; a lead screw portion 502 is formed on the third transmission shaft 501; the rotation of the third transmission shaft 501 cooperates with the connecting seat 440 through the lead screw portion 502 to realize the linear movement of the connecting seat 440 so as to adjust the position of the pinching and kneading activity assembly 400.

[0065] In one embodiment, the first drive motor 130 and / or the second drive motor 510 is a brushless motor.

[0066] In one embodiment, the first transmission shaft 301, the second transmission shaft 401, and the third transmission shaft 501 are all arranged in parallel, which can effectively save internal space. Especially when applied to a massager, the space saving of the corresponding space is more obvious. The first transmission shaft 301 is used to selectively drive the multifunctional movable assembly 300 to work. The second transmission shaft 401 is used to drive the pinching and kneading movable assembly 400 to work. The third transmission shaft 501 is used to adjust the position of the pinching and kneading movable assembly 400. A receiving cavity 441 for receiving the yaw wheel 410 is formed on the connecting seat 440. A lead screw sleeve receiving groove 442 is provided on the connecting seat 440. A lead screw sleeve gland 443 is fixedly connected to the lead screw sleeve receiving groove 442. A lead screw sleeve 530 is limitedly fitted in the cavity formed by the lead screw sleeve receiving groove 442 and the lead screw sleeve gland 443. It can be understood that the lead screw sleeve 530 cannot rotate relative to the lead screw portion 502 and cannot move in the axial direction of the third transmission shaft 501 in the cavity, realizing the limitation of the lead screw sleeve 530.

[0067] The lead screw sleeve 530 is matched with the lead screw portion 502. The lead screw sleeve 530 can be set as a polygonal structure to prevent the lead screw sleeve 530 from displacing and rotating relative to the lead screw sleeve receiving groove 442. For example Figure 6 a hexagon as shown in

[0068] When the third transmission shaft 501 rotates, the connecting seat 440 can be driven to move through the cooperation of the lead screw sleeve 530 and the lead screw portion 502. A third connecting hole 447 for cooperating with the rotating seat 430 is provided on the connecting seat 440. The top of the connecting seat 440 is usually open and semi-wraps the pinching and kneading movable assembly 400. Therefore, two third connecting holes 447 are oppositely arranged. Two rotating seats 430 are correspondingly provided to ensure the rotational connection with the third connecting holes 447. One rotating seat 430 is fixedly connected to the outside of the yaw wheel 410, and the other rotating seat 430 is fixedly connected to the outside of the yaw wheel gland 413. In another embodiment, it is also feasible to use only one rotating seat 430 to connect the pinching and kneading movable assembly 400. The rotating seat 430 is connected to the yaw wheel 410, but the stability is worse than that of using two rotating seats 430.

[0069] In one embodiment, the guiding groove is a first guiding groove 445 formed below the accommodating cavity 441 or a second guiding groove 101 formed on the housing 100; when the guiding block 422 cooperates with the first guiding groove 445, the bottom of the first guiding groove 445 is generally set to be closed, so as to form a relatively complete guiding space, and correspondingly, a protruding guiding protrusion 446 will be formed on the outside of the connecting seat 440; since the connecting seat 440 will also move along the axial direction of the third transmission shaft 501, a second guiding groove 101 is also provided on the housing 100, and the second guiding groove 101 cooperates with the guiding protrusion 446; when the bottom of the first guiding groove 445 is hollowed out, the guiding block 422 directly extends out of the bottom of the connecting seat 440 and directly cooperates with the second guiding groove 101, that is, the bottom of the connecting seat 440 may not be provided with the first guiding groove 445, but the bottom is set to a hollow structure, and the guiding function of the guiding block 422 can also be realized; in one embodiment, the guiding block 422 can be set to a ball head or a cylindrical structure, and both can move smoothly in the guiding groove.

[0070] In one embodiment, the first transmission shaft 301 and the second transmission shaft 401 are arranged in parallel; a grating travel switch 102 cooperating with the displacement adjustment assembly 500 is provided on the housing 100; an induction magnet (not shown in the figure) is provided on the first movable arm 320; a shutdown reset Hall (not shown in the figure) cooperating with the induction magnet is provided on the housing 100; the housing 100 includes an upper housing 110 and a lower housing 120; in one embodiment, the housing 100 only includes the lower housing 120.

[0071] The transmission structure of the first walking movement mechanism 10 can realize four working modes when working:

[0072] 1. Assume that when the first driving motor 130 drives the second belt pulley 210 to rotate forward, the transmission assembly 200 will not drive the first transmission shaft 301 to rotate, and the second worm 132 can transmit power to the second transmission shaft 401 at any time. At this time, the clamping and kneading moving assembly 400 can perform a yaw clamping and kneading action; and because the eccentric wheel 450 is arranged on the second transmission shaft 401, the eccentric rotation of the eccentric wheel 450 will drive the swing rod 460 to move, and the swing rod 460 drives the rotating connection part 321 to move, so as to drive the first movable arm 320 to perform a reciprocating swinging clamping and kneading action around the eccentric shaft 310; in this working mode, the first movable arm 320 and the second movable arm 420 work simultaneously to realize a double clamping and kneading working mode.

[0073] 2. On the basis of the first working mode, the displacement adjustment component 500 works, driving the clamping and kneading activity component 400 to reciprocate axially along the second transmission shaft 401, realizing the simultaneous reciprocating movement during the yaw clamping and kneading, which can effectively increase the working distance and range, and realizing the double clamping and kneading working mode of the clamping and kneading activity component 400 with clamping and kneading accompanied by distance adjustment.

[0074] 3. Assume that when the first driving motor 130 drives the second pulley 210 to reverse, the transmission component 200 can drive the first transmission shaft 301 to rotate, and the rotation of the first transmission shaft 301 will drive the eccentric shaft 310 to perform eccentric rotation, so that the first movable arm 320 can realize the knocking action. At the same time, the first movable arm 320 also makes a reciprocating swinging clamping and kneading action under the action of the swinging rod 460. After the two are superimposed, the second movable arm 420 continuously performs rapid hammering actions during the reciprocating swinging process; the clamping and kneading activity component 400 simultaneously performs the yaw clamping and kneading action, realizing the double clamping and kneading and hammering working mode of the multifunctional activity component 300 with clamping and kneading accompanied by hammering.

[0075] 4. On the basis of the third working mode, the displacement adjustment component 500 works, driving the clamping and kneading activity component 400 to reciprocate axially along the second transmission shaft 401, realizing the simultaneous reciprocating movement during the yaw clamping and kneading, which can effectively increase the working distance and range, and realizing the double clamping and kneading and hammering working mode of the clamping and kneading activity component 400 with clamping and kneading accompanied by distance adjustment and the multifunctional activity component 300 with clamping and kneading accompanied by hammering.

[0076] In one embodiment, the displacement adjustment component 500 can also be only used to adjust the position of the clamping and kneading activity component 400, only used to adjust the position according to the user's usage habits and needs, and the displacement adjustment component 500 does not work when the multifunctional activity component 300 and the clamping and kneading activity component 400 act.

[0077] It should be noted that the reciprocating swinging speed of the first movable arm 320 is not synchronized with the hammering massage speed. The reciprocating swinging is transmitted through the swinging rod 460, and the hammering movement is directly transmitted by the first transmission shaft 301. Moreover, the rotation speed of the first transmission shaft 301 is much higher than that of the second transmission shaft 401, so that the hammering frequency is higher and continuously appears during the reciprocating swinging process, which can significantly improve the hammering effect; the kneading and hammering action of the first movable arm 320 is only realized by rotating relative to the eccentric shaft 310, that is, the realization of both motion effects occurs on the eccentric shaft 310. The advantage of this is that the number of transmission parts is effectively reduced, the transmission efficiency is increased, the generation of noise is reduced, the assembly difficulty is lowered, the service life of the motor transmission structure is ensured to be longer, and the production cost is also lower.

[0078] Such as Figure 7As shown, in one embodiment, the second traveling movement mechanism 20 includes a mounting base 21; on the mounting base 21, a third shaft 22 and a fourth shaft 24 that are parallel to each other are provided; on the third shaft 22, a second driven wheel 23 that cooperates with the guide rail 1 is provided; on the fourth shaft 24, a second driving wheel 25 that cooperates with the guide rail 1 and a second driving gear 26 that meshes with the rack provided on the guide rail 1 are provided; the fourth shaft 24 is in transmission connection with a fourth driving motor 27; in one embodiment, the transmission connection between the fourth shaft 24 and the fourth driving motor 27 can adopt a common worm and worm gear structure in the art, which will not be described in detail here; in one embodiment, the second driven wheel 23, the second driving wheel 25 have the same diameter as the first driven wheel 12 and the first driving wheel 14.

[0079] In one embodiment, the second traveling movement mechanism 20 includes a fifth driving motor 6011 connected to the mounting base 21; the fifth driving motor 6011 is in transmission connection with a fifth transmission shaft 601, and the transmission connection can adopt a common worm and worm gear structure in the art, which will not be described in detail here.

[0080] A plurality of clamping and kneading assemblies 600 are provided on the fifth transmission shaft 601; in one embodiment, two clamping and kneading assemblies 600 are provided, and are respectively arranged at both ends of the fifth transmission shaft 601; the clamping and kneading assembly 600 includes a second swing wheel 610 that is rotationally stopped with the fifth transmission shaft 601; the second swing wheel 610 includes a second connecting column 612 that is eccentric and inclined and connected to the fifth transmission shaft 601; a third movable arm 620 is sleeved on the second connecting column 612; a support seat 623 is provided on the third movable arm 620; a connecting frame 625 is rotatably connected to the support seat 623; a massage head 626 is provided on the connecting frame 625; an airbag 624 for driving the connecting frame 625 to rotate relative to the support seat 623 is provided between the connecting frame 625 and the support seat 623; when the second swing wheel 610 works, it can drive the third movable arm 620 to perform a swing movement, and when the airbag 624 works, it can drive the connecting frame 625 to perform a rotational movement; in one embodiment, two connecting frames 625 are symmetrically arranged on the support seat 623, and when the two connecting frames 625 work, the clamping and kneading massage action of the massage head 626 can be realized.

[0081] In one embodiment, the second swing wheel 610 includes a second stop ring 611 and a second connecting column 612 that are arranged at an included angle; a second swing wheel gland 613 is fixedly connected to one end of the second connecting column 612 away from the second stop ring 611 to prevent the third movable arm 620 from disengaging from the second connecting column 612; the third movable arm 620 is rotationally connected to the second connecting column 612 through a sixth connecting hole 621.

[0082] In one embodiment, a rotating shaft 6231 is provided on the support base 623; a fourth connection hole 6251 that mates with the rotating shaft 6231 is provided on the connecting frame 625; the fourth connection hole 6251 is provided at one end of the connecting frame 625; a reset spring 6233 is connected to the end of the connecting frame 625 away from the fourth connection hole 6251, and the other end of the reset spring 6233 is connected to a connection block 6232 on the support base 623. The reset spring 6233 is connected to a fifth connection hole 6252 at the end of the connecting frame 625 away from the fourth connection hole 6251; with the above structural arrangement, the connecting frame 625 can rotate around one side and is reset by the reset spring 6233. When the airbag 624 is inflated, it will bulge, thus lifting one side of the connecting frame 625 to cause it to rotate, and the reset spring 6233 is stretched. When deflating, the airbag 624 contracts, and the elastic potential energy of the reset spring 6233 is released, which can also accelerate the deflation process, thereby increasing the kneading frequency; the air pump required for the operation of the airbag 624 is arranged in a reasonable space inside the massager, which is prior art in this field and will not be elaborated.

[0083] In one embodiment, the second traveling movement mechanism 20 includes a sixth driving motor 7011 connected to the mounting base 21; the sixth driving motor 7011 is in transmission connection with a sixth transmission shaft 701, and the transmission connection can adopt a common worm and worm gear structure in this field, which will not be described in detail here; a hammering component 700 connected to the pinching and kneading component 600 is provided on the sixth transmission shaft 701; the hammering component 700 includes a hammering base 730 rotatably connected to a second eccentric shaft 710; the second eccentric shaft 710 is connected to the sixth transmission shaft 701; the axis of the second eccentric shaft 710 is parallel to the axis of the sixth transmission shaft 701 and does not coincide; a connecting rod 731 is movably provided on the hammering base 730; a ball head 732 is formed at the end of the connecting rod 731 away from the hammering base 730; a ball head receiving groove 622 that mates with the ball head 732 is provided on the third movable arm 620; the ball head receiving groove 622 is provided close to the sixth connection hole 621; the support base 623 is provided away from the sixth connection hole 621. Through the setting of the second eccentric shaft 710, when the sixth transmission shaft 701 rotates, the second eccentric shaft 710 rotates eccentrically, so that the hammering base 730 can achieve eccentric rotation, and through the action of the connecting rod 731 on the third movable arm 620, the third movable arm 620 can achieve the hammering massage effect; in one embodiment, the hammering base 730 is connected to the second eccentric shaft 710 through a first bearing 720, the inner ring of the first bearing 720 is sleeved on the second eccentric shaft 710, and the outer ring of the first bearing 720 is connected to the hammering base 730. Through the first bearing 720, the smoothness of eccentric rotation can be further improved.

[0084] The above are only embodiments of the present utility model, and thus do not limit the patent scope of the present utility model. Any equivalent transformation made by using the content of the specification and drawings of the present utility model, or directly or indirectly applied in the relevant technical fields, shall be similarly included in the patent protection scope of the present utility model.

Claims

1. A massage chair movement mechanism, characterized in that: It includes a guide rail (1), a first traveling movement mechanism (10) and a second traveling movement mechanism (20) which are matched on the guide rail (1) and can reciprocate along the guide rail (1); on one side of the first traveling movement mechanism (10) close to the guide rail (1), there is a collision prevention frame (103) facing the second traveling movement mechanism (20); at one end of the collision prevention frame (103) away from the first traveling movement mechanism (10), there are several collision prevention induction magnets (104); on the second traveling movement mechanism (20), there is a Hall induction element (28) matched with the collision prevention induction magnets (104); when the collision prevention induction magnets (104) are matched with the Hall induction element (28), the projections of the collision prevention frame (103) and the second traveling movement mechanism (20) in the first direction have an overlapping part, and there is a safety distance between the first traveling movement mechanism (10) and the second traveling movement mechanism (20) in the second direction; the first direction is the direction perpendicular to the side end face of the collision prevention frame (103) relative to the guide rail (1); the second direction is parallel to the traveling direction of the first traveling movement mechanism (10).

2. The massage chair movement mechanism according to claim 1, characterized in that: The first traveling movement mechanism (10) includes a housing (100); on the housing (100), there are a first shaft (11) and a second shaft (13) which are parallel to each other; on the first shaft (11), there is a first driven wheel (12) matched with the guide rail (1); on the second shaft (13), there is a first driving wheel (14) matched with the guide rail (1) and a first driving gear (15) meshed with the rack arranged on the guide rail (1); the second shaft (13) is in transmission connection with a third driving motor (16); The first walking movement mechanism first includes a first driving motor (130) connected to a housing (100); the first driving motor (130) is in transmission connection with a transmission assembly (200); the transmission assembly (200) is in one-way transmission connection with a first transmission shaft (301) to drive the first transmission shaft (301) to rotate unidirectionally; the first driving motor (130) is in transmission connection with a second transmission shaft (401); a plurality of multifunctional movable components (300) are arranged on the first transmission shaft (301); the multifunctional movable component (300) includes a first movable arm (320) sleeved on an eccentric shaft (310); the axis of the eccentric shaft (310) is parallel to the axis of the first transmission shaft (301) and does not coincide; a rotating connection part (321) is arranged on the first movable arm (320); the rotating connection part (321) is in rotating connection with a swing rod (460); one end of the swing rod (460) far from the rotating connection part (321) is sleeved on an eccentric wheel (450) arranged on the second transmission shaft (401); a plurality of pinching and kneading movable components (400) capable of moving axially along the second transmission shaft (401) and a displacement adjusting component (500) for driving the pinching and kneading movable component (400) to move axially along the second transmission shaft (401) are arranged on the second transmission shaft (401); the pinching and kneading movable component (400) includes a yaw wheel (410) in non-rotating connection with the second transmission shaft (401); the yaw wheel (410) includes a connecting column (412) which is eccentric and inclined and connected to the second transmission shaft (401); a second movable arm (420) is sleeved on the connecting column (412); a guide block (422) is arranged on the second movable arm (420); the first transmission shaft (301) and the second transmission shaft (401) are arranged in parallel.

3. The massage chair movement mechanism according to claim 2, characterized in that: The transmission assembly (200) includes a second pulley (210); the second pulley (210) is connected to a first pulley (131) on the output shaft of the first driving motor (130) through a transmission belt; an installation groove (211) is arranged in the middle of the second pulley (210); a one-way bearing (220) is arranged in the installation groove (211); a pulley seat (212) is arranged on one side of the second pulley (210); the output shaft of the first driving motor (130) includes a second worm (132); a second worm gear (133) is engaged with the second worm (132); a third worm (135) is connected to the second worm gear (133) through a fourth transmission shaft (134); a third worm gear (470) engaged with the third worm (135) is arranged on the second transmission shaft (401).

4. The massage chair movement mechanism according to claim 2, wherein: The first movable arm (320) is in rotating connection with the eccentric shaft (310) through a first connection hole (322); the first movable arm (320) includes a working part (323) and a rotating connection part (321) respectively arranged on both sides of the first connection hole (322); the rotating connection part (321) is in rotating connection with the swing rod (460) through a rotating shaft (461). The swing wheel (410) includes a stop ring (411) and a connecting column (412) arranged at an included angle; one end of the connecting column (412) away from the stop ring (411) is fixedly connected with a swing wheel gland (413) to prevent the second movable arm (420) from detaching from the connecting column (412); the second movable arm (420) is rotationally connected with the connecting column (412) through a second connecting hole (421); a rotating working part (423) is arranged on one side of the second movable arm (420) away from the guide block (422). A second bearing (330) is arranged in the first connecting hole (322); the inner ring of the second bearing (330) is sleeved on the eccentric shaft (310); a limit baffle (311) for limiting the second bearing (330) is sleeved on the eccentric shaft (310); the limit baffle (311) is fixedly connected with the first movable arm (320). A third bearing (312) is arranged on the first transmission shaft (301); a limit seat (313) is arranged above the third bearing (312); the limit seat (313) is fixedly connected with the housing (100) to limit the third bearing (312).

5. The massage chair movement mechanism according to claim 2, characterized in that: The kneading and squeezing movable assembly (400) is connected with a connecting seat (440) through a rotating seat (430); the connecting seat (440) is connected with a displacement adjusting assembly (500); the displacement adjusting assembly (500) includes a second driving motor (510); the second driving motor (510) is meshed with a first worm wheel (520) through a first worm (511); the first worm wheel (520) is arranged on a third transmission shaft (501); a lead screw part (502) is formed on the third transmission shaft (501); the rotation of the third transmission shaft (501) is matched with the connecting seat (440) through the lead screw part (502) to realize the linear motion of the connecting seat (440) so as to adjust the position of the kneading and squeezing movable assembly (400).

6. The massage chair movement mechanism according to claim 5, wherein: A receiving cavity (441) for receiving the swing wheel (410) is formed on the connecting seat (440); a lead screw sleeve receiving groove (442) is arranged on the connecting seat (440); a lead screw sleeve gland (443) is fixedly connected to the lead screw sleeve receiving groove (442); a lead screw sleeve (530) is in limit fit in the cavity formed by the lead screw sleeve receiving groove (442) and the lead screw sleeve gland (443); the lead screw sleeve (530) is matched with the lead screw part (502); a third connecting hole (447) for cooperating with the rotating seat (430) is arranged on the connecting seat (440); the rotating seat (430) is connected with the swing wheel (410); the guide block (422) is matched with a guide groove; the guide groove is a first guide groove (445) formed below the receiving cavity (441) or a second guide groove (101) formed on the housing (100).

7. The massage chair movement mechanism according to claim 1, characterized in that: The second walking movement mechanism (20) includes a mounting base (21); a third shaft (22) and a fourth shaft (24) that are parallel to each other are provided on the mounting base (21); a second driven wheel (23) that cooperates with the guide rail (1) is provided on the third shaft (22); a second driving wheel (25) that cooperates with the guide rail (1) and a second driving gear (26) that meshes with the rack provided on the guide rail (1) are provided on the fourth shaft (24); the fourth shaft (24) is in transmission connection with a fourth driving motor (27). The second walking movement mechanism (20) includes a fifth driving motor (6011) connected to the mounting base (21); the fifth driving motor (6011) is in transmission connection with a fifth transmission shaft (601); a plurality of kneading components (600) are provided on the fifth transmission shaft (601); the kneading component (600) includes a second yaw wheel (610) that is non-rotatably connected to the fifth transmission shaft (601); the second yaw wheel (610) includes a second connecting column (612) that is eccentric and inclined and connected to the fifth transmission shaft (601); a third movable arm (620) is sleeved on the second connecting column (612); a support seat (623) is provided on the third movable arm (620); a connecting frame (625) is rotatably connected to the support seat (623); a massage head (626) is provided on the connecting frame (625); an airbag (624) for driving the connecting frame (625) to rotate relative to the support seat (623) is provided between the connecting frame (625) and the support seat (623).

8. The massage chair movement mechanism according to claim 7, characterized in that: The second yaw wheel (610) includes a second stop ring (611) and a second connecting column (612) arranged at an angle; a second yaw wheel gland (613) is fixedly connected to one end of the second connecting column (612) away from the second stop ring (611) to prevent the third movable arm (620) from detaching from the second connecting column (612); the third movable arm (620) is rotatably connected to the second connecting column (612) through a sixth connecting hole (621).

9. The massage chair movement mechanism according to claim 7, characterized in that: A rotating shaft (6231) is provided on the support seat (623); a fourth connecting hole (6251) that cooperates with the rotating shaft (6231) is provided on the connecting frame (625); the fourth connecting hole (6251) is arranged at one end of the connecting frame (625); a return spring (6233) is connected to the end of the connecting frame (625) away from the fourth connecting hole (6251), and the other end of the return spring (6233) is connected to a connecting block (6232) on the support seat (623).

10. The massage chair movement mechanism according to claim 7, characterized in that: The second walking movement mechanism (20) includes a sixth driving motor (7011) connected to the mounting base (21); the sixth driving motor (7011) is in transmission connection with a sixth transmission shaft (701); a hammering assembly (700) connected to the kneading and pinching assembly (600) is provided on the sixth transmission shaft (701); the hammering assembly (700) includes a hammering seat (730) rotatably connected to a second eccentric shaft (710); the second eccentric shaft (710) is connected to the sixth transmission shaft (701); the axis of the second eccentric shaft (710) is parallel to and non-coincident with the axis of the sixth transmission shaft (701); a connecting rod (731) is movably provided on the hammering seat (730); a ball head (732) is formed at one end of the connecting rod (731) away from the hammering seat (730); a ball head receiving groove (622) cooperating with the ball head (732) is provided on the third movable arm (620); the ball head receiving groove (622) is arranged close to a sixth connecting hole (621) on the third movable arm (620); the support base (623) is arranged away from the sixth connecting hole (621).

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