Massage movement and massage chair having the same

Abstract

The present invention provides a massage movement and a massage chair having the massage movement; the massage movement includes a kneading device and a traveling vehicle, the kneading device is swingably mounted on the traveling vehicle through a supporting shaft; the traveling vehicle is provided with a driving gear, the kneading device is provided with an adjusting gear, the pitch circle center of the adjusting gear is located on the center line of the supporting shaft, and the adjusting gear is meshed with the driving gear; the adjusting gear is swingably mounted on the kneading device with the supporting shaft as the center, and the kneading device is also provided with a displacement detection device for detecting the rotation angle of the adjusting gear and an elastic body for providing support force for the adjusting gear. The massage chair includes a massage frame, the massage chair also includes the massage movement, the massage movement is mounted on the massage frame, and the traveling vehicle can move relative to the massage frame. The massage movement and the massage chair in the present invention have a better massage effect on the human body; at the same time, the overall structure is simple, the mechanical reliability is good, the manufacturing cost is low, and the use safety is higher.

Description

Technical Field

[0001] The invention relates to a massage chair, in particular to a massage movement and a massage chair with the massage movement. Background Art

[0002] The massage movement is the core component of the massage chair, which is used to massage the human body. In order to improve the massage experience, the massage movement in the massage chair requires gentle, long-lasting, uniform and appropriate massage on the human body, so it puts forward higher requirements on the control of the massage movement's massage intensity. The massage intensity of the massage movement is controllable, and its first prerequisite is to be able to accurately detect the massage intensity of the massage movement, and then intelligently adjust it according to the detection data to finally achieve the appropriate massage intensity.

[0003] Most of the massage movements in the prior art do not have the function of massage force detection, and only a few can realize the detection of massage force. However, the errors of the massage force detection results of these massage movements are large, and the massage movement structure is complex, the cost is high, and the practical applicability is poor. For example: The Chinese invention patent application with application number 201811490250.2 discloses a force-adaptive massage movement, which includes a bracket, a massage head, a force detector, and a control system. The bracket is provided with a support shaft, the support shaft is a spring, and a current is passed through the massage head. The massage head is arranged on the support shaft, and the massage head is driven by the bracket to massage the user; the force detector is an inductance detection module and is conductively connected to the spring; when the massage head is subjected to force, the massage head will apply force to the support shaft to cause it to deform, and the force detector is used to detect the deformation of the support shaft and transmit the detection result to the control system. In the above-mentioned force-adaptive massage movement, the spring is used as an inductor, and the changes in the spring self-inductance coefficient and resistance value are detected by the inductance detection module to calculate the bending state of the spring. On the surface, the two ends of the spring are fixed, and the spring becomes longer due to bending under force, and the self-inductance coefficient of the spring changes accordingly; but in fact, this change is a nonlinear and complex change. In addition, the massage head is in an irregular oscillation state when the massage movement is working, so this spring bending change cannot be accurately detected and its bending degree cannot be calculated by the inductance detection module, and its massage intensity detection result is very inaccurate. In addition, this technical solution also has the disadvantages of complex structure, poor mechanical reliability, and high manufacturing cost; and because there is current in the spring, there are great safety hazards in use. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the technical problem to be solved by the present invention is to provide a massage movement with higher safety.

[0005] To achieve the above-mentioned purpose, the present invention provides a massage movement, including a kneading device and a traveling vehicle, wherein the kneading device is swingably mounted on the traveling vehicle through a supporting shaft; the traveling vehicle is provided with a driving gear, and the kneading device is provided with an adjusting gear, the center of the pitch circle of the adjusting gear is located on the center line of the supporting shaft, and the adjusting gear is meshed with the driving gear; the adjusting gear is swingably mounted on the kneading device with the supporting shaft as the center, and the kneading device is also provided with a displacement detection device for detecting the rotation angle of the adjusting gear and an elastic body for providing support force for the adjusting gear.

[0006] Furthermore, the adjusting gear is a sector-shaped rack.

[0007] Furthermore, the displacement detection device includes a slide rod, a displacement sensor, a displacement detection fixed frame and a reset spring. The displacement detection fixed frame is provided with a slide groove, the slide rod is inserted into the slide groove of the displacement detection fixed frame, and the slide rod can slide along the slide groove; the displacement detection fixed frame is fixed on the kneading bracket of the kneading device, one end of the slide rod is in contact with the first end face of the fan-shaped rack, and the reset spring can apply an elastic force to one end of the slide rod toward the first end face of the fan-shaped rack, and the displacement sensor is fixed on the displacement detection fixed frame.

[0008] Furthermore, the sliding rod is a magnetic body, the two ends of the sliding rod are two magnetic poles respectively, and the displacement sensor is a linear Hall sensor.

[0009] Furthermore, the plane where the first end surface of the sector-shaped rack lies passes through the center line of the support shaft.

[0010] Furthermore, the displacement sensor is communicatively connected to the control mainboard, and the displacement sensor can transmit detection information to the control mainboard.

[0011] Furthermore, the sector-shaped rack is provided with a plurality of guide grooves, and the kneading bracket of the kneading device is fixed with a plurality of guide pins, all of which are respectively inserted into all of the guide grooves, and all of which are spaced apart and distributed along a circle centered on the support shaft.

[0012] Furthermore, the elastic body adopts a compression spring, the compression spring is installed in the guide groove, and the compression spring is located between the sector rack and the guide pin.

[0013] Furthermore, the elastic body adopts a torsion spring, one leg of the torsion spring is inserted into the kneading bracket of the kneading device, and the other leg is inserted into the fan-shaped rack, and the spiral center line of the torsion spring coincides with the center line of the support shaft.

[0014] As described above, the massage movement of the present invention has the following beneficial effects:

[0015] When the massage movement is working, the kneading device massages the human body, and the human body will inevitably generate an equal reaction force or torque on the kneading device. At this time, the kneading device is forced to rotate, and the adjusting gear does not move due to meshing with the driving gear. In this way, the adjusting gear swings a certain angle relative to the kneading device, and the elastic body produces corresponding deformation to provide the corresponding elastic force or torque to the adjusting gear. The displacement detection device measures the swing angle of the adjusting gear relative to the kneading device, and thus the elastic force or torque generated by the elastic body can be calculated based on the swing angle, and then the reaction force or torque of the human body on the massage movement can be calculated, that is, the massage strength of the massage movement on the human body is known. The present invention measures the swing angle of the adjusting gear relative to the kneading device by the displacement detection device to obtain the massage strength of the massage movement on the human body, and does not require the elastic body to be charged, thereby avoiding accidental damage to the human body, making the massage movement safer. In addition, when the massage force is too large, the driving gear will drive the adjusting gear to rotate around the supporting shaft, and the adjusting gear will drive the kneading device to rotate around the supporting shaft and in a direction away from the human body, thereby reducing the massage force of the kneading device on the human body until the massage force is appropriate. When the massage force is too small, the driving gear will drive the adjusting gear to rotate around the supporting shaft, and the adjusting gear will drive the kneading device to rotate around the supporting shaft and in a direction close to the human body, thereby increasing the massage force of the kneading device on the human body until the massage force is appropriate.

[0016] Another technical problem to be solved by the present invention is to provide a massage chair with higher safety.

[0017] To achieve the above-mentioned object, the present invention provides a massage chair, comprising a massage frame, the massage chair also comprising the massage movement, the massage movement is mounted on the massage frame, and the traveling vehicle can move relative to the massage frame.

[0018] As described above, the massage chair according to the present invention has the following beneficial effects:

[0019] The massage chair of the present invention is based on the structural design of its massage movement, and obtains the massage strength of the massage movement on the human body by measuring the swing angle of the adjustment gear relative to the kneading device through a displacement detection device. The elastic body does not need to be charged, thereby avoiding accidental harm to the human body, making the massage movement safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The present invention is a schematic structural diagram of a massage movement.

[0021] Figure 2 The present invention is a schematic structural diagram of a kneading and knocking device according to one embodiment of the present invention.

[0022] Figure 3 Schematic diagram of the relative position relationship among the displacement detection device, the sector rack and the guide pin in the initial state in the first embodiment of the present invention.

[0023] Figure 4 Schematic diagram of the relative position relationship among the displacement detection device, the sector rack and the guide pins when the massage head applies massage force to the human body in the first embodiment of the present invention.

[0024] Figure 5 It is a schematic diagram of the structure of the kneading and knocking device in the second embodiment of the present invention.

[0025] Component number description

[0026] 1 Kneading device 17 Kneading bracket

[0027] 11 Massage head 18 Compression spring

[0028] 12 Support shaft 2 Travel vehicle

[0029] 13 sector rack 21 frame

[0030] 131 guide groove 22 walking device

[0031] 132 first end surface 221 walking axis

[0032] 14 Displacement detection device 222 Travel gear

[0033] 141 Slide rod 23 Adjustment drive device

[0034] 142 Return spring 231 Adjust drive motor

[0035] 143 Displacement detection bracket 232 Transmission

[0036] 144 Displacement sensor 233 Output shaft

[0037] 15 Torsion spring 234 Driving gear

[0038] 16 Guide pin 24 Travel guide wheel DETAILED DESCRIPTION

[0039] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0040] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change in the proportion relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0041] Embodiment 1

[0042] like Figures 1 to 4As shown, this embodiment provides a massage movement, including a kneading device 1 and a traveling vehicle 2, the kneading device 1 is swingably mounted on the traveling vehicle 2 through a supporting shaft 12; a driving gear 234 is provided on the traveling vehicle 2, and an adjusting gear is installed on the kneading device 1, the center of the pitch circle of the adjusting gear is located on the center line of the supporting shaft 12, and the adjusting gear is meshed with the driving gear 234; the adjusting gear is swingably mounted on the kneading device 1 with the supporting shaft 12 as the center, and the kneading device 1 is also provided with a displacement detection device 14 for detecting the rotation angle of the adjusting gear and an elastic body for providing support force for the adjusting gear. When the massage movement is working, the kneading device 1 massages the human body, and the human body will inevitably generate an equal reaction force or torque on the kneading device 1. At this time, the kneading device 1 is rotated by force, and the adjusting gear does not move due to meshing with the driving gear 234. In this way, the adjusting gear swings a certain angle relative to the kneading device 1, and the elastic body produces corresponding deformation to provide the corresponding elastic force or torque to the adjusting gear. The displacement detection device 14 measures the swing angle of the adjusting gear relative to the kneading device 1, so that the elastic force or torque generated by the elastic body can be calculated based on the swing angle, and then the reaction force or torque of the human body on the massage movement is calculated, that is, the massage strength of the massage movement on the human body is known. In this embodiment, the massage strength of the massage movement on the human body is obtained by measuring the swing angle of the adjusting gear relative to the kneading device 1 by the displacement detection device 14, and the elastic body does not need to be charged, thereby avoiding accidental damage to the human body, making the massage movement safer. In addition, when the massage force is too large, the driving gear 234 will drive the adjusting gear to rotate around the support shaft 12, and the adjusting gear will drive the kneading device 1 to rotate around the support shaft 12 and in a direction away from the human body, thereby reducing the massage force of the kneading device 1 on the human body until the massage force is appropriate. When the massage force is too small, the driving gear 234 will drive the adjusting gear to rotate around the support shaft 12, and the adjusting gear will drive the kneading device 1 to rotate around the support shaft 12 and in a direction close to the human body, thereby increasing the massage force of the kneading device 1 on the human body until the massage force is appropriate.

[0043] At the same time, this embodiment also provides a massage chair, including a massage frame, the massage chair also includes the massage movement, the massage movement is installed on the massage frame, and the walking vehicle 2 can move relative to the massage frame. In this embodiment, the massage chair, based on the structural design of its massage movement, measures the angle of the swing of the adjustment gear relative to the kneading device 1 through the displacement detection device 14 to obtain the massage strength of the massage movement on the human body, does not require the elastic body to be charged, thereby avoiding accidental damage to the human body, making the massage movement safer.

[0044] like Figure 2 As shown, in this embodiment, the adjusting gear is a fan-shaped rack 13. The fan-shaped rack 13 is swingably mounted on the kneading bracket 17 of the kneading device 1 with the support shaft 12 as the center. Figures 2 to 4As shown, the displacement detection device 14 in this embodiment includes a slide bar 141, a displacement sensor 144, a displacement detection bracket 143 and a reset spring 142. A slide groove is provided on the displacement detection bracket 143, and the slide bar 141 is inserted into the slide groove of the displacement detection bracket 143, and the slide bar 141 can slide smoothly along the slide groove, that is, the slide bar 141 can slide freely in the slide groove; the displacement detection bracket 143 is fixed on the kneading bracket 17 of the kneading device 1, one end of the slide bar 141 is in contact with the first end face 132 of the fan-shaped rack 13, and the reset spring 142 can apply an elastic force to one end of the slide bar 141 toward the first end face 132 of the fan-shaped rack 13, so that one end of the slide bar 141 is always in tight contact with the first end face 132, and the displacement sensor 144 is fixed on the displacement detection bracket 143. In this embodiment, the swing angle of the fan-shaped rack 13 can be accurately detected by the displacement detection device 14, and the displacement detection device 14 is also called an angle detection device. The displacement detection device 14 is arranged close to the sector rack 13. When the sector rack 13 swings relative to the kneading device 1 and the kneading bracket 17, it will drive the slide bar 141 to move relative to the displacement detection bracket 143, and the displacement sensor 144 fixed on the displacement detection bracket 143 will detect the displacement of the slide bar 141. According to the geometric relationship, the displacement of the slide bar 141 and the swing angle of the sector rack 13 constitute a one-dimensional equation, and the swing angle of the sector rack 13 can be obtained by detecting the displacement of the slide bar 141. In addition, in the present embodiment, one end of the slide bar 141 is in a hemispherical shape, and is always in contact with the first end face 132 of the sector rack 13 under the action of the reset spring 142, and the displacement sensor 144 is installed at a certain distance from the other end of the slide bar 141.

[0045] In addition, in this embodiment, the slide bar 141 is a magnetic body, and the two ends of the slide bar 141 are two magnetic poles respectively. The displacement sensor 144 is a linear Hall sensor, and the displacement sensor 144 is also called a magnetic sensitive sensor. The displacement detection bracket 143 is also called a shell. The reset spring 142 is located between the shell and the slide bar 141. In this embodiment, the position of the slide bar 141 is detected by the displacement sensor 144, so as to determine the displacement of the slide bar 141, and calculate the rotation angle of the sector rack 13 relative to the kneading bracket 17, and then calculate the force or torque applied by the human body to the massage head 11 of the kneading device 1. And in this embodiment, the plane where the first end face 132 of the sector rack 13 is located passes through the center line of the support shaft 12. Preferably, in the initial state, the center line of the slide bar 141 is perpendicular to the first end face 132 of the sector rack 13.

[0046] In this embodiment, the sector rack 13 is not fixed on the kneading device 1, but is swingably mounted on the kneading device 1, that is, the sector rack 13 can rotate relative to the kneading device 1 around the center line of the support shaft 12. Figure 2As shown, in this embodiment, a plurality of guide grooves 131 are provided on the sector rack 13, and a plurality of guide pins 16 are fixed on the kneading bracket 17 of the kneading device 1, and all guide pins 16 are respectively inserted into all guide grooves 131, and the guide pins 16 can slide along the guide grooves 131, and all guide pins 16 are spaced along the circumference centered on the support shaft 12 to limit the freedom of movement of the sector rack 13, so that the sector rack 13 can only swing around the support shaft 12. In this embodiment, three columnar guide pins 16 are specifically fixed on the kneading bracket 17, and the three guide pins 16 are distributed around the support shaft 12; correspondingly, three guide grooves 131 are opened on the sector rack 13; and the three guide pins 16 are respectively inserted into the three guide grooves 131. A flange is provided on the guide pin 16, and the flange can prevent the sector rack 13 from detaching from the kneading device 1.

[0047] like Figure 2 As shown, in this embodiment, the elastic body adopts a torsion spring 15, one leg of the torsion spring 15 is inserted into the kneading bracket 17 of the kneading device 1, and the other leg is inserted into the fan-shaped rack 13, and the spiral center line of the torsion spring 15 coincides with the center line of the support shaft 12. In this embodiment, the fan-shaped rack 13 is designed to be rotatable relative to the kneading bracket 17 of the kneading device 1. The fan-shaped rack 13 and the kneading bracket 17 are connected by the torsion spring 15. In this embodiment, by detecting the rotation angle of the fan-shaped rack 13 relative to the kneading bracket 17, the torque of the torsion spring 15 can be measured and calculated, thereby knowing the reaction force or torque applied by the human body to the massage head 11 of the kneading device 1, that is, knowing the massage force or torque applied by the massage movement to the human body.

[0048] In addition, in this embodiment, there are two groups of sector racks 13 , displacement detection devices 14 and torsion springs 15 , which are respectively placed on the left and right sides of the kneading bracket 17 .

[0049] In this embodiment, a pair of parallel rack rails and a rack guide groove are provided on the massage frame, and the massage core is installed on the massage frame and can move along the extension direction of the rack rails and the rack guide groove. Figure 1As shown, in this embodiment, the traveling vehicle 2 includes a vehicle frame 21, a traveling device 22, a traveling guide wheel 24, and an adjusting driving device 23, and the kneading device 1 is specifically swingably mounted on the vehicle frame 21 through a supporting shaft 12. At the same time, in this embodiment, the traveling device 22 includes a traveling shaft 221 rotatably mounted on the vehicle frame 21, and two traveling gears 222 respectively fixed at the left and right ends of the traveling shaft 221, the traveling gear 222 meshes with the rack track, and two traveling guide wheels 24 are respectively rotatably mounted on the left and right sides of the vehicle frame 21, and the traveling guide wheels 24 cooperate with the frame guide groove; when the traveling shaft 221 drives the traveling gear 222 to rotate together, the traveling gear 222 is meshed with the rack track to make the traveling gear 222 move along the rack track, thereby realizing that the traveling vehicle 2 drives the kneading device 1 to move along the rack track, and the traveling guide wheels 24 cooperate with the frame guide groove to play a good guiding role, thereby ensuring that the massage movement has a good stability.

[0050] like Figure 1 As shown, in this embodiment, the adjustment drive device 23 specifically includes an adjustment drive motor 231, a transmission 232, an output shaft 233, and a driving gear 234 fixed on the output shaft 233. After the adjustment drive motor 231 changes speed through the transmission 232, the power is transmitted to the driving gear 234 through the output shaft 233, and the driving gear 234 then drives the sector rack 13 to rotate around the support shaft 12. In this embodiment, the kneading device 1 is rotatably mounted on the frame 21 through a support shaft 12, and the support shaft 12 and the frame 21 are fixed, and the kneading device 1 and the support shaft 12 can rotate. The adjustment drive motor 231 can drive the sector rack 13 to rotate through a transmission assembly composed of the transmission 232, the output shaft 233, and the driving gear 234, and then drive the kneading device 1 to rotate around the support shaft 12.

[0051] In this embodiment, the displacement sensor 144 is connected to the control mainboard in communication, and the displacement sensor 144 can transmit detection information to the control mainboard. In this embodiment, the position of the slide bar 141 can be detected in real time by the displacement sensor 144, and the displacement sensor 144 transmits the measured information to the control mainboard. In this embodiment, the displacement sensor 144 is specifically connected to the control mainboard through a wire, and transmits a signal to the control mainboard through the wire. The processor on the control mainboard can process the signal. At the same time, in this embodiment, the adjustment drive motor 231 is connected to the control mainboard through a wire and is controlled by the control mainboard. If the displacement detection device 14 detects that the therapeutic force of the massage head 11 on the human body is too large, the control mainboard will process the information fed back by the magnetic sensor, issue an instruction, adjust the speed and direction of the drive motor 231, drive the kneading device 1 to rotate in a direction away from the human body, and make the massage head 11 leave the human body, thereby reducing its massage force on the human body until the detected force is appropriate. Vice versa. In this way, the massage force intelligent detection and control function of the massage movement is realized, and the massage effect is significantly improved.

[0052] In the initial state, the relative position relationship between the displacement detection device 14, the sector rack 13 and the guide pin 16 in this embodiment is as follows: Figure 3 When the massage head 11 applies massage force to the human body, the relative position relationship between the displacement detection device 14, the sector rack 13 and the guide pin 16 is as shown in FIG. Figure 4 In this embodiment, the relationship equation between the displacement of the slide bar 141 and the rotation angle of the sector rack 13 is as follows:

[0053] Assume that the radius of the ball head of the slide bar 141 is r, which is a constant value, the distance from the center of the sector rack 13 to the center line of the slide bar 141 is d, which is a constant value, the displacement of the slide bar 141 is the independent variable x, and the rotation angle of the sector rack 13 is the dependent variable y;

[0054] but,

[0055] The massage movement in this embodiment can be called a massage movement with intelligent massage force control function, and the massage movement can easily realize the massage force detection and control function. In addition, the massage movement and the massage chair in this embodiment can detect the massage force more accurately, thereby ensuring higher massage force control accuracy and better massage effect; at the same time, its overall structure is simple, mechanical reliability is good, and manufacturing cost is low; since the spring body does not need to pass current, it is safer to use.

[0056] Embodiment 2

[0057] like Figure 5As shown, this embodiment is based on the above-mentioned embodiment 1, and its difference is that the elastic body adopts a compression spring 18 instead of the torsion spring 15, and the compression spring 18 is installed in the guide groove 131, and the compression spring 18 is located between the sector rack 13 and the guide pin 16.

[0058] In summary, the present invention effectively overcomes various shortcomings of the prior art and has high industrial utilization value.

[0059] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A massage movement, comprising a kneading device (1) and a traveling vehicle (2), wherein the kneading device (1) is swingably mounted on the traveling vehicle (2) via a support shaft (12); the traveling vehicle (2) is provided with a driving gear (234), the kneading device (1) is provided with an adjusting gear, the center of the pitch circle of the adjusting gear is located on the center line of the supporting shaft (12), and the adjusting gear is meshed with the driving gear (234); characterized in that: The adjusting gear is swingably mounted on the kneading device (1) with the support shaft (12) as the center. The kneading device (1) is also provided with a displacement detection device (14) for detecting the rotation angle of the adjusting gear and an elastic body for providing support force for the adjusting gear. The adjusting gear is a fan-shaped rack (13). The displacement detection device (14) comprises a slide bar (141), a displacement sensor (144), a displacement detection fixed frame (143) and a reset spring (142). A slide groove is provided on the displacement detection fixed frame (143). The slide bar (141) is inserted into the slide groove of the displacement detection fixed frame (143), and the slide bar (141) can slide along the slide groove. The displacement detection fixed frame (143) is fixed On the kneading bracket (17) of the kneading device (1), one end of the sliding rod (141) contacts the first end surface (132) of the sector rack (13), and the return spring (142) can apply an elastic force to one end of the sliding rod (141) toward the first end surface (132) of the sector rack (13), and the displacement sensor (144) is fixed on the displacement detection fixing frame (143); the sector rack (13) is provided with a plurality of guide grooves (131), and the kneading bracket (17) of the kneading device (1) is fixed with a plurality of guide pins (16), all of the guide pins (16) are respectively inserted into all of the guide grooves (131), and all of the guide pins (16) are spaced apart along a circle centered on the support shaft (12).

2. The massage movement according to claim 1, characterized in that: The sliding rod (141) is a magnetic body, the two ends of the sliding rod (141) are respectively two magnetic poles, and the displacement sensor (144) is a linear Hall sensor.

3. The massage movement according to claim 1, characterized in that: The plane where the first end surface (132) of the sector-shaped rack (13) lies passes through the center line of the support shaft (12).

4. The massage movement according to claim 1, characterized in that: The displacement sensor (144) is communicatively connected to the control mainboard, and the displacement sensor (144) can transmit detection information to the control mainboard.

5. The massage movement according to claim 1, characterized in that: The elastic body is a compression spring (18), the compression spring (18) is installed in the guide groove (131), and the compression spring (18) is located between the sector rack (13) and the guide pin (16).

6. The massage movement according to claim 1, characterized in that: The elastic body is a torsion spring (15), one leg of the torsion spring (15) is inserted into a kneading bracket (17) of the kneading device (1), and the other leg is inserted into a fan-shaped rack (13), and the spiral center line of the torsion spring (15) coincides with the center line of the support shaft (12).

7. A massage chair, comprising a massage frame, characterized in that: The massage chair further comprises a massage movement as claimed in any one of claims 1 to 6, wherein the massage movement is mounted on a massage frame, and the travel vehicle (2) is movable relative to the massage frame.

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