Massage movement and massage chair

Abstract

The present invention provides a massage movement and a massage chair. The massage movement includes a frame, a travel guide device, and a massage body installed on the frame. The travel guide device includes a guide shaft and guide wheels installed at both ends of the guide shaft. The massage movement also includes at least one set of force measuring devices installed between the frame and the guide shaft. The guide shaft can float forward and backward relative to the frame under the reaction force applied by the human body to the massage body. The force measuring device includes a shell fixed to the frame, a sliding member installed on the guide shaft, and a detection sensor. The sliding member can be slidably installed in the shell, and the detection sensor is used to indirectly detect the sliding amount of the sliding member. In the present application, the massage strength of the massage body is calculated by detecting the sliding amount of the sliding member. The sliding amount of the sliding member is consistent with the floating amount of the guide shaft and is directly affected by the massage strength of the massage body. Therefore, the massage strength of the massage body can be accurately and reliably detected, and the detection error is small and the accuracy is high.

Description

Technical Field

[0001] The invention relates to a massage device, in particular to a massage movement and a massage chair comprising 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 the massage intensity of the massage movement according to the detection data.

[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 the 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, an object of the present invention is to provide a massage movement, which can accurately detect the massage force of the massage movement and has good safety in use.

[0005] To achieve the above-mentioned purpose, the present invention provides a massage movement, including a frame, a travel guide device, and a massage body installed on the frame, the travel guide device includes a guide shaft and guide wheels installed at both ends of the guide shaft, the guide wheels are used to cooperate with guide grooves on the massage frame in the massage chair, the massage movement also includes at least one group of force measuring devices installed between the frame and the guide shaft, the guide shaft can float back and forth relative to the frame under the reaction force applied by the human body to the massage body, the force measuring device includes a shell fixed to the frame, a sliding member installed on the guide shaft, and a detection sensor, the sliding member can be slidably installed in the shell, and the detection sensor is used to indirectly detect the sliding amount of the sliding member.

[0006] Furthermore, the sliding part is a slider that slides with the shell, the detection sensor is a magnetic sensor, the force measuring device also includes a spring and a magnet, a avoidance hole extending forward and backward is opened in the shell, the guide shaft can be floated forward and backward in the avoidance hole, the two ends of the spring are respectively abutted against the shell and the slider, the magnet and the magnetic sensor are respectively fixed to the slider and the shell, and are arranged relative to each other front and back, and the magnetic sensor can sense the magnet and is used to obtain the expansion and contraction deformation of the spring.

[0007] Furthermore, a slide groove extending forward and backward is provided in the shell, the extension direction of the slide groove is orthogonal to the moving direction of the frame and the axial direction of the guide shaft, and the slider is slidably installed in the slide groove.

[0008] Furthermore, a lubricant layer is coated on the groove wall of the slide groove and the outer surface of the sliding block.

[0009] Furthermore, the Shore hardness of the slider is 65-85, and the material of the slider is plastic.

[0010] Furthermore, the magnet is a permanent magnet, and the magnetic sensor is a linear Hall sensor.

[0011] Furthermore, the materials of the shell and the spring are both non-magnetic good conductors.

[0012] Furthermore, the force measuring device includes a cylinder, the shell is the cylinder body and magnet, the sliding part is the piston of the cylinder, the detection sensor is a magnetic sensor, the magnetic sensor and the magnet are respectively fixed to the cylinder body and the piston of the cylinder and are arranged relative to each other front and back, and the magnetic sensor can sense the magnet.

[0013] Furthermore, a through hole is provided on the sliding member, and the guide shaft passes through the through hole of the sliding member and is slidably matched with the sliding member.

[0014] Furthermore, the massage movement also includes a massage force adjustment device and a control mainboard, the massage force adjustment device includes an adjustment drive source and an adjustment transmission assembly, the massage body is rotatably mounted on the frame via a support shaft, the adjustment drive source is connected to the massage body via the adjustment transmission assembly, and drives the massage body to rotate around the support shaft, the detection sensor and the adjustment drive source are both connected to the control mainboard; the adjustment drive source is a motor, the adjustment transmission assembly includes a drive shaft driven to rotate by the motor, a drive gear fixed on the drive shaft, and an adjustment gear, the drive shaft is rotatably supported on the frame, the drive gear is meshed with the adjustment gear, and the adjustment gear is fixed to the massage body.

[0015] Furthermore, there are two groups of force measuring devices, and the two groups of force measuring devices are arranged side by side along the axial direction of the guide shaft.

[0016] The present invention also provides a massage chair, in which the massage movement as described above is installed.

[0017] As described above, the massage movement and massage chair according to the present invention have the following beneficial effects:

[0018] In the present application, the guide wheel on the guide shaft cooperates with the guide groove on the massage frame, so the guide shaft does not float back and forth, but the frame can float back and forth under the reaction force applied by the human body to the massage body, so that the guide shaft and the sliding member can float back and forth relative to the frame and the shell under the reaction force applied by the human body to the massage body, and the massage force of the massage body is calculated by detecting the sliding amount of the sliding member. The sliding amount of the sliding member is consistent with the floating amount of the guide shaft and is directly affected by the massage force of the massage body. Therefore, the massage force of the massage body can be accurately and reliably detected, and the detection error is small and the accuracy is high. In particular, the frame that can float back and forth under the reaction force applied by the human body to the massage body enables the massage movement to have a certain buffering effect during massage, which can make the massage feel softer and more comfortable. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 and Figure 2 It is a schematic diagram of the structure of the massage movement in this application.

[0020] Figure 3 for Figure 1 Exploded diagram.

[0021] Figure 4 This is an exploded view of the force measuring device in this application.

[0022] Component number description

[0023] 10. Walking car

[0024] 11 Frame

[0025] 12 Walking device

[0026] 121 Traveling axis

[0027] 122 Travel gear

[0028] 13 Walking guide device

[0029] 131 Guide shaft

[0030] 132 Guide wheel

[0031] 20 Massage Body

[0032] 30 Force measuring device

[0033] 31 Shell

[0034] 311 Avoidance hole

[0035] 312 Chute

[0036] 32 Slide

[0037] 321 Slider

[0038] 322 Through Hole

[0039] 33 Detection Sensor

[0040] 331 Magnetic Sensor

[0041] 34 Spring

[0042] 35 Magnet

[0043] 40 Massage intensity adjustment device

[0044] 41 Adjusting the drive source

[0045] 42 Support shaft

[0046] 43 Drive shaft

[0047] 44 Drive gear

[0048] 45 Adjustment gear

[0049] 46 Transmission DETAILED DESCRIPTION

[0050] 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.

[0051] It should be noted that the structures, proportions, sizes, etc. drawn 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 of the proportional 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.

[0052] The present application provides a massage chair, which has a massage frame and a massage movement, the massage frame is provided with parallel rack rails and guide grooves, the massage movement is installed on the massage frame and can move along the extension direction of the rack rails and the guide grooves. Figures 1 to 3 As shown, the massage movement includes a traveling vehicle 10 and a massage body 20, the traveling vehicle 10 includes a vehicle frame 11, a traveling device 12, and a traveling guide device 13, the massage body 20 is installed on the vehicle frame 11; the traveling device 12 includes a traveling shaft 121 rotatably installed in the vehicle frame 11, and a traveling gear 122 installed at the left and right ends of the traveling shaft 121, and the traveling gear 122 is meshed with a rack track; the traveling guide device 13 includes a guide shaft 131 parallel to the traveling shaft 121, and a traveling gear 122 installed at the left and right ends of the guide shaft 131 The guide wheel 132 cooperates with the guide groove; when the traveling shaft 121 drives the traveling gear 122 to rotate together, the traveling gear 122 is engaged with the rack track to make the traveling gear 122 move along the rack track, thereby realizing that the traveling vehicle 10 drives the massage body 20 to move along the rack track, and the cooperation between the guide wheel 132 and the guide groove plays a good guiding role, thereby ensuring the stability of the movement of the massage movement, and the front and rear positions of the guide shaft 131 relative to the massage frame remain unchanged, that is, the guide shaft 131 cannot float back and forth.

[0053] In particular, if Figure 1 and Figure 3 As shown, the frame 11 can float forward and backward under the reaction force applied by the human body to the massage body 20, so that the guide shaft 131 can float forward and backward relative to the frame 11 under the reaction force applied by the human body to the massage body 20. The massage movement also includes at least one set of force measuring devices 30 installed between the frame 11 and the guide shaft 131, and the force measuring device also constitutes a part of the walking vehicle 10. Figure 3As shown, the force measuring device 30 includes a shell 31 fixed to the frame 11, a sliding member 32 installed on the guide shaft 131, and a detection sensor 33. The sliding member 32 can be slidably installed in the shell 31, and the shell 31 floats back and forth together with the frame 11 under the reaction force applied by the human body to the massage body 20, that is, under the reaction force applied by the human body to the massage body 20, the guide shaft 131 and the sliding member 32 float back and forth relative to the frame 11 and the shell 31, and the detection sensor 33 is used to indirectly detect the sliding amount of the sliding member 32. When the massage mechanism is performing massage therapy, the massage head on the massage body 20 applies force to the human body, and the human body reacts to the massage body 20 with the same force. The reaction force causes the frame 11 to float forward and backward, and then causes the guide shaft 131 to float forward and backward relative to the frame 11, and causes the sliding member 32 to slide forward and backward relative to the housing 31 synchronously with the floating of the guide shaft 131, that is, the floating direction of the guide shaft 131 is consistent with the sliding direction of the sliding member 32, and the floating amount of the guide shaft 131 is consistent with the sliding amount of the sliding member 32. The detection sensor 33 indirectly detects the sliding amount of the sliding member 32, thereby indirectly calculating the reaction force applied by the human body to the massage body 20. The magnitude of the reaction force is the same as the magnitude of the massage force of the massage body 20, and then the massage force of the massage body 20 can be calculated. Therefore, the massage movement involved in the present application has the function of detecting the massage strength of the massage body 20, and the massage strength of the massage body 20 is calculated by the sliding amount of the sliding member 32, and the sliding amount of the sliding member 32 is directly determined by the massage strength of the massage body 20, and the two are proportional, so the present application can accurately and reliably detect the massage strength of the massage body 20, with small detection error and high accuracy. In particular, the frame 11 can float forward and backward, which makes the massage movement have a certain buffering effect during massage, which can make the massage feel softer and more comfortable.

[0054] Preferably, if Figure 1 As shown, there are two groups of force measuring devices 30, which are arranged side by side along the axial direction of the guide shaft 131 and are respectively adjacent to the two guide wheels 132 on the guide shaft 131. The structure of the force measuring device 30 has the following two preferred embodiments.

[0055] Embodiment 1 of the force measuring device 30: The force measuring device 30 includes a cylinder, and the housing 31 is the cylinder body and magnet of the cylinder, the sliding member 32 is the piston of the cylinder, and can float forward and backward, the guide shaft 131 is inserted into the piston of the cylinder, and floats forward and backward together with the piston, and the detection sensor 33 is a magnetic sensor, the magnetic sensor and the magnet are respectively fixed to the cylinder body and the piston of the cylinder, and are arranged relative to each other front and back, and the magnetic sensor can sense the magnet. When the massage movement is in massage operation, the reaction force applied by the human body to the massage body 20 causes the guide shaft 131 to drive the piston to float forward and backward together, and then drives the magnet or magnetic sensor fixed to the piston to float forward and backward together, and the relative position of the magnet is obtained by the magnetic sensor, and then the sliding amount of the piston is indirectly calculated and detected, and then the massage force of the massage body 20 is calculated.

[0056] There are two ways to install the magnet and the magnetic sensor: Method 1, the magnet is fixed to the cylinder body of the cylinder, and the magnetic sensor is fixed to the piston and floats forward and backward with the piston; Method 2, the magnetic sensor is fixed to the cylinder body of the cylinder, and the magnet is fixed to the piston and floats forward and backward with the piston. Preferably, the magnet is a permanent magnet and the magnetic sensor is a linear Hall sensor.

[0057] Embodiment 2 of the force measuring device 30: Figure 3 and Figure 4 As shown, the force measuring device 30 also includes a spring 34 extending axially forward and backward, and a magnet 35. The sliding member 32 is a slider 321 slidably matched with the shell 31. The detection sensor 33 is a magnetic sensor 331. The shell 31 is provided with an avoidance hole 311 extending forward and backward. The guide shaft 131 can be floated forward and backward in the avoidance hole 311. The two ends of the spring 34 are respectively abutted against the shell 31 and the slider 321. The magnet 35 and the magnetic sensor 331 are respectively fixed to the slider 321 and the shell 31, and are arranged opposite to each other front and back. The magnetic sensor 331 can sense the magnet 35 and is used to directly obtain the expansion and contraction deformation of the spring 34. When the massage mechanism is in massage operation, the reaction force applied by the human body to the massage body 20 causes the guide shaft 131 to drive the slider 321 to float back and forth relative to the shell 31, thereby causing the spring 34 to expand and contract. The expansion and contraction deformation of the spring 34 is obtained by the magnetic sensor 331, and then the sliding amount of the slider 321 is relatively calculated and detected, and then the massage force of the massage body 20 is calculated.

[0058] There are two ways to install the magnet 35 and the magnetic sensor 331: Method 1, the magnet 35 is fixed to the slider 321, and the magnetic sensor 331 is fixed to the shell 31. The slider 321 drives the magnet 35 to slide back and forth relative to the shell 31 and the magnetic sensor 331. The sliding amount of the magnet 35 is adapted to the expansion and contraction amount of the spring 34. The expansion and contraction amount of the spring 34 can be directly calculated through the output signal of the magnetic sensor 331, and the force exerted on the spring 34 can be calculated, that is, the reaction force exerted by the human body on the massage body 20 can be calculated, that is, the massage strength of the massage body 20 can be calculated. Method 2: The magnet 35 is fixed to the housing 31, and the magnetic sensor 331 is fixed to the slider 321. The slider 321 drives the magnetic sensor 331 to slide back and forth relative to the housing 31 and the magnet 35. The sliding amount of the magnetic sensor 331 is adapted to the expansion and contraction amount of the spring 34. The expansion and contraction amount of the spring 34 can be directly calculated through the output signal of the magnetic sensor 331, and the force exerted on the spring 34 can be calculated, that is, the reaction force exerted by the human body on the massage body 20 can be calculated, that is, the massage strength of the massage body 20 can be calculated. Therefore, the expansion and contraction amount of the spring 34, the force exerted on the spring 34, and the sliding amount of the slider 321 correspond to and are adapted to each other. The expansion and contraction amount of the spring 34, the force exerted on the spring 34, and the sliding amount of the slider 321 can be indirectly calculated through the output signal of the magnetic sensor 331. Preferably, the magnet 35 is a permanent magnet, and the magnetic sensor 331 is a linear Hall sensor.

[0059] Furthermore, if Figure 4 As shown, a slide groove 312 extending forward and backward is provided in the housing 31. The extension direction of the slide groove 312 is orthogonal to the moving direction of the frame 11 and the axial direction of the guide shaft 131. The slider 321 is slidably installed in the slide groove 312 and can slide freely in the slide groove 312. The spring 34 is located in the slide groove 312 of the housing 31. Therefore, the floating direction of the guide shaft 131 and the sliding direction of the slider 321 in the housing 31 are orthogonal to the moving direction of the frame 11 and the axial direction of the guide shaft 131. The slider 321 is made of a material with medium hardness and good wear resistance. Preferably, the Shore hardness of the slider 321 is 65 to 85, and the material of the slider 321 is plastic (such as PP). The outer surface of the slider 321 and the groove wall of the slide groove 312 are both processed smoothly. The wall of the chute 312 and the outer surface of the slider 321 are coated with a lubricant layer to reduce the friction resistance between the slider 321 and the wall of the chute 312, so that the slider 321 can slide back and forth more smoothly in the chute 312, thereby improving the accuracy of the force measuring device 30 in detecting the massage force. In addition, the material of the housing 31 is a non-magnetic good conductor, preferably an aluminum alloy, and the material of the spring 34 is a non-magnetic good conductor, preferably stainless steel.

[0060] Furthermore, in the two embodiments of the above force measuring device, Figure 4As shown, the sliding member 32 is provided with a through hole 322, and the diameter of the through hole 322 is equivalent to the outer diameter of the guide shaft 131; preferably, the guide shaft 131 is inserted into the through hole 322 of the sliding member 32 and slidably cooperates with the sliding member 32; therefore, the guide shaft 131 can slide left and right in the sliding member 32 to achieve fine adjustment. Preferably, the guide shaft 131 is rotatably inserted into the through hole 322 of the sliding member 32, and the guiding function is not affected while measuring force.

[0061] like Figure 1 and Figure 2 As shown, the massage movement also includes a massage force adjustment device 40 and a control mainboard. The massage force adjustment device 40 includes an adjustment drive source 41 and an adjustment transmission assembly. The massage body 20 is rotatably mounted on the frame 11 through a support shaft 42. The support shaft 42 and the frame 11 are fixed, and the massage body 20 and the support shaft 42 are rotatable. The adjustment drive source 41 is connected to the massage body 20 through the adjustment transmission assembly and drives the massage body 20 to rotate around the support shaft 42. The detection sensor 33 is connected to the control mainboard through a wire and transmits a signal to the control mainboard. The adjustment drive source 41 is connected to the control mainboard through a wire and is controlled by the control mainboard. The control mainboard determines whether the massage force of the massage body 20 is appropriate after processing according to the feedback signal of the detection sensor 33. If the massage force is not appropriate, the control mainboard sends a command to the adjustment drive source 41 in the massage force adjustment device 40 to make the massage body 20 rotate around the support shaft 42, thereby adjusting the massage force until the massage force is appropriate. Therefore, the massage movement in the present application can not only accurately detect the massage intensity, but also intelligently adjust the massage intensity, thereby improving the massage therapy effect of the massage movement.

[0062] like Figure 2As shown, the adjustment drive source 41 is a motor, and the adjustment transmission assembly includes a drive shaft 43 driven by the motor, a drive gear 44 fixed on the drive shaft 43, and an adjustment gear 45. The drive shaft 43 is rotatably supported on the frame 11, the drive gear 44 is meshed with the adjustment gear 45, and the adjustment gear 45 is fixed to the massage body 20. The adjustment gear 45 is a segment of an arc-shaped rack. The output shaft of the motor is connected to the drive shaft 43 through a transmission 46. When the motor rotates, the drive shaft 43 and the drive gear 44 output power after the transmission 46 changes speed, thereby driving the adjustment gear 45 and the massage body 20 to rotate around the center line of the support shaft 42, thereby realizing the advance and retreat of the massage head on the massage body 20, that is, the massage head is close to or away from the human body, so as to realize the adjustment of the massage intensity. When the control mainboard determines that the therapeutic force of the massage head on the human body is too large according to the feedback signal of the detection sensor 33, the control mainboard controls the speed and direction of the motor to drive the massage body 20 to rotate in the direction away from the human body, so that the massage head is relatively far away from the human body, and the massage force on the human body is reduced until the massage force detected is appropriate. Conversely, when the control mainboard determines that the therapeutic force of the massage head on the human body is too small according to the feedback signal of the detection sensor 33, the control mainboard controls the speed and direction of the motor to drive the massage body 20 to rotate in the direction close to the human body, so that the massage head is relatively close to the human body, and the massage force on the human body is increased until the massage force detected is appropriate.

[0063] In summary, the massage movement involved in the present application has the functions of massage force detection and adjustment control, which improves the therapeutic effect of the massage movement, and can make the massage feel softer and more comfortable through the floating guide shaft 131; in addition, the massage movement has a simple structure, low cost, and good application effect. Therefore, the present invention effectively overcomes various shortcomings in the prior art and has a high industrial utilization value.

[0064] 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 frame (11), a travel guide device (13), and a massage body (20) mounted on the frame (11), wherein the travel guide device (13) comprises a guide shaft (131) and guide wheels (132) mounted at both ends of the guide shaft (131), wherein the guide wheels (132) are used to cooperate with guide grooves on the massage frame of a massage chair, and characterized in that: The invention also comprises at least one force measuring device (30) installed between the frame (11) and the guide shaft (131), wherein the guide shaft (131) can float forward and backward relative to the frame (11) under the reaction force applied by the human body to the massage body (20), and the force measuring device (30) comprises a shell (31) fixed to the frame (11), a sliding member (32) installed on the guide shaft (131), and a detection sensor (33), wherein the sliding member (32) can be slidably installed in the shell (31) forward and backward, and the detection sensor (33) is used to indirectly detect the sliding amount of the sliding member (32).

2. The massage movement according to claim 1, characterized in that: The sliding member (32) is a slider (321) that is slidably matched with the housing (31); the detection sensor (33) is a magnetic sensor (331); the force measuring device (30) further comprises a spring (34) and a magnet (35); a front-rear extending avoidance hole (311) is provided in the housing (31); the guide shaft (131) can be inserted into the avoidance hole (311) in a front-rear floating manner; two ends of the spring (34) are respectively in contact with the housing (31) and the slider (321); the magnet (35) and the magnetic sensor (331) are respectively fixed to the slider (321) and the housing (31) and are arranged relative to each other in the front and rear; the magnetic sensor (331) can sense the magnet (35) and is used to obtain the expansion and contraction deformation of the spring (34).

3. The massage movement according to claim 2, characterized in that: The housing (31) is provided with a slide groove (312) extending forward and backward, the extension direction of the slide groove (312) is orthogonal to the moving direction of the frame (11) and the axial direction of the guide shaft (131), and the slider (321) is slidably installed in the slide groove (312).

4. The massage movement according to claim 3, characterized in that: The groove wall of the sliding groove (312) and the outer surface of the sliding block (321) are coated with a lubricant layer.

5. The massage movement according to any one of claims 2 to 4, characterized in that: The Shore hardness of the slider (321) is 65-85, and the material of the slider (321) is plastic.

6. The massage movement according to claim 2, characterized in that: The magnet (35) is a permanent magnet, and the magnetic sensor (331) is a linear Hall sensor.

7. The massage movement according to claim 2, characterized in that: The materials of the housing (31) and the spring (34) are both non-magnetic good conductors.

8. The massage movement according to claim 1, characterized in that: The force measuring device (30) comprises a cylinder and a magnet, the housing (31) is the cylinder body of the cylinder, the sliding member (32) is the piston of the cylinder, and the detection sensor (33) is a magnetic sensor. The magnetic sensor and the magnet are respectively fixed to the cylinder body and the piston of the cylinder and are arranged relative to each other in the front and back directions, and the magnetic sensor can sense the magnet.

9. The massage movement according to claim 1, 2 or 8, characterized in that: The sliding member (32) is provided with a through hole (322), and the guide shaft (131) is inserted into the through hole (322) of the sliding member (32) and is slidably matched with the sliding member (32).

10. The massage movement according to claim 1, characterized in that: The massage force adjusting device (40) also includes a massage force adjusting device (40) and a control main board. The massage force adjusting device (40) includes an adjusting driving source (41) and an adjusting transmission assembly. The massage main body (20) is rotatably mounted on the vehicle frame (11) via a supporting shaft (42). The adjusting driving source (41) is connected to the massage main body (20) via the adjusting transmission assembly and drives the massage main body (20) to rotate around the supporting shaft (42). The detection sensor (33) and the adjusting driving source (41) are both connected to the control main board. The adjusting driving source (41) is a motor. The adjusting transmission assembly includes a driving shaft (43) driven to rotate by the motor, a driving gear (44) fixed on the driving shaft (43), and an adjusting gear (45). The driving shaft (43) is rotatably supported on the vehicle frame (11). The driving gear (44) is meshed with the adjusting gear (45). The adjusting gear (45) is fixed to the massage main body (20).

11. The massage movement according to claim 1, characterized in that: There are two groups of force measuring devices (30), and the two groups of force measuring devices (30) are arranged side by side along the axial direction of the guide shaft (131).

12. A massage chair, characterized in that: The massage chair is equipped with a massage movement according to any one of claims 1 to 11.

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