A massage mechanism and a massage chair

Abstract

The present invention provides a massage mechanism and a massage chair. The massage mechanism includes a frame, a walking component installed on the frame, two sets of massage components arranged oppositely left and right, a translation component rotatably installed on the frame, and a 3D component installed on the frame. The walking component is used to drive the frame to move in the up and down direction. The massage component has a massage wheel. The translation component acts on the two sets of massage components and is used to drive the two sets of massage components to move in the left and right directions in opposite or opposite directions. The 3D component acts on the translation component and is used to drive the translation component to rotate in the front and back directions. In this application, the massage component can perform a composite movement of freely combining up and down movement, left and right movement, and front and back rotation, so as to realize various massage techniques such as kneading, knocking, pinching, pulling, and pushing, with a large massage range. At the same time, it also meets the deep massage of different intensities and amplitudes of different parts of the human body, and is more in line with the massage of the human body curve, and the massage experience is good.

Description

Technical Field

[0001] The present invention relates to the technical field of massage, and in particular to a massage mechanism and a massage chair equipped with the massage mechanism. Background Art

[0002] With the popularization of massage chairs, household massage chairs have higher requirements for the volume of massage chairs, not only requiring a small floor area for use, but also taking into account massage comfort. Currently, most household massage chairs or commercial massage chairs on the market are mainly equipped with 2D massage mechanisms. If a 3D massage mechanism is configured, the massage chair is generally very bulky. Further, the kneading function of the 3D massage mechanisms on the market is realized by driving the massage heads with eccentric shafts or eccentric sleeves. The massage amplitude is limited, and there is an up-and-down drop when the massage heads move, and they cannot fully fit the human body. Although they can all massage parts such as the neck, back, waist, buttocks, and thighs, the massage range and body feeling are basically the same, and they cannot meet the different intensities and amplitudes of deep massage for different parts of the human body, resulting in a poor massage experience. Summary of the Invention

[0003] In view of the above-mentioned disadvantages of the prior art, the technical problem to be solved by the present invention is to provide a massage mechanism with a larger massage range and capable of performing deep massage with different intensities and amplitudes.

[0004] To achieve the above object, the present invention provides a massage mechanism, including a frame, a traveling assembly installed on the frame, two sets of massage assemblies arranged oppositely left and right, a translation assembly rotatably installed on the frame, and a 3D assembly installed on the frame. The traveling assembly is used to drive the frame to move in the up-and-down direction. Each massage assembly has a massage wheel. The translation assembly acts on the two sets of massage assemblies and is used to drive the two sets of massage assemblies to move in the left-and-right direction in opposite or opposite directions. The 3D assembly acts on the translation assembly and is used to drive the translation assembly to rotate in the front-and-back direction.

[0005] Further, the massage mechanism further includes two sets of percussion assemblies. Each massage assembly further includes a translation link and a massage crank arm hinged to each other. The massage wheel is installed at the end of the massage crank arm. The translation assembly is connected to the translation link. Each percussion assembly acts on the massage crank arm of each massage assembly and is used to drive the massage crank arm to swing in the front-and-back direction.

[0006] Further, the translation assembly includes a translation drive lead screw rotatably supported in the frame and extending left and right, a translation web plate rotatably engaged with the translation drive lead screw, a translation motor fixed to the frame, a left lead screw nut fixed in the translation link of the left massage assembly, and a right lead screw nut fixed in the translation link of the right massage assembly. The translation motor is connected to the translation drive lead screw and drives the translation drive lead screw to rotate. The translation drive lead screw has a left lead screw section threadedly engaged with the left lead screw nut and a right lead screw section threadedly engaged with the right lead screw nut. The thread helix direction of the left lead screw section is opposite to that of the right lead screw section.

[0007] Further, there are two translation web plates, which are arranged opposite to each other left and right; the translation assembly further includes a sliding shaft parallel to the translation drive lead screw. The left and right ends of the sliding shaft are respectively fixed to the two translation web plates, and the translation link is movably mounted on the sliding shaft through bearings.

[0008] Further, the 3D assembly includes a 3D motor fixed to the frame, a 3D drive shaft parallel to the translation drive lead screw, and a 3D drive gear fixed on the 3D drive shaft. The 3D drive shaft is rotatably supported in the frame. The 3D motor is connected to the 3D drive shaft and drives the 3D drive shaft to rotate. The translation web plate is a gear web plate, and a gear circumferential surface is provided on the outer periphery. The 3D drive gear is meshed with the gear circumferential surface on the outer periphery of the translation web plate.

[0009] Further, the knocking assembly includes a knocking motor relatively fixed to the translation web plate, a knocking shaft parallel to the translation drive lead screw, and a knocking link. The knocking shaft is rotatably supported in the translation web plate. The knocking motor is connected to the knocking shaft and drives the knocking shaft to rotate. One end of the knocking link is slidably engaged with the knocking shaft through a bearing, and the other end is hinged to the massage crank.

[0010] Further, the traveling assembly includes a traveling motor fixed to the frame, a traveling main shaft rotatably supported in the frame, a traveling gear fixed on the traveling main shaft, and a fixed rack track extending up and down. The traveling motor is connected to the traveling main shaft and drives the traveling main shaft to rotate. The traveling gear is meshed with the fixed rack track.

[0011] Further, the traveling assembly further includes traveling wheels and a traveling auxiliary shaft rotatably supported in the frame. The traveling wheels are installed at both ends of the traveling main shaft and both ends of the traveling auxiliary shaft.

[0012] Further, the frame includes two support web plates arranged opposite to each other left and right, and a connecting plate fixed between the two support web plates. The massage assembly, the translation assembly, and the 3D assembly are arranged between the two support web plates.

[0013] The present invention also provides a massage chair, in which the above-described massage mechanism is configured.

[0014] As described above, the massage mechanism and the massage chair according to the present invention have the following beneficial effects:

[0015] In this application, the walking component drives the whole massage mechanism to move up and down, the translation component drives the massage component to move left and right, and the 3D component drives the translation component and the massage component to rotate back and forth together. In this way, the massage component can perform a composite movement of freely combining up and down movement, left and right movement, and back and forth rotation, so as to realize various massage techniques such as kneading, knocking, pinching, pulling, and pushing, with a large massage range, and at the same time meet the deep massage of different intensities and amplitudes of different parts of the human body, and the massage is more in line with the human body curve, and the massage experience is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a front view of the massage mechanism in the present invention.

[0017] Figure 2 It is a rear view of the massage mechanism in the present invention.

[0018] Figure 3 It is a schematic structural diagram of the 3D component in the present invention.

[0019] Figure 4 It is a schematic structural diagram of the walking component in the present invention.

[0020] Figure 5 It is a schematic structural diagram of the translation component, the knocking component and the massage component in the present invention.

[0021] Figure 6 is Figure 5 front view of

[0022] Figure 7 It is a schematic structural diagram of the knocking connecting rod in the present invention.

[0023] Figure 8 and Figure 9 It is a schematic structural diagram of the massage component from different perspectives in the present invention.

[0024] Description of Component Labels

[0025] 10 Frame

[0026] 11 Support Web

[0027] 12 Connecting Plate

[0028] 20 Walking Component

[0029] 21 Walking Motor

[0030] 22 Walking Main Shaft

[0031] 23 Walking gear

[0032] 24 Walking wheel

[0033] 25 Walking auxiliary shaft

[0034] 26 Worm and worm gear mechanism

[0035] 30 Massage component

[0036] 31 Massage wheel

[0037] 32 Translation connecting rod

[0038] 33 Massage crank

[0039] 34 Screw shaft

[0040] 35 Oil-impregnated bearing

[0041] 36 Oil cotton

[0042] 40 Translation component

[0043] 41 Translation driving lead screw

[0044] 411 Left lead screw section

[0045] 412 Right lead screw section

[0046] 42 Translation web

[0047] 421 Gear circumferential surface

[0048] 43 Translation motor

[0049] 44 Left lead screw nut

[0050] 45 Right lead screw nut

[0051] 46 Sliding shaft

[0052] 47 Translation limit scale

[0053] 48 Support part

[0054] 50 3D component

[0055] 51 3D motor

[0056] 52 3D driving shaft

[0057] 53 3D driving gear

[0058] 54 Worm gear box

[0059] 55 Hall counter

[0060] 56 3D limit code disk

[0061] 60 Knocking component

[0062] 61 Knocking motor

[0063] 62 Knocking shaft

[0064] 63 Knocking connecting rod

[0065] 64 Knocking oil sleeve

[0066] 65 Sliding sleeve Detailed implementation manners

[0067] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0068] It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those skilled in the art to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they do not have technical essential meanings. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle", etc. cited in this specification are only for the convenience of description and are not used to limit the scope for the implementation of the present invention. The change or adjustment of their relative relationships, without substantial change in the technical content, should also be regarded as the scope in which the present invention can be implemented.

[0069] The present invention provides a massage chair and a massage mechanism configured in the massage chair. In addition, in the following embodiments, the side of the massage mechanism facing the human body is defined as the front side, and the side of the massage mechanism facing away from the human body is defined as the rear side.

[0070] Such as Figure 1 and Figure 2As shown in the figure, the massage mechanism of the present invention includes a frame 10, a traveling assembly 20 installed on the frame 10, two sets of massage assemblies 30 arranged oppositely left and right, a translation assembly 40 rotatably installed on the frame 10, and a 3D assembly 50 installed on the frame 10; among them, the massage assembly 30 has a massage wheel 31 for pressing the human body; the traveling assembly 20 is used to drive the frame 10 to move in the up and down direction, thereby driving the entire massage mechanism to move up and down, that is, driving the 3D assembly 50, the translation assembly 40 and the massage assembly 30 to move up and down together; the translation assembly 40 acts on the two sets of massage assemblies 30 and is used to drive the two sets of massage assemblies 30 to move in the left and right directions in opposite or opposite directions; the 3D assembly 50 acts on the translation assembly 40 and is used to drive the translation assembly 40 to rotate in the front and back directions, thereby driving the translation assembly 40 and the massage assembly 30 to rotate back and forth together.

[0071] In the massage mechanism involved in the present application, the translation assembly 40 can drive the two sets of massage assemblies 30 to move in the left and right directions in opposite or opposite directions, increasing the massage range of the massage mechanism; at the same time, combined with the traveling assembly 20 driving the overall up and down movement, and the 3D assembly 50 driving the front and back rotation of the translation assembly 40 and the massage assembly 30, the massage assembly 30 can perform a composite movement of free combination in three dimensions of up and down movement, left and right movement, and front and back rotation, so as to realize various massage techniques such as kneading, knocking, pinching, pulling, and pushing, meeting the deep massage of different intensities and amplitudes of different parts of the human body, and more conforming to the massage of the human body curve, improving the massage comfort and having a good massage experience.

[0072] Furthermore, as Figure 1 and Figure 2 shown, the frame 10 includes two support webs 11 arranged oppositely left and right, and a connecting plate 12 fixed between the two support webs 11. The massage assembly 30, the translation assembly 40 and the 3D assembly 50 are arranged between the two support webs 11. In this way, the overall structure of the massage mechanism is compact, the occupied volume is small, the overall structure has strong adaptability, and it can be matched with massage chairs of different specifications and sizes.

[0073] Furthermore, as Figure 1 shown, the massage mechanism further includes two sets of knocking assemblies 60; as Figure 8 and Figure 9 shown, the massage assembly 30 further includes a translation link 32 and a massage crank 33 hinged by a screw shaft 34, and the massage wheel 31 is installed at the end of the massage crank 33; the translation assembly 40 is connected to the translation link 32 and drives the translation link 32 to move in the left and right directions, thereby driving the massage assembly 30 to move in the left and right directions; the two sets of knocking assemblies 60 respectively act on the massage crank 33 of each massage assembly 30 and are used to drive the massage crank 33 to swing in the front and back directions to realize the knocking massage technique on the human body.

[0074] The preferred structures of the translation component 40, the 3D component 50, the percussion component 60, and the walking component 20 are described below.

[0075] As Figure 5 and Figure 6 shown, the translation component 40 includes a translation drive screw rod 41 extending left and right, a translation web 42 rotatably engaged with the translation drive screw rod 41, a translation motor 43 fixed on the right support web 11 in the frame 10, a left screw nut 44 fixed in the translation link 32 of the left massage component 30, and a right screw nut 45 fixed in the translation link 32 of the right massage component 30. The left and right ends of the translation drive screw rod 41 are rotatably supported in the left and right support webs 11 through rolling bearings, and the translation drive screw rod 41 is also rotatably supported in the translation web 42 through a copper sleeve. The motor shaft of the translation motor 43 is connected to the translation drive screw rod 41 through a pulley drive mechanism. The translation drive screw rod 41 has a left screw rod section 411 threadedly engaged with the left screw nut 44 and a right screw rod section 412 threadedly engaged with the right screw nut 45. The thread helix direction of the left screw rod section 411 is opposite to that of the right screw rod section 412. When the translation motor 43 rotates, the translation motor 43 drives the translation drive screw rod 41 to rotate through the pulley drive mechanism. The translation drive screw rod 41 drives the left screw nut 44 and the right screw nut 45 to move in opposite or opposite directions along the translation drive screw rod 41 through the threaded engagement of the left screw rod section 411 and the left screw nut 44 and the threaded engagement of the right screw rod section 412 and the right screw nut 45, thereby driving the left massage component 30 and the right massage component 30 to move in opposite or opposite directions along the translation drive screw rod 41. Thus, the eccentric structure is omitted in this application, and the translation of the massage component 30 in the left and right directions always tends to be a linear motion. Coupled with the walking component 20 driving the whole to move up and down, a planar kneading massage action can be realized; on the basis of the above massage action, coupled with the forward and backward rotation driven by the 3D component 50, accurate massage actions such as shoulder and neck pinching can be realized; on the basis of the above massage action, coupled with the forward and backward swing driven by the percussion component 60, various massage techniques such as kneading, percussion, finger pressure, kneading and pounding, and patting and trembling can be realized. The massage techniques can be combined in various ways to meet the needs of different people. Moreover, the range of massage depends on the length of the translation drive screw rod 41, which has strong adaptability to massage chairs of different specifications, and thus can meet the different intensities and amplitudes of deep massage of different parts of the human body, and the massage experience is good.

[0076] Preferably, as Figure 5 and Figure 6 shown, there are two translation webs 42, which are arranged opposite to each other left and right. The left translation web 42 is located on the right side of the left support web 11, and the right translation web 42 is located on the left side of the right support web 11; that is, the two translation webs 42 are located between the two support webs 11. As Figure 5 andFigure 6 and Figure 8 and Figure 9 As shown, the translation component 40 further includes two sliding shafts 46 that are both parallel to the translation drive lead screw 41. The left and right ends of the sliding shafts 46 are respectively fixed in the left and right translation webs 42. The translation link 32 is movably mounted on the sliding shafts 46 through oil-impregnated bearings 35 to improve the stability when the massage component 30 moves left and right; an oil cotton 36 is fixed to the side of the translation link 32. In addition, the two sliding shafts 46 are distributed on the upper and lower sides of the translation drive lead screw 41, and the two sliding shafts 46 and one translation drive lead screw 41 are arranged in a triangular distribution to improve the overall structural stability.

[0077] Preferably, the massage component 30 further includes a grating detector fixed to the lower side of the massage crank arm 33; as Figure 5 shown, the translation component 40 further includes a translation limit ruler 47 fixed to the translation web 42; during the process of the translation component 40 driving the massage component 30 to move left and right, the grating detector cooperates with the translation limit ruler 47. The left and right positions of the massage component 30 can be judged through the output signal of the grating detector. By combining the precise control of the translation motor 43, the left and right positions of the massage component 30 can be controlled, that is, the movement trajectory of the massage component 30 is restricted.

[0078] Furthermore, as Figures 5 to 7 shown, the translation component 40 further includes a support member 48 fixedly connected to the sliding shaft 46; the percussion component 60 includes a percussion motor 61 fixed to the support member 48, a percussion shaft 62 parallel to the translation drive lead screw 41, and a percussion link 63. The percussion shaft 62 is rotatably supported in the translation web 42 and the support member 48 through rolling bearings. The percussion motor 61 is connected to the percussion shaft 62 through a pulley transmission mechanism. One end of the percussion link 63 is in sliding cooperation with the percussion shaft 62 through a bearing, and the other end of the percussion link 63 is hinged to a pin shaft on the massage crank arm 33 through a sliding sleeve 65. When the percussion motor 61 rotates, the percussion motor 61 drives the percussion shaft 62 to rotate through the pulley transmission mechanism, and the percussion shaft 62 drives the percussion link 63 to rotate together, driving the massage crank arm 33 and the massage wheel 31 to swing back and forth to realize the percussion action. Preferably, as Figure 7 shown, a percussion oil sleeve 64 is further installed at the sliding sleeve 65 of the percussion link 63 to achieve lubrication.

[0079] Furthermore, as Figure 1 shown, the 3D component 50 is configured on the upper end side of the support web 11. The 3D component 50 acts on the translation web 42 to drive the translation web 42 to rotate back and forth with the translation drive lead screw 41 as the rotation center axis. The translation web 42 then drives the translation link 32 of the massage component 30 to rotate back and forth through the sliding shaft 46, realizing the back and forth rotation of the massage component 30. Specifically, as Figure 3As shown, the 3D component 50 includes a 3D motor 51 fixed to the right supporting web 11 in the frame 10, a 3D driving shaft 52 parallel to the translation driving screw 41, and a 3D driving gear 53 fixed on the 3D driving shaft 52. The left and right ends of the 3D driving shaft 52 are rotatably supported on the upper ends of the left and right supporting webs 11 through rolling bearings respectively. The motor shaft of the 3D motor 51 is connected to the 3D driving shaft 52 through a pulley transmission mechanism and a worm gear box 54 in turn. The translation web 42 is a gear web with a gear circumferential surface 421 on the outer periphery. The 3D driving gear 53 is meshed with the gear circumferential surface 421 on the outer periphery of the translation web 42. When the 3D motor 51 rotates, the worm gear in the worm gear box 54 is driven to rotate through the pulley transmission mechanism, thereby driving the 3D drive shaft 52 to rotate, and the 3D drive shaft 52 drives the 3D drive gear 53 to rotate together, and the 3D drive gear 53 is engaged with the gear circumferential surface 421 on the outer periphery of the translation web 42 to drive the translation web 42 to rotate forward and backward around the translation drive screw 41, thereby driving the massage component 30 to rotate forward and backward through the two sliding shafts 46, realizing the forward or backward movement of the massage component 30, and then realizing 3D action, providing different massage intensities and depths.

[0080] Preferably, the 3D assembly 50 further includes a Hall counter 55, which is fixed to the shaft end of the worm in the worm gear housing 54; when the 3D motor 51 rotates, the 3D drive shaft 52 is driven to rotate through the pulley transmission mechanism and the worm gear housing 54 in turn, and the number of revolutions of the 3D drive shaft 52 can be determined through the Hall counter 55. Figure 5 As shown, a 3D limit code disk 56 fixed to the right supporting belly plate 11 is provided at the right end of the translation driving screw rod 41, and a front grating position detector and a rear grating position detector are respectively fixed at the front and rear ends of the right translation belly plate 42; when the 3D component 50 drives the translation belly plate 42 to rotate forward to the frontmost position, the 3D limit code disk 56 can detect the front grating position detector, and the control system controls the 3D motor 51 to stop running; when the 3D component 50 drives the translation belly plate 42 to rotate backward to the final position, the 3D limit code disk 56 can detect the rear grating position detector, and the control system controls the 3D motor 51 to stop running; in this way, the front and rear limit positions of the translation belly plate 42 and the massage component 30 can be accurately controlled.

[0081] Furthermore, if Figure 1 and Figure 2 ,as well as Figure 4As shown in the figure, the walking assembly 20 includes a walking motor 21 fixed to the left support web 11 in the frame 10, a walking main shaft 22 rotatably supported in the left and right support webs 11 by rolling bearings, a walking gear 23 fixed to the walking main shaft 22, and a fixed rack track extending vertically. The walking main shaft 22 is arranged at the lower end side of the two support webs 11. The fixed rack track is used to be fixedly connected to the chair frame of the massage chair. The motor shaft of the walking motor 21 is connected to the walking main shaft 22 through a worm and worm gear mechanism 26. The walking gear 23 meshes with the fixed rack track. When the walking motor 21 rotates, it drives the walking main shaft 22 to rotate through the worm and worm gear mechanism 26. The walking main shaft 22 drives the walking gear 23 to rotate together, and realizes the up and down movement along the fixed rack track through the meshing of the walking gear 23 and the fixed rack track.

[0082] Preferably, as Figure 1 and Figure 2 shown in the figure, the walking assembly 20 further includes walking wheels 24 and a walking auxiliary shaft 25 rotatably supported in the left and right support webs 11 by rolling bearings. The walking auxiliary shaft 25 is arranged at the upper end side of the two support webs 11. Walking wheels 24 are installed at both the left and right ends of the walking main shaft 22 and at both the left and right ends of the walking auxiliary shaft 25, which increases the stability when the massage mechanism moves up and down. An upper limit signal plate and a lower limit signal plate are fixedly provided on one side of the two support webs 11; when the walking assembly 20 drives the massage mechanism to move up to the uppermost position as a whole, the upper limit signal plate is triggered, and then the control system controls the walking motor 21 to stop operating; when the walking assembly 20 drives the massage mechanism to move down to the lowermost position as a whole, the lower limit signal plate is triggered, and then the control system controls the walking motor 21 to stop operating; in this way, the upper and lower walking limit positions of the massage mechanism are accurately controlled.

[0083] In summary, the present invention effectively overcomes various disadvantages in the prior art and has high industrial utilization value.

[0084] The above embodiments are only illustrative of the principles and effects of the present invention, and are not used to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A massage mechanism, characterized in that: it includes a frame (10), a walking component (20) installed on the frame (10), two groups of massage components (30) arranged oppositely left and right, a translation component (40) rotatably installed on the frame (10), a 3D component (50) installed on the frame (10), and two groups of percussion components (60). The walking component (20) is used to drive the frame (10) to move in the up and down direction. The massage component (30) has a massage wheel (31), and a translation connecting rod (32) and a massage crank (33) hinged thereto. The massage wheel (31) is installed at the end of the massage crank (33); The translation component (40) acts on the two groups of massage components (30) and is used to drive the two groups of massage components (30) to move in the left and right directions in opposite or opposite directions. The translation component (40) includes a translation drive screw rod (41) rotatably supported in the frame (10) and extending left and right, a translation web (42) rotatably engaged with the translation drive screw rod (41), a translation motor (43) fixed to the frame (10), a left screw nut (44) fixed in the translation connecting rod (32) of the left massage component (30), and a right screw nut (45) fixed in the translation connecting rod (32) of the right massage component (30). The translation motor (43) is connected to the translation drive screw rod (41) and drives the translation drive screw rod (41) to rotate. The translation drive screw rod (41) has a left screw rod section (411) threadedly engaged with the left screw nut (44) and a right screw rod section (412) threadedly engaged with the right screw nut (45). The thread helix direction of the left screw rod section (411) is opposite to that of the right screw rod section (412); The 3D component (50) acts on the translation component (40) and is used to drive the translation component (40) to rotate in the front and back directions. The 3D component (50) includes a 3D motor (51) fixed to the frame (10), a 3D drive shaft (52) parallel to the translation drive screw rod (41), and a 3D drive gear (53) fixed on the 3D drive shaft (52). The 3D drive shaft (52) is rotatably supported in the frame (10). The 3D motor (51) is connected to the 3D drive shaft (52) and drives the 3D drive shaft (52) to rotate. The translation web (42) is a gear web and is provided with a gear circumferential surface (421) on its outer periphery. The 3D drive gear (53) is engaged with the gear circumferential surface (421) on the outer periphery of the translation web (42); Each group of the percussion components (60) acts on the massage crank (33) of each massage component (30) and is used to drive the massage crank (33) to swing in the front and back directions; The translation component (40) drives the two sets of massage components (30) to move in opposite or opposite directions along the left-right direction, and then cooperates with the walking component (20) to drive the whole to move up and down, and the 3D component (50) to drive the translation component (40) and the massage component (30) to rotate back and forth, so that the massage component (30) can perform a composite movement of free combination in three dimensions of up and down movement, left and right movement, and back and forth rotation.

2. The massage mechanism according to claim 1, characterized in that: There are two translation webs (42), which are arranged opposite to each other left and right; the translation component (40) further includes a sliding shaft (46) parallel to the translation drive screw rod (41), and the left and right ends of the sliding shaft (46) are respectively fixed to the two translation webs (42), and the translation connecting rod (32) is movably installed on the sliding shaft (46) through a bearing.

3. The massage mechanism according to claim 1, characterized in that: The knocking component (60) includes a knocking motor (61) fixedly arranged opposite to the translation web (42), a knocking shaft (62) parallel to the translation drive screw rod (41), and a knocking connecting rod (63). The knocking shaft (62) is rotatably supported in the translation web (42). The knocking motor (61) is connected to the knocking shaft (62) and drives the knocking shaft (62) to rotate. One end of the knocking connecting rod (63) is slidably matched with the knocking shaft (62) through a bearing, and the other end is hinged to the massage crank arm (33).

4. The massage mechanism according to claim 1, characterized in that: The walking component (20) includes a walking motor (21) fixed to the frame (10), a walking main shaft (22) rotatably supported in the frame (10), a walking gear (23) fixed on the walking main shaft (22), and a fixed rack track extending up and down. The walking motor (21) is connected to the walking main shaft (22) and drives the walking main shaft (22) to rotate. The walking gear (23) meshes with the fixed rack track.

5. The massage mechanism according to claim 4, characterized in that: The walking component (20) further includes walking wheels (24) and a walking auxiliary shaft (25) rotatably supported in the frame (10). The walking wheels (24) are installed at both ends of the walking main shaft (22) and both ends of the walking auxiliary shaft (25).

6. The massage mechanism according to claim 1, characterized in that: The frame (10) includes two support webs (11) arranged opposite to each other left and right, and a connecting plate (12) fixed between the two support webs (11). The massage component (30), the translation component (40) and the 3D component (50) are arranged between the two support webs (11).

7. A massage chair, characterized in that: The massage chair is configured with the massage mechanism according to any one of claims 1-6.

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