Three-axis progressive linkage flattening null-space massage chair frame of sliding groove structure

Abstract

The invention relates to a three-axis progressive linkage flattening null-space massage chair frame of a sliding groove structure, the three-axis progressive linkage flattening null-space massage chair frame comprises a bottom frame, a backrest frame, a seat frame and manipulators, the backrest frame and the seat frame are installed on the bottom frame, backrest frame guide rails are arranged on the two sides of the backrest frame, seat frame guide rails are arranged on the two sides of the seat frame, flexible guide rails are connected between the seat frame guide rails and the backrest frame guide rails, and the manipulators are connected with the seat frame guide rails. The mechanical arm can be meshed with the seat frame guide rail or the tooth-shaped chain or the backrest frame guide rail to walk through the walking wheel assembly, the first end of the backrest frame can lie down or stand up on the bottom frame, and the flexible guide rail lies down or stands up to be bent or stops being bent along with the backrest frame. The bottom frame achieves progressive transmission of the backrest frame sliding shaft, the first seat frame sliding shaft and the second seat frame sliding shaft through a lying swing arm of a sliding groove structure, and therefore large-angle lying or standing is achieved. The device has the advantages that through three-axis progressive linkage of the sliding groove structure, the effect of extreme stretching is achieved, and the effect of reverse arching and tendon stretching on the back of the human body can be achieved.

Description

Technical Field

[0001] The invention relates to the technical field of massage chairs, and in particular to a three-axis progressive linkage flattening zero-space massage chair frame with a slide groove structure. Background Art

[0002] With the continuous advancement of technology, the design and functions of massage chairs will become more advanced to better serve people's daily lives. Massage chairs have developed from the initial sitting function to the leaning function, and then to the "zero gravity" lying function. Massage chairs can be flattened into a bed in order to provide a more comfortable and personalized massage experience, that is, the massage chair can achieve the effect of "extreme stretching".

[0003] The invention application number currently applied by the applicant is 202111620325.6, which relates to a flattenable massage chair with an involute toothed chain track that is convenient for a manipulator to walk, including a backrest frame, a seat frame and a manipulator, wherein the backrest frame is mounted on the seat frame, and also includes a toothed chain, one end of the toothed chain is mounted on the backrest frame, and the other end of the toothed chain is mounted on the seat frame, wherein the toothed chain includes a plurality of chain tooth plates, and each chain tooth plate is provided with two toothed portions at the head and tail, respectively, wherein the head and tail tooth portions of two adjacent chain tooth plates along the length direction of the toothed chain are staggered and hingedly matched, and the manipulator is provided with a sprocket that meshes with the toothed chain. By adopting the above scheme, it is possible to achieve constant pitch meshing of the sprocket and the toothed chain, the operation of the manipulator is more stable, and it has a simple structure, a large torque transmission, and a good sound-absorbing effect.

[0004] In order to reduce the manufacturing cost of the above application while satisfying the "extreme stretching" and "reverse arch stretching" effects, a new type of massage chair frame is needed. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a massage chair frame which, in view of the deficiencies of the above-mentioned prior art, can achieve the effect of "extreme stretching" and "reverse arch stretching" on the human spine through a three-axis progressive linkage of a slide structure.

[0006] To achieve the above-mentioned purpose, the following technical scheme is adopted: a three-axis progressive linkage flattening zero-space massage chair frame with a slide groove structure, comprising a base frame, a backrest frame, a seat frame and a manipulator, wherein the backrest frame and the seat frame are installed on the base frame, backrest frame guide rails are provided on both sides of the backrest frame, seat frame guide rails are provided on both sides of the seat frame, and a flexible guide rail is connected between the seat frame guide rail and the backrest frame guide rail, and the manipulator can realize walking in mesh with the seat frame guide rail or the flexible guide rail or the backrest frame guide rail through a walking wheel assembly, characterized in that: the first end of the backrest frame can lie down or stand up on the base frame, and the flexible guide rail bends or stops bending as the backrest frame lies down or stands up, and a slide groove structure is provided on the base frame, and the slide groove structure includes a first slide groove, a second slide groove and a third slide groove. The side surface of the second end of the back frame is provided with a back frame sliding shaft that extends into the first sliding groove and slides along the first sliding groove track, the side surface of the first end of the seat frame is provided with a first seat frame sliding shaft that extends into the second sliding groove and slides along the second sliding groove track, and the side surface of the second end of the seat frame is provided with a second seat frame sliding shaft that extends into the third sliding groove and slides along the third sliding groove track. The base frame is hinged with a lying swing arm, and the lying swing arm is hinged at one end away from the base frame to the second end of the back frame, and a seat frame transmission rod is also hinged between the second end of the back frame and the second end of the seat frame. The back frame lies upside down and drives the lying swing arm to rotate to realize the back frame sliding shaft sliding forward and backward along the first sliding groove, and the second end of the back frame makes the first seat frame sliding shaft and the second seat frame sliding shaft of the seat frame slide forward and backward along the second sliding groove and the third sliding groove respectively through the seat frame transmission rod.

[0007] The first slide slot, the second slide slot and the third slide slot are three-axis progressive type, that is, when the backrest frame lies down, the second end of the backrest frame is hinged with the lying swing arm, and the lying swing arm is in the shape of a bow. The lying swing arm rotates forward to enable the backrest frame sliding shaft at the second end of the backrest frame to move forward in the first slide slot, that is, the second end of the backrest frame can be moved forward. When the second end of the backrest frame moves forward, the forward movement force is progressively transmitted to the second end of the seat frame through the seat frame transmission rod. At this time, the second seat frame sliding shaft slides back and forth along the third slide slot, and the first seat frame sliding shaft also slides back and forth in the second slide slot with the seat frame. The function of the second slide slot is to stabilize the seat frame. When the backrest frame lies down, the flexible guide rail stops bending and approaches a flattened state, and the forward movement distance of the seat frame is small, thereby being able to achieve the functional requirement of zero space at the front side of the seat frame. The three-axis progressive type The slide groove design can ensure that the height of the backrest frame guide rail and the flexible guide rail is constant when the backrest frame is in the standing or lying state. The height value is a constant "δ" height value. The flexible guide rail is a toothed chain structure similar to that in the comparative document. When the backrest frame is standing up or lying down, the toothed chain will not be pulled too tight to cause the height δ to decrease, so that the robot cannot pass through; or, when the backrest frame is standing up or lying down, the toothed chain will not become loose and cause the height δ to increase, so that when the robot passes through this section, abnormal situations such as tooth jumping or left and right shaking of the robot will occur. The stroke of the slide groove can also be increased to achieve another effect requirement of "reverse arch stretching" of the human spine. The long-distance fully flattened mechanism design with zero space function can be realized through the three-sliding axis progressive structure, and the processing cost is lower than that of the comparative document.

[0008] A three-axis progressive linkage flattening zero-space massage chair frame with a slide groove structure can be further configured as follows: the first slide groove, the second slide groove, and the third slide groove are all inclined, the inclination angle of the first slide groove is greater than the inclination angle of the second slide groove and the inclination directions of the two are the same, and the inclination direction of the third slide groove is opposite to that of the first slide groove.

[0009] By adopting the above technical scheme, in order to achieve the "high swing position" of the backrest to meet the constant height "δ" value, the first slide groove, the second slide groove, and the third slide groove all need to be inclined. When the backrest frame is lying flat, the second end of the backrest frame is inclined and falling relative to when it is standing up. The second end of the backrest frame transmits the forward force to the second end of the backrest frame through the seat frame transmission rod. In order to make the entire massage chair frame lie flat or even arched, the inclination direction of the third slide groove is opposite to the inclination direction of the first slide groove, and it is in an inclined upward state. The second slide groove is used to stabilize the seat frame. In order to cooperate with the sliding direction of the third slide groove, it also presents a slight inclined decline. The three are progressive to achieve the long-distance complete flattening function of the zero space function.

[0010] A three-axis progressive linkage flattening zero-space massage chair frame with a slide groove structure can be further configured as follows: an electric push rod is arranged on the base frame, the output end of the electric push rod is hinged to the backrest frame, and the electric push rod is extended or retracted to make the backrest frame lie down or stand up.

[0011] By adopting the above technical solution, the electric push rod can be installed in different directions so as to be pushed out to make the backrest frame lie down or stand up. When the output end of the electric push rod is toward the second end of the backrest frame, the backrest frame can be laid down by pushing out. When the output end of the electric push rod is toward the first end of the backrest frame, the backrest frame can be stood up by pushing out.

[0012] A three-axis progressive linkage flattening zero-space massage chair frame with a slide groove structure can be further configured as follows: a tension spring is arranged on the base frame, and one end of the tension spring away from the base frame is connected to the seat frame.

[0013] By adopting the above technical solution, the tension spring is located at the front end of the seat frame, and its function is to help the backrest frame to lie down. Since the power source for the backrest frame to lie down is the lying swing arm, the tension spring can keep the toothed chain taut when the backrest frame stands up or lies down, thereby avoiding the phenomenon that the flexible guide rail section is loose due to insufficient forward movement of the seat frame.

[0014] A three-axis progressive linkage flattening zero-space massage chair frame with a slide groove structure can be further configured as follows: the flexible guide rail includes a toothed chain and an elastic hanger plate, the elastic hanger plate is arranged at the bottom of the toothed chain, one end of the elastic hanger plate is fixed to the back frame guide rail, and the other end is fixed to the seat frame guide rail, the back frame guide rail is provided with a supporting block located at the bottom of the elastic hanger plate, the toothed chain includes a plurality of chain tooth plates, the chain tooth plates at the head and tail ends of the toothed chain are respectively fixedly connected to the seat frame guide rail and the back frame guide rail through a toothed chain fixing piece, the elastic hanger plate is fixedly connected to the chain tooth plate and bends longitudinally synchronously with the bending of the toothed chain.

[0015] By adopting the above technical scheme, the toothed chain can adopt the more conventional CL-06 toothed chain, and the manipulator can walk on the backrest frame track, the seat frame track and the toothed chain through the meshing of the walking wheel assembly. The material of the elastic hanger can be an elastic steel plate, which has good deformation ability and sufficient strength. One side of the elastic hanger is directly fixedly connected to several sprocket plates of the toothed chain located on the elastic hanger, and the elastic hanger needs to be fixedly connected to the side of the sprocket plate. The elastic hanger and the side of the sprocket plate can be solidified and connected by an ultrasonic welder, so that the elastic hanger will not affect the mutual bending of each section of the toothed chain. By fixing the sprocket plate, the toothed chain will not shake laterally when bending longitudinally, and its lateral direction has been restricted by the elastic hanger. The toothed chain will be bent or stop bending when the backrest frame is standing up or lying down, and the elastic hanger can bend longitudinally synchronously with the toothed chain, so that better support can be achieved even in the case of bending.

[0016] A three-axis progressive linkage flattening zero-space massage chair frame with a slide groove structure can be further configured as follows: the backrest frame guide rail is also provided with an elastic steel belt strip located above the toothed chain at one end facing the seat frame guide rail, the upper side of the elastic steel belt strip is provided with a winding drum, and the lower side of the elastic steel belt strip is provided with a transition plate; when the backrest frame is erected on the seat frame, the transition plate presses down and bends the lower side wall of the elastic steel belt strip, and the upper side wall of the elastic steel belt strip is bent and abuts against the side wall of the winding drum; when the backrest frame lies down on the seat frame, the transition plate stops bending the elastic steel belt strip, and the elastic steel belt strip returns to its initial state; when the walking wheel assembly is located on the flexible guide rail, the elastic steel belt strip elastically abuts against the top of the walking wheel assembly to prevent the robot from moving longitudinally.

[0017] With the above technical solution, the supporting block is used to support the elastic hanging plate, so that the elastic hanging plate is not in a suspended state and the service life of the elastic hanging plate is increased. A supporting groove can be provided on the supporting block, so that the elastic hanging plate is not easy to shake laterally, further increasing the lateral anti-shaking property of the elastic hanging plate.

[0018] A three-axis progressive linkage flattening zero-space massage chair frame with a slide groove structure can be further configured as follows: two first racks are provided on the backrest frame guide rail, two second racks are provided on the seat frame guide rail, the toothed chain is connected between the first rack and the second rack, the travel wheel assembly can be engaged with the first rack or the toothed chain or the second rack to achieve walking, the travel wheel assembly includes two spur gears engaged with the first rack or the second rack, and a sprocket gear engaged with the toothed chain is provided between the two spur gears.

[0019] Using the above technical solution, the spur gear is used to mesh with the first rack or the second rack, and the sprocket is used to mesh with the toothed chain. Since the toothed chain bends or stops bending when the massage chair frame is lying down or standing up, the sprocket needs to always be in toothed meshing with the toothed chain to prevent the two from meshing more closely and not easily coming off the teeth.

[0020] A three-axis progressive linkage flattening zero-space massage chair frame with a slide groove structure can be further configured as follows: the number of teeth of the spur gear is equal to or an integer multiple of the number of teeth of the sprocket gear, and there is an aisle between the two sides of the sprocket gear and the spur gear; the toothed chain fixing part includes a base plate and baffles arranged on both sides of the base plate, the aisle is for the baffle to extend into and approach the two side surfaces of the sprocket gear, the base plate is fixedly connected to the bottom surface of the seat frame guide rail or the backrest frame guide rail, the baffle extends from between the two first racks or the two second racks and is fixedly connected to the sprocket tooth plates at the head and tail ends of the toothed chain at at least two points, the sprocket gear is aligned with the axial tooth shape of the toothed chain; the spur gear is aligned with the axial tooth shape of the first rack or the second rack.

[0021] By adopting the above technical solution, due to the setting of the aisle, when the toothed chain meshes with the sprocket, it will not interfere with the activity of the spur gear, and when the spur gear meshes with the two first racks or the second rack, it will not interfere with the activity of the sprocket; the sprocket tooth shape is obtained by the involute meshing method, and its tooth shape and number of teeth are calculated to be less than the minimum value of the national standard. For this reason, the meshing method is used to design a "non-standard" involute chain gear and spur gear combination tooth robot walking active gear assembly, the pitch circle of the gear and the pitch circle of the sprocket do not need to be equal, and the number of spur gear teeth can be equal to the number of sprocket gear teeth. Or it can be an integral multiple of the number of sprocket teeth, which can reduce the number of sprocket teeth. The sprocket can also use a standard chain. The processing difficulty of non-standard sprockets is lower than that of non-standard chains, and the cost can be reduced. The sprocket and the toothed chain can be more compatible, so that the meshing is tighter, the noise is reduced, and the teeth are not easy to slip or disengage. Due to the setting of the aisle, the first spur gear and the second spur gear will not affect the rotation of the sprocket when they are meshed with the first rack or the second rack, and the sprocket will not affect the rotation of the first spur gear and the second spur gear when they are meshed with the toothed chain. The structure is simple and the design is reasonable.

[0022] A three-axis progressive linkage flattening zero-space massage chair frame with a slide groove structure can be further configured as follows: an anti-error protrusion is provided between the two first racks and located at the starting end of the first rack, the anti-error protrusion is aligned with the sprocket tooth shape, and the anti-error protrusion is engaged with the sprocket to limit the starting angle of installation of the walking wheel assembly.

[0023] With the above technical solution, since this non-standard travel wheel assembly is adopted, when the travel wheel assembly is installed, it is necessary to first mesh the spur gears on both sides with the first rack and install them. Therefore, if the spur gear is directly installed into the first rack at any starting angle, when the sprocket in the middle reaches the toothed chain, due to the mismatch of the tooth shapes, it is easy to misalign the teeth, and even cause the sprocket of the robot to be stuck with the toothed chain, making the robot unable to move. The installation angle of the sprocket is limited by the anti-misalignment protrusion, so that after the travel wheel assembly is installed from the starting angle, when the travel wheel assembly transitions from the first rack to the toothed chain, the tooth shape of the sprocket is just aligned with the tooth shape of the toothed chain, so that it is not easy to misalign the teeth or even cause the robot to be stuck.

[0024] The present invention is further described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a stereogram of an embodiment of the present invention.

[0026] Figure 2 For the embodiment of the present invention Figure 1 Schematic diagram of the structure after removing the manipulator and walking axis.

[0027] Figure 3 For the embodiment of the present invention Figure 2 Enlarged view of part A in .

[0028] Figure 4 For the embodiment of the present invention Figure 2 Schematic diagram of the connection structure of the middle backrest frame, seat frame, lying swing arm and seat frame transmission rod.

[0029] Figure 5 For the embodiment of the present invention Figure 1 Schematic diagram of the structure of the middle backrest frame in the lying flat state.

[0030] Figure 6 For the embodiment of the present invention Figure 5 Enlarged view of part B.

[0031] Figure 7 This is a schematic diagram of the structural principle of a backrest frame in an upright state according to an embodiment of the present invention.

[0032] Figure 8 The structural principle of the backrest frame in the upright state of the embodiment of the present invention is briefly described. Figure 2 .

[0033] Fig. 9 This is a schematic diagram of the structural principle of a backrest frame in a lying flat state according to an embodiment of the present invention.

[0034] Fig.10 The structural principle of the backrest frame in the lying flat state of the embodiment of the present invention is briefly described. Figure 2.

[0035] Fig.11 This is a schematic diagram of the structural principle of the backrest frame in the "reverse bow and tension" state of an embodiment of the present invention.

[0036] Fig.12 The structural principle of the backrest frame of the embodiment of the present invention in the state of "reverse bow and tensioning" is briefly described. Figure 2 .

[0037] Fig.13 For the embodiment of the present invention Figure 5 Connection structure diagram of the middle backrest frame, flexible guide rail and seat frame.

[0038] Fig.14 The figure is a connection structure diagram of a backrest frame, a flexible guide rail and a seat frame according to an embodiment of the present invention.

[0039] Fig.15 For the embodiment of the present invention Fig.14 Enlarged view of part C.

[0040] Fig.16 For the embodiment of the present invention Fig.14 Enlarged view of part D.

[0041] Fig.17 For the embodiment of the present invention Figure 1 Schematic diagram of the structure of the middle travel wheel assembly.

[0042] Fig.18 For the embodiment of the present invention Fig.14 Schematic diagram of the structure of the middle toothed chain fixing.

[0043] In the figure: 1, base frame; 2, backrest frame; 3, seat frame; 4, manipulator; 5, flexible guide rail; 6, toothed chain fixing piece; 7, elastic steel belt pressure strip; 8, slideway structure; 11, electric push rod; 12, lying swing arm; 13, seat frame transmission rod; 14, tension spring; 20, backrest frame guide rail; 21, first rack; 22, supporting block; 30, seat frame guide rail; 31, second rack; 33, toothed chain; 40, travel Walking wheel assembly; 41, spur gear; 51, toothed chain; 52, elastic hanging plate; 53, sprocket; 61, bottom plate; 62, baffle; 71, winding drum; 72, transition plate; 81, first slide groove; 82, second slide groove; 83, third slide groove; 211, anti-error protrusion; 411, aisle; 511, sprocket plate; 811, backrest frame slide shaft; 821, first seat frame slide shaft; 822, second seat frame slide shaft. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of the protection examples of the present invention.

[0045] Example: Figure 1-Figure 18The three-axis progressive linkage flattening zero-space massage chair frame of a slide groove structure shown in the figure comprises a base frame 1, a backrest frame 2, a seat frame 3 and a manipulator 4, wherein the backrest frame 2 and the seat frame 3 are mounted on the base frame 1, backrest frame guide rails 20 are arranged on both sides of the backrest frame 2, seat frame guide rails 30 are arranged on both sides of the seat frame 3, and a flexible guide rail 5 is connected between the seat frame guide rail 30 and the backrest frame guide rail 20, and the first end of the backrest frame 2 can lie down or stand up on the base frame 1, The flexible guide rail 5 bends or stops bending as the backrest frame 2 lies down or stands up, and the flexible guide rail 5 includes a toothed chain 51 and an elastic suspension plate 52, the elastic suspension plate 52 is arranged at the bottom of the toothed chain 51, one end of the elastic suspension plate 52 is fixed to the backrest frame guide rail 20, and the other end is fixed to the seat frame guide rail 30, the backrest frame guide rail 20 is provided with a supporting block 22 located at the bottom of the elastic suspension plate 52, and a supporting groove can be arranged on the supporting block 22 to prevent the elastic suspension plate 5 2 transverse displacement, the toothed chain 51 includes a plurality of sprocket plates 511, the sprocket plates 511 at both ends of the toothed chain 51 are respectively fixedly connected to the seat frame guide rail 30 and the backrest frame guide rail 20 through the toothed chain fixing member 6, the elastic hanging plate 52 is fixedly connected to the sprocket plates 511 and is longitudinally bent synchronously with the bending of the toothed chain 51, and the manipulator 4 can realize the connection with the seat frame guide rail 30 or the toothed chain 51 or the backrest frame guide rail 20 through the walking wheel assembly 40. 0 meshes with each other for walking, the end of the backrest frame guide rail 20 facing the seat frame guide rail 30 is also provided with an elastic steel strip 7 located above the toothed chain 51, the upper side of the elastic steel strip 7 is provided with a winding drum 71, and the lower side of the elastic steel strip 7 is provided with a transition plate 72. When the backrest frame 2 is erected on the seat frame 3, the transition plate 72 presses and bends the lower side wall of the elastic steel strip 7, and the upper side wall of the elastic steel strip 7 is bent and contacts the side wall of the winding drum 71;When the backrest frame 2 lies on the seat frame 3, the transition plate 72 stops bending the elastic steel strip 7, and the elastic steel strip 7 returns to its initial state. When the walking wheel assembly 40 is located on the flexible guide rail 5, the elastic steel strip 7 elastically abuts against the top of the walking wheel assembly 40 to prevent the manipulator 4 from moving longitudinally. Two first racks 21 are provided on the backrest frame guide rail 20, and two second racks 31 are provided on the seat frame guide rail 30. The toothed chain 51 is connected to the first rack 21 and the second rack The travel wheel assembly 40 can be meshed with the first rack 21 or the toothed chain 51 or the second rack 31 to achieve walking. The travel wheel assembly 40 includes two spur gears 41 meshed with the first rack 21 or the second rack 31. A sprocket 53 meshed with the toothed chain 51 is provided between the two spur gears 41. The number of teeth of the spur gears 41 and the sprocket 53 is equal or an integral multiple of the number of teeth of the sprocket 53. There is an aisle 411 between the two sides of the sprocket 53 and the spur gears 41. The chain fixing member 6 includes a bottom plate 61 and baffles 62 arranged on both sides of the bottom plate 61. The aisle 411 is used for the baffles 62 to extend into and approach the two sides of the sprocket 53. The bottom plate 61 is fixedly connected to the bottom surface of the seat frame guide rail 30 or the backrest frame guide rail 20. The baffle 62 extends from between the two first racks 21 or the two second racks 31 and is fixedly connected to the sprocket plates 511 at the head and tail ends of the toothed chain 51 at least two points. The sprocket 53 is aligned with the axial tooth shape of the toothed chain 51; the spur gear 41 is aligned with the first gear 41; A rack 21 or a second rack 31 is aligned in axial tooth shape, an anti-error protrusion 211 is provided between the two first racks 21 and located at the starting end of the first rack 21, the anti-error protrusion 211 is aligned in tooth shape with the sprocket 51, the anti-error protrusion 211 is meshed with the sprocket 51 to limit the loading starting angle of the running wheel assembly 40, an electric push rod 11 is provided on the base frame 1, the output end of the electric push rod 11 is hinged with the backrest frame 2, and the electric push rod 11 is extended or retracted to make the backrest frame 2 lie down or stand up. ;

[0046] like Figure 2-Figure 6As shown, the base frame 1 is provided with a slide groove structure 8, and the slide groove structure 8 includes a first slide groove 81, a second slide groove 82 and a third slide groove 83. The side surface of the second end of the backrest frame 2 is provided with a backrest frame slide shaft 811 extending into the first slide groove 81 and sliding along the track of the first slide groove 81. The side surface of the first end of the seat frame 3 is provided with a first seat frame slide shaft 821 extending into the second slide groove 82 and sliding along the track of the second slide groove 82. The side surface of the second end of the seat frame 3 is provided with a second seat frame slide shaft 831 extending into the third slide groove 83 and sliding along the track of the third slide groove 83. The base frame 1 is hinged with a backrest frame 811 extending into the first slide groove 81 and sliding along the track of the first slide groove 81. The lying swing arm 12, one end of the lying swing arm 12 away from the base frame is hinged to the second end of the backrest frame 2, and a seat frame transmission rod 13 is also hinged between the second end of the backrest frame 2 and the second end of the seat frame 3. The backrest frame 2 is lying down and standing up to drive the lying swing arm 12 to rotate to realize the backrest frame sliding shaft 811 sliding forward and backward along the first sliding groove 81, and the second end of the backrest frame 2 makes the first seat frame sliding shaft 821 and the second seat frame sliding shaft 831 of the seat frame slide forward and backward along the second sliding groove 82 and the third sliding groove 83 respectively through the seat frame transmission rod 13, and the first sliding groove 81, the second sliding groove 82, and the third sliding groove 83 are all inclined. The first slide groove 81 has an inclination angle greater than that of the second slide groove 82, and the two have the same inclination direction. The third slide groove 83 is in an opposite inclination direction to the first slide groove 81. The first slide groove 81, the second slide groove 82 and the third slide groove 83 are three-axis progressive, that is, when the backrest frame 2 lies down, the second end of the backrest frame 2 is hinged to the lying swing arm 12, and the lying swing arm 12 is in an arch shape. The lying swing arm 12 rotates forward to enable the backrest frame slide shaft 811 at the second end of the backrest frame 2 to move forward in the first slide groove 81, that is, the second end of the backrest frame 2 can move forward. When the second end of the backrest frame 2 After moving forward, the forward movement force is progressively transmitted to the second end of the seat frame 3 through the seat frame transmission rod 13. At this time, the second seat frame slide shaft 831 slides forward and backward along the third slide groove 83, and at the same time, the first seat frame slide shaft 821 also slides forward and backward in the second slide groove 82 with the seat frame. The function of the second slide groove 82 is to stabilize the seat frame 3. When the backrest frame 2 lies down, the flexible guide rail 5 stops bending and approaches a flat state, and the forward movement distance of the seat frame 3 is small, thereby being able to achieve the functional requirement of zero space at the front side of the seat frame 3. The three-axis progressive slide groove design can ensure that the backrest frame 2 is in both the standing and lying states, such as Fig.13 and Fig.14As shown, the gap height between the backrest frame guide rail 20 and the flexible guide rail 5 is constant and consistent, and the height value is a constant "δ" height value. The flexible guide rail 5 is a structure of a toothed chain 51 similar to that in the comparative document. When the backrest frame 2 stands up or lies down, the toothed chain 51 will not be pulled too tight to cause the height δ to decrease, so that the manipulator 4 cannot pass through; or, when the backrest frame 2 stands up or lies down, the toothed chain 51 will not become loose and cause the height δ to increase, so that when the manipulator 4 passes through this section, abnormal situations such as tooth jumping or left and right shaking of the manipulator 4 occur. The stroke of the slide groove can also be increased, thereby achieving another effect requirement of "reverse arch stretching" of the human spine. The three-sliding axis progressive structure can realize the long-distance fully flattened mechanism design with zero space function, and the processing cost is lower than that of the comparative document.

[0047] In order to present the above structure more simply and clearly, the above slide groove structure 8 is described by a simplified structural model. As shown in the figure, in the simplified model, the two moving axes of the seat frame are simplified to one moving axis, and the inclined slide groove is simplified to a horizontal slide groove;

[0048] like Figure 7 and Figure 8 It is a schematic diagram of the upright state of the backrest frame. The upright state of the backrest frame drives the lying swing arm 12 to swing and pulls the seat frame back through the seat frame transmission rod 13. At this time, the backrest frame slide shaft moves backward in the first slide groove, and the second seat frame slide shaft also moves backward in the second slide groove. At this time, the backrest frame is in the upright state.

[0049] like Fig. 9 and Fig.10 It is a schematic diagram of the flattened state of the backrest frame. The backrest frame lies down to drive the lying swing arm 12 to swing and push the seat frame forward through the seat frame transmission rod 13. At this time, the backrest frame slide shaft moves forward in the first slide groove, and the second seat frame slide shaft also moves forward in the second slide groove. At this time, the backrest frame is in a flat state.

[0050] like Fig.11 and Fig.12 It is a schematic diagram of the "reverse arch stretching" state of the backrest frame. At this time, the strokes of the first slide groove and the third slide groove are lengthened, and the backrest frame continues to transmit the lying swing arm 12 to swing from the lying state and continues to push the seat frame forward through the seat frame transmission rod 13. At this time, the backrest frame slide shaft also continues to move forward in the first slide groove, and the second seat frame slide shaft also continues to move forward in the second slide groove. At this time, the backrest frame is in a negative angle state, thereby being able to achieve "reverse arch stretching" for the human spine.

[0051] like Figure 1 , Figure 2 and Figure 5As shown, a tension spring 14 is provided on the base frame 1, and one end of the tension spring 14 away from the base frame 1 is connected to the seat frame 3. The tension spring 14 is located at the front end of the base frame 1, and its function is to help the backrest frame 2 to lie down. Since the power source for the backrest frame 2 to lie down is the lying swing arm 12, the tension spring 14 can keep the toothed chain 51 tight when the backrest frame 2 stands up or lies down, so it can avoid the flexible guide rail section 5 from loosening due to insufficient forward movement of the seat frame 3.

[0052] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A three-axis progressive linkage flattening zero-space massage chair frame with a slide groove structure, comprising a base frame (1), a back frame (2), a seat frame (3) and a manipulator (4), wherein the back frame (2) and the seat frame (3) are mounted on the base frame (1), back frame guide rails (20) are provided on both sides of the back frame (2), seat frame guide rails (30) are provided on both sides of the seat frame (3), a flexible guide rail (5) is connected between the seat frame guide rail (30) and the back frame guide rail (20), and the manipulator (4) can be meshed with the seat frame guide rail (30) or the flexible guide rail (5) or the back frame guide rail (20) for walking through a walking wheel assembly (40), characterized in that: The first end of the backrest frame (2) can lie down or stand up on the base frame (1), and the flexible guide rail (5) bends or stops bending as the backrest frame (2) lies down or stands up. A slide groove structure (8) is provided on the base frame (1), and the slide groove structure (8) includes a first slide groove (81), a second slide groove (82) and a third slide groove (83). The side surface of the second end of the backrest frame (2) is provided with a backrest frame slide shaft (811) extending into the first slide groove (81) and sliding along the track of the first slide groove (81). The side surface of the first end of the seat frame (3) is provided with a first seat frame slide shaft (821) extending into the second slide groove (82) and sliding along the track of the second slide groove (82). The side surface of the second end of the seat frame (3) is provided with a third slide groove extending into the third slide groove. The second seat frame slide shaft (831) slides along the track of the third slide groove (83) in the inner portion of the base frame (83), a lying swing arm (12) is hinged on the base frame (1), and the lying swing arm (12) is hinged to the second end of the backrest frame (2) at one end away from the base frame (1), and a seat frame transmission rod (13) is also hinged between the second end of the backrest frame (2) and the second end of the seat frame (3), and the backrest frame (2) is inverted and driven to rotate the lying swing arm (12) to realize the backrest frame slide shaft (811) sliding forward and backward along the first slide groove (81), and the second end of the backrest frame (2) causes the first seat frame slide shaft (821) and the second seat frame slide shaft (831) of the seat frame (3) to slide forward and backward along the second slide groove (82) and the third slide groove (83) respectively through the seat frame transmission rod.

2. The three-axis progressive linkage flattening zero-space massage chair frame with a slide groove structure according to claim 1, characterized in that: The first slide groove (81), the second slide groove (82), and the third slide groove (83) are all arranged in an inclined manner; the inclination angle of the first slide groove (81) is greater than the inclination angle of the second slide groove (82), and the inclination directions of the two are the same; the inclination direction of the third slide groove (83) is opposite to that of the first slide groove (81).

3. The three-axis progressive linkage flattening zero-space massage chair frame with a slide groove structure according to claim 2, characterized in that: An electric push rod (11) is provided on the base frame (1), the output end of the electric push rod (11) is hinged to the backrest frame (2), and the electric push rod (11) is extended or retracted to cause the backrest frame (2) to lie down or stand up.

4. The three-axis progressive linkage flattening zero-space massage chair frame with a slide groove structure according to claim 3, characterized in that: The base frame (1) is provided with a tension spring (14), and one end of the tension spring (14) away from the base frame (1) is connected to the seat frame (3).

5. A three-axis progressive linkage flattening zero-space massage chair frame with a slide groove structure according to claim 1, 2, 3 or 4, characterized in that: The flexible guide rail (5) comprises a toothed chain (51) and an elastic suspension plate (52). The elastic suspension plate (52) is arranged at the bottom of the toothed chain (51). One end of the elastic suspension plate (52) is fixed to the backrest frame guide rail (20), and the other end is fixed to the seat frame guide rail (30). The backrest frame guide rail (20) is provided with a supporting block (22) located at the bottom of the elastic suspension plate (52). The toothed chain (51) comprises a plurality of chain tooth plates (511). The chain tooth plates (511) at both ends of the toothed chain (51) are respectively fixedly connected to the seat frame guide rail (30) and the backrest frame guide rail (20) via toothed chain fixing members (6). The elastic suspension plate (52) is fixedly connected to the chain tooth plates (511) and is longitudinally bent synchronously with the bending of the toothed chain (51).

6. The three-axis progressive linkage flattening zero-space massage chair frame with a slide groove structure according to claim 5, characterized in that: The backrest frame guide rail (20) is also provided with an elastic steel strip (7) located above the toothed chain (51) at one end thereof facing the seat frame guide rail (30); a winding drum (71) is provided on the upper side of the elastic steel strip (7); and a transition plate (72) is provided on the lower side of the elastic steel strip (7). When the backrest frame (2) is erected on the seat frame (3), the transition plate (72) presses on and bends the lower side wall of the elastic steel strip (7), and the elastic steel strip The upper side wall of the pressure strip (7) is bent and abuts against the side wall of the winding drum (71); when the backrest frame (2) lies on the seat frame (3), the transition plate (71) stops bending the elastic steel belt pressure strip (7), and the elastic steel belt pressure strip (7) returns to its initial state; when the walking wheel assembly (40) is located on the flexible guide rail (5), the elastic steel belt pressure strip (7) elastically abuts against the upper side of the walking wheel assembly (40) to prevent the robot (4) from moving longitudinally.

7. The three-axis progressive linkage flattening zero-space massage chair frame with a slide groove structure according to claim 5, characterized in that: The backrest frame guide rail (20) is provided with two first racks (21), the seat frame guide rail (30) is provided with two second racks (31), the toothed chain (51) is connected between the first racks (21) and the second racks (31), the travel wheel assembly (40) can be meshed with the first racks (21) or the toothed chain (51) or the second racks (31) to achieve travel, and the travel wheel assembly (40) includes two spur gears (41) meshed with the first racks (21) or the second racks (31), and a sprocket gear (53) meshed with the toothed chain (51) is provided between the two spur gears (41).

8. The three-axis progressive linkage flattening zero-space massage chair frame with a slide groove structure according to claim 7, characterized in that: The spur gear (41) and the sprocket gear (53) have the same number of teeth or the spur gear (41) is an integral multiple of the number of teeth of the sprocket gear (53). Passageways (411) are provided between the two sides of the sprocket gear (53) and the spur gear (41). The toothed chain fixing member (6) comprises a bottom plate (61) and baffles (62) provided on both sides of the bottom plate (61). The baffles (62) extend into the passageways (411) and are close to the two side surfaces of the sprocket gear (53). 1) fixedly connected to the bottom surface of the seat frame guide rail (30) or the backrest frame guide rail (20), the baffle (62) extending from between the two first racks (21) or the two second racks (31) and fixedly connected to the chain tooth plates (511) at the head and tail ends of the toothed chain (51) at at least two points, the sprocket (53) and the toothed chain (51) are axially aligned; the spur gear (41) and the first rack (21) or the second rack (31) are axially aligned.

9. The three-axis progressive linkage flattening zero-space massage chair frame with a slide groove structure according to claim 7, characterized in that: An anti-error protrusion (211) located at the starting end of the first rack (21) is provided between the two first racks (21); the anti-error protrusion (211) is aligned with the tooth profile of the sprocket (53); the anti-error protrusion (211) meshes with the sprocket (53) to limit the installation starting angle of the travel wheel assembly (40).

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