Three-axis progressive linkage flat zero-space massage chair frame with chute structure

Abstract

This application relates to a three-axis progressive linkage flattening zero-space massage chair frame with a sliding groove structure, including a base frame, a backrest frame, a seat frame, and a robotic arm. The backrest frame and seat frame are mounted on the base frame. The backrest frame has backrest frame guide rails on both sides, and the seat frame has seat frame guide rails on both sides. A flexible guide rail connects the seat frame guide rails and the backrest frame guide rails. The robotic arm can move by engaging with the seat frame guide rail, a toothed chain, or the backrest frame guide rail via a walking wheel assembly. The first end of the backrest frame can lie down or stand up on the base frame. The flexible guide rail bends or stops bending as the backrest frame lies down or stands up. The base frame uses a sliding groove structure to achieve progressive transmission of the backrest frame sliding shaft, the first seat frame sliding shaft, and the second seat frame sliding shaft, thereby achieving a large-angle lying down or standing up. The beneficial effects of this invention are: the three-axis progressive linkage of the sliding groove structure achieves an "extremely relaxed" effect and also achieves a "reverse arching and tendon-stretching" effect on the human spine.

Description

Technical Field

[0001] This invention relates to the field of massage chair technology, specifically to a three-axis progressive linkage flattening zero-space massage chair frame with a sliding groove structure. Background Technology

[0002] With the continuous advancement of technology, massage chairs will be designed and functionally more advanced to better serve people's daily lives. Massage chairs have evolved from the initial sitting function to the backrest function, and then to the "zero gravity" reclining function. The development of massage chairs that can be laid flat like a bed is to provide a more comfortable and personalized massage experience, that is, to achieve the effect of "extreme relaxation" on the massage chair.

[0003] The present invention application, number 202111620325.6, relates to a flattenable massage chair with an involute toothed chain track that facilitates robotic arm movement. The chair includes a backrest frame, a seat frame, and a robotic arm. The backrest frame is mounted on the seat frame. The chair also includes a toothed chain, with one end mounted on the backrest frame and the other end mounted on the seat frame. The toothed chain comprises several chain tooth plates, each with two toothed portions at its head and tail. The head and tail teeth of adjacent chain tooth plates along the length of the toothed chain are staggered and hinged together. The robotic arm is equipped with a sprocket that meshes with the toothed chain. By adopting this design, constant pitch meshing of the sprocket and the toothed chain can be achieved, resulting in more stable robotic arm operation. The chair features a simple structure, high torque transmission, and good noise reduction.

[0004] In order to reduce the manufacturing cost of the above-mentioned applications while meeting the requirements of "extreme stretching" and "reverse arching" 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 address the shortcomings of the prior art by providing a massage chair frame that achieves the effect of "extreme stretching" and "reverse arching and tendon stretching" of the human spine through a three-axis progressive linkage of a sliding groove structure.

[0006] To achieve the above objectives, the following technical solution is adopted: a three-axis progressive linkage flattening zero-space massage chair frame with a sliding groove structure, comprising a base frame, a backrest frame, a seat frame, and a robotic arm. The backrest frame and the seat frame are mounted on the base frame. Backrest frame guide rails are provided on both sides of the backrest frame, and seat frame guide rails are provided on both sides of the seat frame. A flexible guide rail connects the seat frame guide rails and the backrest frame guide rails. The robotic arm can move by engaging with the seat frame guide rails, the flexible guide rails, or the backrest frame guide rails via a walking wheel assembly. The key feature is that the first end of the backrest frame can lie down or stand up on the base frame. The flexible guide rail bends or stops bending as the backrest frame lies down or stands up. The base frame is provided with a sliding groove structure, which includes a first sliding groove, a second sliding groove, and a third sliding groove. The backrest frame has a backrest frame sliding shaft on its side at the second end, which extends into the first sliding groove and slides along the track of the first sliding groove. The seat frame has a first seat frame sliding shaft on its side at the first end, which extends into the second sliding groove and slides along the track of the second sliding groove. The seat frame has a second seat frame sliding shaft on its side at the second end, which extends into the third sliding groove and slides along the track of the third sliding groove. A reclining swing arm is hinged to the base frame. The end of the reclining swing arm away from the base frame is hinged to the second end of the backrest frame. A seat frame transmission rod is also hinged between the second end of the backrest frame and the second end of the seat frame. When the backrest frame is reclined or upright, it drives the reclining swing arm to rotate, thereby enabling the backrest frame sliding shaft to slide back and forth along the first sliding groove. The second end of the backrest frame, through the seat frame transmission rod, causes the first seat frame sliding shaft and the second seat frame sliding shaft of the seat frame to slide back and forth along the second and third sliding grooves, respectively.

[0007] Using the above technical solution, the first, second, and third slide rails are a three-axis progressive design. When the backrest is reclined, the second end of the backrest is hinged to the reclining swing arm, which is bow-shaped. The forward rotation of the reclining swing arm causes the backrest slide shaft at the second end of the backrest to move forward within the first slide rail, thus moving the second end of the backrest forward. Once the second end of the backrest has moved forward, the forward force is progressively transmitted to the second end of the seat frame via the seat frame transmission rod. At this time, the second seat frame slide shaft slides back and forth along the third slide rail, while the first seat frame slide shaft also slides back and forth within the second slide rail. The second slide rail serves to stabilize the seat frame. When the backrest is reclined, the flexible guide rail stops bending and approaches a flattened state, while the forward movement distance of the seat frame is relatively small, thus achieving the functional requirement of zero space at the front of the seat frame. This three-axis progressive design... The slide rail design ensures that the height of the backrest frame guide rail and the flexible guide rail remains constant in both the upright and reclining states. This height value is a constant "δ" value. The flexible guide rail has a toothed chain structure similar to that in the comparative document. When the backrest frame is upright or reclining, the toothed chain will not be pulled too tight, causing the height δ to decrease and preventing the robot arm from passing through. Alternatively, the toothed chain will not become loose, causing the height δ to increase and resulting in abnormal situations such as tooth skipping or left-right swaying of the robot arm when passing through this section. It can also increase the stroke of the slide rail, thereby achieving the other effect of "reverse arching and stretching" the human spine. The three-axis progressive structure can realize a long-distance fully flattened mechanism design with zero space function, 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 sliding groove structure can be further configured such that the first sliding groove, the second sliding groove, and the third sliding groove are all inclined, the inclination angle of the first sliding groove is greater than that of the second sliding groove and the two are inclined in the same direction, and the inclination direction of the third sliding groove is opposite to that of the first sliding groove.

[0009] To achieve the "high positioning" of the backrest and meet the constant height "δ" value, the first, second, and third slide rails all need to be tilted. When the backrest frame is flat, the second end of the backrest frame tilts downwards relative to when it is upright. The second end of the backrest frame transmits 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 flat or even arched, the tilt direction of the third slide rail is opposite to that of the first slide rail, and it tilts upwards. The second slide rail is used to stabilize the seat frame and also tilts downwards slightly to match the sliding direction of the third slide rail. The three slide rails work together to achieve the function of long-distance complete flattening with zero space.

[0010] A three-axis progressive linkage flattening zero-space massage chair frame with a sliding groove structure can be further configured such that: an electric push rod is provided on the base frame, the output end of the electric push rod is hinged to the backrest frame, and the electric push rod extends or retracts to make the backrest frame lie down or stand up.

[0011] Using the above technical solution, the electric push rod can be installed in different directions to push out and make the backrest frame lie down or stand up. When the output end of the electric push rod is facing the second end of the backrest frame, the backrest frame can be made to lie down by pushing it out. When the output end of the electric push rod is facing the first end of the backrest frame, the backrest frame can be made to stand up by pushing it out.

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

[0013] With the above technical solution, the tension spring is located at the front end of the seat frame. Its function is to help the backrest frame recline. Since the power source for the reclining of the backrest frame is the reclining swing arm, the tension spring can ensure that the toothed chain is always taut when the backrest frame is upright or reclined. Therefore, it can prevent the flexible guide rail section from becoming loose due to insufficient forward movement of the seat frame.

[0014] A three-axis progressive linkage flattening zero-space massage chair frame with a sliding groove structure can be further configured as follows: the flexible guide rail includes a toothed chain and an elastic hanging plate, the elastic hanging plate is located at the bottom of the toothed chain, one end of the elastic hanging plate is fixed to the backrest frame guide rail, and the other end is fixed to the seat frame guide rail. The backrest frame guide rail is provided with a support block located at the bottom of the elastic hanging plate. The toothed chain includes several chain tooth plates. The chain tooth plates at both ends of the toothed chain are fixedly connected to the seat frame guide rail and the backrest frame guide rail respectively through toothed chain fasteners. The elastic hanging plate is fixedly connected to the chain tooth plates and bends longitudinally synchronously with the bending of the toothed chain.

[0015] Using the above technical solution, the toothed chain can be a relatively conventional CL-06 toothed chain. The robot can move on the backrest frame track, seat frame track, and toothed chain through the meshing of the walking wheel assembly. The elastic suspension plate can be made of elastic steel plate, which has good deformation capacity and sufficient strength. One side of the elastic suspension plate is directly fixedly connected to several chain tooth plates located on the elastic suspension plate. The elastic suspension plate needs to be fixedly connected to the side of the chain tooth plate. The side of the elastic suspension plate and the chain tooth plate can be solidified by ultrasonic welding. In this way, the elastic suspension plate will not affect the bending of each segment of the toothed chain. By fixing the chain tooth plate, the toothed chain will not sway laterally when bending longitudinally, as its lateral movement is restricted by the elastic suspension plate. Since the toothed chain will bend or stop bending when the backrest frame is erected or laid down, the elastic suspension plate can bend longitudinally synchronously with the toothed chain, thus providing good support even when bending.

[0016] A three-axis progressive linkage flattening zero-space massage chair frame with a sliding groove structure can be further configured as follows: The backrest frame guide rail facing the seat frame guide rail is provided with an elastic steel strip above a toothed chain. A winding cylinder is provided on the upper side of the elastic steel strip, and a transition plate is provided on the lower side. When the backrest frame is upright on the seat frame, the transition plate presses down and bends the lower side wall of the elastic steel strip, and the upper side wall of the elastic steel strip bends and abuts against the side wall of the winding cylinder. When the backrest frame is reclined on the seat frame, the transition plate stops bending the elastic steel strip, and the elastic steel strip returns to its initial state. When the walking wheel assembly is located on the flexible guide rail, the elastic steel strip elastically abuts against the upper part of the walking wheel assembly to prevent the robotic arm from moving longitudinally.

[0017] The above technical solution utilizes a support block to support the elastic suspension plate, preventing it from being suspended in mid-air and increasing its service life. Support grooves can be provided on the support block to prevent lateral swaying of the elastic suspension plate, further enhancing its lateral sway resistance.

[0018] A three-axis progressive linkage flattening zero-space massage chair frame with a sliding groove structure can be further configured as follows: the backrest frame guide rail is provided with two first racks, the seat frame guide rail is provided with two second racks, the toothed chain is connected between the first racks and the second racks, and the walking wheel assembly can mesh with the first racks, the toothed chain, or the second racks to achieve movement. The walking wheel assembly includes two spur gears that mesh with the first racks or the second racks, and a chain gear that meshes 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 reclined or upright, the sprocket needs to always be in tooth-shaped mesh with the toothed chain to prevent the meshing from becoming too tight and to prevent tooth dislodgement.

[0020] A three-axis progressive linkage flattening zero-space massage chair frame with a sliding groove structure can be further configured as follows: the number of teeth of the spur gear and the sprocket is equal or an integer multiple of the number of teeth of the sprocket; there is a passage between the sprocket and the spur gear on both sides; the toothed chain fixing component includes a base plate and baffles provided on both sides of the base plate; the passage allows the baffles to extend into and approach the two sides of the sprocket; the base plate is fixedly connected to the bottom surface of the seat frame guide rail or the backrest frame guide rail; the baffles extend from between the two first racks or the two second racks and are fixedly connected to the chain tooth plates at at least two points at the beginning and end of the toothed chain; the sprocket and the toothed chain are axially aligned; the spur gear and the first rack or the second rack are axially aligned.

[0021] Using the above technical solution, due to the aisle design, when the toothed chain meshes with the sprocket, it will not interfere with the movement of the spur gear; when the spur gear meshes with two first racks or two second racks, it will not interfere with the movement of the sprocket. The sprocket tooth profile is obtained using the involute meshing method. Calculations show that both its tooth profile and number of teeth are less than the national standard minimum. Therefore, a non-standard combination of involute sprocket and spur gear teeth for the robot's walking drive gear assembly was designed using the meshing method. The pitch circle of the gear does not need to be equal to the pitch circle of the sprocket; the number of teeth on the spur gear can be equal to the number of teeth on the sprocket. The number of teeth on the sprocket can be an integer multiple of the number of teeth on the sprocket, which can reduce the number of teeth on the sprocket. The sprocket can also use standard chains. The processing difficulty of non-standard sprockets is lower than that of non-standard chains, which can also reduce costs. It can also make the sprocket and toothed chain more compatible, resulting in tighter meshing, reduced noise, and less risk of tooth slippage or dislodging. Due to the passageway, the rotation of the sprocket is not affected when the first spur gear and the second spur gear mesh with the first rack or the second rack. The rotation of the first spur gear and the first spur gear is not affected when the sprocket meshes 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 sliding groove structure can be further configured as follows: an anti-misalignment protrusion is provided between the two first racks at the starting end of the first rack, the anti-misalignment protrusion is aligned with the tooth profile of the sprocket, and the anti-misalignment protrusion meshes with the sprocket to limit the insertion starting angle of the walking wheel assembly.

[0023] The above technical solution utilizes a non-standard walking wheel assembly. However, when installing this assembly, the spur gears on both sides need to be engaged with the first rack first. Therefore, if the spur gear is directly installed into the first rack at any starting angle, misalignment can easily occur when the sprocket in the middle reaches the toothed chain due to tooth mismatch. This can even lead to the sprocket and toothed chain of the robot arm getting stuck, preventing the robot arm from moving. By limiting the installation angle of the sprocket by the anti-misalignment protrusion, the walking wheel assembly is installed from the starting angle. As the walking wheel assembly transitions from the first rack to the toothed chain, the tooth profile of the sprocket is aligned with the tooth profile of the toothed chain, thus reducing the likelihood of misalignment or the robot arm getting stuck.

[0024] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. Attached Figure Description

[0025] Figure 1 This is a perspective view of an embodiment of the present invention.

[0026] Figure 2 Embodiments of the present invention Figure 1 A schematic diagram of the structure after removing the robotic arm and the walking axis.

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

[0028] Figure 4 Embodiments of the present invention Figure 2 A schematic diagram of the connection structure of the backrest frame, seat frame, reclining swing arm, and seat frame transmission rod.

[0029] Figure 5 Embodiments of the present invention Figure 1 A schematic diagram of the backrest frame in its reclining position.

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

[0031] Figure 7 This is a simplified structural diagram of the backrest frame in its upright position according to an embodiment of the present invention.

[0032] Figure 8 The structural principle of the backrest frame in the upright state according to an embodiment of the present invention is simplified. Figure 2 .

[0033] Figure 9 This is a simplified structural diagram of the backrest frame in its reclining state according to an embodiment of the present invention.

[0034] Figure 10 The structural principle of the backrest frame in its reclining state according to an embodiment of the present invention is simplified. Figure 2.

[0035] Figure 11 This is a simplified structural diagram of the backrest frame in the "reverse bow brace" state according to an embodiment of the present invention.

[0036] Figure 12 The structural principle of the backrest frame in the "reverse bow" state according to the embodiment of the present invention is simplified. Figure 2 .

[0037] Figure 13 Embodiments of the present invention Figure 5 Diagram showing the connection structure of the backrest frame, flexible guide rail, and seat frame.

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

[0039] Figure 15 Embodiments of the present invention Figure 14 Enlarged view of part C.

[0040] Figure 16 Embodiments of the present invention Figure 14 Enlarged view of part D.

[0041] Figure 17 Embodiments of the present invention Figure 1 A schematic diagram of the structure of the central traveling wheel assembly.

[0042] Figure 18 Embodiments of the present invention Figure 14 A schematic diagram of the structure of the toothed chain fastener.

[0043] In the diagram: 1. Base frame; 2. Backrest frame; 3. Seat frame; 4. Robotic arm; 5. Flexible guide rail; 6. Toothed chain fixing component; 7. Elastic steel strip pressure bar; 8. Slide groove structure; 11. Electric push rod; 12. Reclining swing arm; 13. Seat frame transmission rod; 14. Tension spring; 20. Backrest frame guide rail; 21. First rack; 22. Support block; 30. Seat frame guide rail; 31. Second rack; 33. Toothed chain; 40. [Unclear - possibly a component or element] Wheel assembly; 41. Spur gear; 51. Toothed chain; 52. Elastic suspension plate; 53. Chain gear; 61. Base plate; 62. Baffle; 71. Winding cylinder; 72. Transition plate; 81. First slide groove; 82. Second slide groove; 83. Third slide groove; 211. Anti-misalignment protrusion; 411. Passageway; 511. Chain tooth plate; 811. Backrest frame slide shaft; 821. First seat frame slide shaft; 822. Second seat frame slide shaft. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0045] Example: Figures 1-18The illustrated three-axis progressive linkage flattening zero-space massage chair frame with a sliding groove structure includes a base frame 1, a backrest frame 2, a seat frame 3, and a robotic arm 4. The backrest frame 2 and the seat frame 3 are mounted on the base frame 1. The backrest frame 2 has backrest frame guide rails 20 on both sides, and the seat frame 3 has seat frame guide rails 30 on both sides. A flexible guide rail 5 connects the seat frame guide rails 30 and the backrest frame guide rails 20. The first end of the backrest frame 2 can be reclined or erected on the base frame 1. The flexible guide rail 5 bends or stops bending as the backrest frame 2 lies down or stands up. The flexible guide rail 5 includes a toothed chain 51 and an elastic suspension plate 52. The elastic suspension plate 52 is located 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 support block 22 located at the bottom of the elastic suspension plate 52. The support block 22 can be provided with a support groove to prevent the elastic suspension plate 52 from bending. 2. Lateral displacement: The toothed chain 51 includes several toothed plates 511. The toothed plates 511 at both ends of the toothed chain 51 are fixedly connected to the seat frame guide rail 30 and the backrest frame guide rail 20 respectively through toothed chain fasteners 6. The elastic hanging plate 52 is fixedly connected to the toothed plates 511 and bends longitudinally synchronously with the bending of the toothed chain 51. The robotic arm 4 can move with the seat frame guide rail 30, the toothed chain 51, or the backrest frame guide rail 20 through the traveling wheel assembly 40. The backrest frame 2 is engaged and travels. The backrest frame guide rail 20 is also provided with an elastic steel strip 7 above the toothed chain 51 at one end facing the seat frame guide rail 30. The upper side of the elastic steel strip 7 is provided with a winding cylinder 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 on 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 abuts against the side wall of the winding cylinder 71.When the backrest 2 is reclined on the seat 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 robot arm 4 from moving longitudinally. The backrest guide rail 20 is provided with two first racks 21, and the seat guide rail 30 is provided with two second racks 31. The toothed chain 51 connects the first racks 21 and the second racks 31. Between the racks 31, the traveling wheel assembly 40 can mesh with the first rack 21, the toothed chain 51, or the second rack 31 to achieve movement. The traveling wheel assembly 40 includes two spur gears 41 that mesh with the first rack 21 or the second rack 31. Between the two spur gears 41, there is a sprocket 53 that meshes with the toothed chain 51. The number of teeth of the spur gears 41 and the sprocket 53 is equal or an integer multiple of the number of teeth of the sprocket 53. There are passageways 411 between the sprocket 53 and the spur gears 41 on both sides. The chain fastener 6 includes a base plate 61 and baffles 62 disposed on both sides of the base plate 61. The passage 411 allows the baffles 62 to extend into and approach the two sides of the sprocket 53. The base plate 61 is fixedly connected to the bottom surface of the seat frame guide rail 30 or the backrest frame guide rail 20. The baffles 62 extend from between the two first racks 21 or the two second racks 31 and are fixedly connected at least two points to the chain tooth plates 511 at both ends of the toothed chain 51. The sprocket 53 is axially aligned with the toothed chain 51. The spur gear 41 and the first rack 21 are aligned with the second rack 31. One rack 21 or the second rack 31 has axially aligned teeth. An anti-misalignment protrusion 211 is provided between the two first racks 21 at the starting end of the first rack 21. The anti-misalignment protrusion 211 is aligned with the teeth of the sprocket 51. The engagement of the anti-misalignment protrusion 211 with the sprocket 51 limits the starting angle for the insertion of the traveling 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 to the backrest frame 2. The extension or retraction of the electric push rod 11 causes the backrest frame 2 to recline or stand upright.

[0046] like Figures 2-6As shown, the base frame 1 is provided with a sliding groove structure 8, which includes a first sliding groove 81, a second sliding groove 82, and a third sliding groove 83. The side of the second end of the backrest frame 2 is provided with a backrest frame sliding shaft 811 that extends into the first sliding groove 81 and slides along the trajectory of the first sliding groove 81. The side of the first end of the seat frame 3 is provided with a first seat frame sliding shaft 821 that extends into the second sliding groove 82 and slides along the trajectory of the second sliding groove 82. The side of the second end of the seat frame 3 is provided with a second seat frame sliding shaft 831 that extends into the third sliding groove 83 and slides along the trajectory of the third sliding groove 83. A reclining chair is hinged to the base frame 1. A reclining swing arm 12 is hinged at one end away from the base frame to the second end of the backrest frame 2. 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. When the backrest frame 2 is reclined, it drives the reclining swing arm 12 to rotate, causing the backrest frame sliding shaft 811 to slide back and forth along the first sliding groove 81. The second end of the backrest frame 2, through the seat frame transmission rod 13, causes the first seat frame sliding shaft 821 and the second seat frame sliding shaft 831 of the seat frame to slide back and forth along the second sliding groove 82 and the third sliding groove 83, respectively. The first sliding groove 81, the second sliding groove 82, and the third sliding groove 83 are all inclined. The first slide rail 81 has a greater inclination angle than the second slide rail 82, and both have the same inclination direction. The third slide rail 83 has an inclination direction opposite to that of the first slide rail 81. The first slide rail 81, the second slide rail 82, and the third slide rail 83 are a three-axis progressive type. That is, when the backrest frame 2 is reclined, the second end of the backrest frame 2 is hinged to the reclining swing arm 12. The reclining swing arm 12 is bow-shaped. The forward rotation of the reclining swing arm 12 can cause the backrest frame sliding shaft 811 at the second end of the backrest frame 2 to move forward in the first slide rail 81, that is, it can cause the second end of the backrest frame 2 to move forward. After moving forward, the forward force is progressively transmitted to the second end of the seat frame 3 via the seat frame transmission rod 13. At this time, the second seat frame sliding shaft 831 slides back and forth along the third sliding groove 83, while the first seat frame sliding shaft 821 also slides back and forth within the second sliding groove 82 along with the seat frame. The function of the second sliding groove 82 is to stabilize the seat frame 3. When the backrest 2 is reclined, the flexible guide rail 5 stops bending and approaches a flattened state, while the forward movement distance of the seat frame 3 is relatively small, thus achieving the functional requirement of zero space at the front position of the seat frame 3. The three-axis progressive sliding groove design ensures that the backrest 2 remains stable in both upright and reclining states. Figure 13 and Figure 14As shown, the gap height between the backrest frame guide rail 20 and the flexible guide rail 5 is constant, and this height value is a constant "δ" height value. The flexible guide rail 5 has a toothed chain 51 structure similar to that in the prior art. When the backrest frame 2 is upright or lying down, the toothed chain 51 will not be pulled too tight, which would cause the height δ to decrease, thus preventing the robot arm 4 from passing through. Alternatively, when the backrest frame 2 is upright or lying down, the toothed chain 51 will not become loose, which would cause the height δ to increase, thus preventing the robot arm 4 from skipping teeth or wobbling from side to side when passing through this section. It can also increase the stroke of the slide, thereby achieving the other effect of "reverse arching and stretching" the human spine. The three-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 prior art.

[0047] To present the above structure more simply and clearly, the above-mentioned slide 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 is simplified to a horizontal slide.

[0048] like Figure 7 and Figure 8 This is a schematic diagram of the backrest frame in the upright position. When the backrest frame is upright, the reclining arm 12 swings 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 position.

[0049] like Figure 9 and Figure 10 This is a schematic diagram of the backrest frame in its flattened state. When the backrest frame is laid down, the reclining arm 12 swings and pushes 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 flattened state.

[0050] like Figure 11 and Figure 12 This is a schematic diagram of the backrest frame in the "reverse bow and tendon stretching" state. At this time, the stroke of the first and third slide rails is lengthened. The backrest frame continues to swing from the reclining state through the transmission arm 12 and pushes 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 rail, and the second seat frame slide shaft also continues to move forward in the second slide rail. At this time, the backrest frame is in the negative angle state, thus achieving "reverse bow and tendon stretching" of the human spine.

[0051] like Figure 1 , Figure 2 and Figure 5As shown, a tension spring 14 is provided on the base frame 1. The end of the tension spring 14 away from the base frame 1 is connected to the seat frame 3. The position of the tension spring 14 is at the front end of the base frame 1. Its function is to help the backrest frame 2 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 ensure that the toothed chain 51 is always taut when the backrest frame 2 is standing up or lying down. Therefore, it can prevent the flexible guide rail section 5 from becoming loose due to insufficient forward movement of the seat frame 3.

[0052] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A three-axis progressive linkage flattening zero-space massage chair frame with a sliding groove structure, comprising a base frame (1), a backrest frame (2), a seat frame (3), and a robotic arm (4), wherein the backrest frame (2) and the seat frame (3) are mounted on the base frame (1), the backrest frame (2) is provided with backrest frame guide rails (20) on both sides, the seat frame (3) is provided with seat frame guide rails (30) on both sides, and a flexible guide rail (5) is connected between the seat frame guide rail (30) and the backrest frame guide rail (20), wherein the robotic arm (4) can engage with the seat frame guide rail (30), the flexible guide rail (5), or the backrest frame guide rail (20) through a walking wheel assembly (40), characterized in that: The first end of the backrest frame (2) can be laid down or stood up on the base frame (1). The flexible guide rail (5) bends or stops bending as the backrest frame (2) is laid down or stood up. The base frame (1) is provided with a sliding groove structure (8). The sliding groove structure (8) includes a first sliding groove (81), a second sliding groove (82), and a third sliding groove (83). The side of the second end of the backrest frame (2) is provided with a backrest frame sliding shaft (811) that extends into the first sliding groove (81) and slides along the trajectory of the first sliding groove (81). The side of the first end of the seat frame (3) is provided with a first seat frame sliding shaft (821) that extends into the second sliding groove (82) and slides along the trajectory of the second sliding groove (82). The side of the second end of the seat frame (3) is provided with a third sliding groove. (83) The second seat frame slide shaft (831) slides along the trajectory of the third slide groove (83). A reclining swing arm (12) is hinged on the base frame (1). The reclining swing arm (12) is hinged to the second end of the backrest frame (2) at the end away from the base frame (1). 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). When the backrest frame (2) is reclined, it drives the reclining swing arm (12) to rotate, so that the backrest frame slide shaft (811) slides back and forth along the first slide groove (81). 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 back and forth 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 sliding groove structure according to claim 1, characterized in that: The first slide (81), the second slide (82), and the third slide (83) are all inclined. The first slide (81) has a greater inclination angle than the second slide (82) and the two slides are inclined in the same direction. The third slide (83) is inclined in the opposite direction to the first slide (81).

3. The three-axis progressive linkage flattening zero-space massage chair frame with a sliding 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). The electric push rod (11) extends or retracts to make the backrest frame (2) lie down or stand up.

4. The three-axis progressive linkage flattening zero-space massage chair frame with a sliding groove structure according to claim 3, characterized in that: A tension spring (14) is provided on the base frame (1), and the 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 sliding groove structure according to claim 1, 2, 3, or 4, characterized in that: The flexible guide rail (5) includes a toothed chain (51) and an elastic hanging plate (52). The elastic hanging plate (52) is located at the bottom of the toothed chain (51). One end of the elastic hanging 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 support block (22) located at the bottom of the elastic hanging plate (52). The toothed chain (51) includes several chain tooth plates (511). The chain tooth plates (511) at both ends of the toothed chain (51) are fixedly connected to the seat frame guide rail (30) and the backrest frame guide rail (20) respectively through toothed chain fasteners (6). The elastic hanging plate (52) is fixedly connected to the chain tooth plates (511) and bends longitudinally synchronously with the bending of the toothed chain (51).

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

7. The three-axis progressive linkage flattening zero-space massage chair frame with a sliding groove structure according to claim 5, characterized in that: The backrest guide rail (20) is provided with two first racks (21), and the seat guide rail (30) is provided with two second racks (31). The toothed chain (51) is connected between the first rack (21) and the second rack (31). The walking wheel assembly (40) can mesh with the first rack (21), the toothed chain (51), or the second rack (31) to achieve walking. The walking wheel assembly (40) includes two spur gears (41) that mesh with the first rack (21) or the second rack (31). A chain gear (53) that meshes 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 sliding groove structure according to claim 7, characterized in that: The spur gear (41) has the same number of teeth as the sprocket (53), or the spur gear (41) has an integer multiple of the number of teeth of the sprocket (53). A passageway (411) is provided between the sprocket (53) and the spur gear (41) on both sides. The toothed chain fixing member (6) includes a base plate (61) and baffles (62) on both sides of the base plate (61). The passageway (411) allows the baffles (62) to extend into and approach the two sides of the sprocket (53). The base plate (61)... 1) 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 chain tooth plates (511) at the beginning and end of the toothed chain (51) at at least two points, the chain gear (53) is aligned with the axial tooth profile of the toothed chain (51); the spur gear (41) is aligned with the axial tooth profile of the first rack (21) or the second rack (31).

9. The three-axis progressive linkage flattening zero-space massage chair frame with a sliding groove structure according to claim 7, characterized in that: Between the two first racks (21), there is a mis-proof protrusion (211) located at the starting end of the first rack (21). The mis-proof protrusion (211) is aligned with the tooth profile of the sprocket (53). The mis-proof protrusion (211) meshes with the sprocket (53) to limit the starting angle of the insertion of the walking wheel assembly (40).

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