Dynamic massage device with scissors fork structure

Abstract

The invention relates to a dynamic massage device with a shear fork structure, which comprises a linear walking rack, an adjusting shear fork structure, a bottom tray, a massage power part and a massage unit, the linear walking rack is positioned on a first plane, the adjusting shear fork structure is assembled on the linear walking rack along a straight line in a sliding manner, the bottom tray is movably mounted on the adjusting shear fork structure, and the massage power part is arranged on the bottom tray. The adjusting shear fork structure is used for driving the bottom tray to move to a plurality of dynamic stations; the dynamic station at least comprises the following position states: the plane where the bottom tray is located is parallel to the first plane and is located at a first height above the first plane, the plane where the bottom tray is located is parallel to the first plane and is located at a second height above the first plane, and the plane where the bottom tray is located is inclined to the first plane. The dynamic massage effect of various different curved surface positions is comprehensively achieved by adjusting the shear fork structure and the massage power part, the linear walking rack is of a linear motion structure simple in structure, the installation difficulty is small, the installation space is small, damage is not prone to occurring, and the maintenance difficulty is low.

Description

Technical Field

[0001] The present application relates to the technical field of massage equipment, and in particular to a dynamic massage device with a scissor-type structure. Background Art

[0002] Currently, existing massage chairs, massage beds, massage sofas, etc. generally use walking massage movements to massage the human body, and the walking path of the massage movement is restricted by the guide track. In addition, the massage range of most massage chairs is generally between the user's buttocks and the back of the neck. At this time, it is necessary to enable the massage movement to massage all points between the buttocks and the back of the neck to meet the user's comfort requirements.

[0003] After searching, the Chinese patent with application number: 201810509747.8 discloses a massage movement running track, including a guide rail, the guide rail includes a first guide rail and a second guide rail fixedly arranged on a seat frame and a back frame respectively, the first guide rail and the second guide rail are connected by a third guide rail, the third guide rail is a flexible guide rail that can be bent and deformed in the length direction, and the third guide rail and the first guide rail and the second guide rail are integrally formed; the third guide rail support is arranged on a flexible connecting plate that can be deformed in the length direction, and the flexible connecting plate is connected between the seat frame and the back frame; at least two bosses are arranged on the back side of the third guide rail, and a limiting hole for accommodating the boss is also provided on the flexible connecting plate, the limiting hole is a waist-shaped hole, and the limiting hole and the boss are loosely matched, so that the boss can slide slightly in the limiting hole after the third guide rail is deformed when the angle is adjusted.

[0004] With respect to the above-mentioned related technologies, the inventor believes that there are the following technical defects that need to be improved: Since the area between the human body's buttocks and the back of the neck is a non-planar curved structure, and the movement trajectory of the massage movement in a common massage chair needs to fit the above curved structure as closely as possible, most of the guide rails on the market for the massage movement to slide are relatively complex curved structures, which not only requires the power part structure that drives the massage movement to slide to be more complex and changeable, but also the guide rail with such a curved structure is difficult to install, requires a large installation space, is easily damaged, and is difficult to repair. Summary of the invention

[0005] The present application provides a dynamic massage device with a scissor-type structure to improve the following technical problems: Most of the guide rails on the market for the sliding of massage movements are of relatively complex curved structures, which not only requires the structure of the power part that drives the massage movement to slide to be more complex and changeable, but also makes the guide rails of this curved structure difficult to install, requires a large installation space, is easily damaged, and is difficult to repair.

[0006] The present application provides a dynamic massage device with a scissor-type structure, which adopts the following technical solution: A dynamic massage device with a scissor-type structure comprises a linear travel frame, an adjustable scissor-type structure, a bottom tray, a massage power unit and a massage unit, wherein the linear travel frame is a square frame structure and is located on a first plane, the adjustable scissor-type structure is mounted on the linear travel frame along a linear sliding motion and is driven by the linear travel frame to reciprocate, the bottom tray is movably mounted on the adjustable scissor-type structure, the massage power unit and the massage unit are both mounted in the bottom tray, the massage unit is driven by the massage power unit to reciprocate from one side to the other side, and the adjustable scissor-type structure is used to drive the bottom tray to move to a plurality of dynamic workstations; the dynamic workstations include at least the following position states: a plane where the bottom tray is parallel to the first plane and is located at a first height above the first plane, a plane where the bottom tray is parallel to the first plane and is located at a second height above the first plane, a plane where the bottom tray is inclined to the first plane and the angle between the two is between 15 and 45 degrees, and the second height is greater than the first height.

[0007] In an achievable technical solution of the present application, the linear walking frame comprises two guide rails, a front end plate and a rear end plate arranged in opposition and parallel, the front end plate being vertically connected to one end of the two guide rails, the rear end plate being vertically connected to the other end of the two guide rails, the two guide rails, the front end plate and the rear end plate forming a frame structure, multiple sets of walking wheels are rotatably arranged on opposite sides of the bottom of the adjusting scissor-type structure (2), the walking wheels slide freely along the guide rails, the middle part of the front end plate is rotatably equipped with a walking screw, the middle part of the bottom of the adjusting scissor-type structure (2) is provided with a linkage part which is threadedly assembled with the walking screw, the walking screw passes through the linkage part, the middle part of the rear end plate is provided with a walking power part, the end of the walking screw away from the front end plate is connected to the power output end of the walking power part, the walking screw and the linkage part are both located on the plane where the frame structure is located.

[0008] In an achievable technical solution of the present application, the adjustable scissors structure includes a movement chassis, the traveling wheels include first rollers located on both sides of the front end of the movement chassis and second rollers located on both sides of the rear end of the movement chassis, the first rollers are connected to the side of the movement chassis through a first rotating shaft, and the second rollers are connected to the side of the movement chassis through a second rotating shaft.

[0009] In an achievable technical solution of the present application, the adjustable scissor fork structure includes two groups of scissor forks, an adjustment drive unit and a guide block. The middle part of the scissor forks is hinged and the four corners form a first active point, a second active point, a third active point and a fourth active point. The two groups of scissor forks are respectively located on opposite sides of the bottom tray. The first active point is hinged on the first rotating shaft, and the second active point is hinged on the second rotating shaft. The guide block is installed on the movement chassis and has a sliding groove. The second rotating shaft vertically penetrates and is slidably connected to the sliding groove. The movement chassis also has There is a sliding plate slidably assembled along the walking screw, two second rotating shafts are respectively connected to the opposite ends of the sliding plate, the third active point is hinged to the front end outer side of the bottom tray, an adjusting column is arranged at the fourth active point, and a linear groove and an inclined groove which are interconnected are arranged on the rear end outer side of the bottom tray, the linear groove is parallel to the plane where the bottom tray is located, and the angle between the inclined groove and the linear groove is between 15-45 degrees, the adjusting column slides in the inclined groove and the linear groove, and the adjustment driving part is installed on the movement chassis and drives the sliding plate to slide reciprocatingly.

[0010] In an achievable technical solution of the present application, the adjustment drive unit includes a brushless DC motor and an adjustment screw, the adjustment screw penetrates and is threadedly assembled on the sliding plate, the adjustment screw is rotatably assembled on the movement chassis and is spaced parallel to the traveling screw, the brushless DC motor is installed on the movement chassis and is located at the rear end of the movement chassis, and the brushless DC motor is transmission-connected to the adjustment screw.

[0011] In a feasible technical solution of the present application, the bottom tray is a metal part, and plastic spacers are provided on the inner peripheral walls of the inclined groove and the linear groove, and the plastic spacers are in direct contact with the adjustment column.

[0012] In an achievable technical solution of the present application, the massage units have two groups, and the two groups of massage units are respectively located on opposite sides of the massage power unit, the massage power unit includes a massage brushless motor and a massage gear box, power output ends are respectively provided on both sides of the massage gear box, the output shaft of the massage brushless motor is connected to the input end of the massage gear box, and the two power output ends of the massage gear box are respectively connected to the two groups of massage units.

[0013] In an achievable technical solution of the present application, the massage unit includes a swing fork arm and two massage wheels, the bottom of the swing fork arm is rotatably connected to the bottom tray, the top of the swing fork arm has two rotation holes, and the two massage wheels are rotatably assembled in the rotation holes respectively.

[0014] In an achievable technical solution of the present application, the linkage part includes an internal threaded sleeve and a fixed bracket, an elastic pad that is attached to and connected to the fixed bracket is provided on the movement chassis, the internal threaded sleeve is arranged inside the fixed bracket, the travel screw passes through and is threadedly assembled on the internal threaded sleeve, the fixed bracket includes a square sleeve and a plurality of reinforcement plates, the peripheral side of the internal threaded sleeve is fixedly connected to the inner circumferential wall of the square sleeve through a plurality of reinforcement plates, and the square sleeve is arranged coaxially with the internal threaded sleeve.

[0015] In an achievable technical solution of the present application, the walking power unit includes a reduction and changing gear box and a walking brushless motor, the output end of the reduction and changing gear box is connected to the end of the walking screw, the output shaft of the walking brushless motor is connected to the input end of the reduction and changing gear box, the output shaft of the walking brushless motor is arranged vertically to the walking screw, and the maximum thickness of the walking power unit does not exceed 2.5 times the thickness of the frame structure.

[0016] In summary, the present application includes at least one of the following beneficial technical effects: Starting the power part of the linear walking frame can drive the adjusting scissor structure to move in a straight line, that is, it can move back and forth between the user's buttocks and the back of the neck. For the non-planar curved surface structure between the buttocks and the back of the neck, the bottom tray can be moved to multiple dynamic positions by starting the adjusting scissor structure, and the massage power part can be started to drive the massage unit to swing back and forth, which is especially suitable for the deeper massage position of the back of the neck, and the dynamic massage effect of a variety of different curved surface positions can be comprehensively realized. Moreover, since the linear walking frame is a simple linear motion structure, it is easy to install, the installation space is small, it is not easy to be damaged, and the maintenance difficulty is low; and the overall structure has good rigidity and high space utilization through force conversion. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 is a schematic structural diagram of a dynamic massage device with a scissor-type structure according to an embodiment of the present application; Figure 2 It is a structural schematic diagram of a linear travel frame and a partially adjustable scissor structure in an embodiment of the present application; Figure 3 is a schematic diagram of the structure in which the bottom tray is located at a first height position in an embodiment of the present application; Figure 4is a schematic diagram of the structure in which the bottom tray is located at a second height position in an embodiment of the present application; Figure 5 is a schematic diagram of the structure in which the bottom tray is located in an inclined position in an embodiment of the present application; Figure 6 It is a schematic diagram of the installation relationship between the elastic pad and the linkage part in the embodiment of the present application.

[0019] Description of reference numerals: 1. Linear travel frame; 11. Guide wire; 12. Guide rail; 13. Front end plate; 131. First connecting piece; 14. Rear end plate; 141. Second connecting piece; 15. Travel screw rod; 16. Linkage part; 161. Internal thread sleeve; 162. Square sleeve; 163. Reinforcement plate; 17. Travel power part; 171. Speed ​​reduction and direction changing gear box; 172. Travel brushless motor; 2. Adjust the scissor fork structure; 21. Scissor fork; 211. Adjustment column; 22. Adjustment drive unit; 221. DC brushless motor; 222. Adjustment screw rod; 23. Guide block; 231. Sliding groove; 24. Bending plate; 25. Buffer spring; 26. Movement chassis; 261. First roller; 262. First rotating shaft; 263. Second roller; 264. Second rotating shaft; 265. Elastic pad; 266. Sliding plate; 3. Bottom tray; 31. Linear slot; 32. Oblique slot; 33. Plastic spacer; 4. Massage power unit; 41. Massage brushless motor; 42. Massage gear box; 5. Massage unit; 51. Swing fork arm; 52. Massage wheel. DETAILED DESCRIPTION

[0020] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0021] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0022] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0023] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0024] The following is combined with Figure 1-5 This application is described in further detail.

[0025] The present application embodiment discloses a dynamic massage device with a scissor-type structure. Figure 1-5 The dynamic massage device with a scissor-fork structure includes a linear walking frame 1, an adjustable scissor-fork structure 2, a bottom tray 3, a massage power unit 4 and a massage unit 5. The linear walking frame 1 is a square frame structure and is located on a first plane. The adjustable scissor-fork structure 2 is mounted on the linear walking frame 1 along a straight line and is driven to reciprocate by the linear walking frame 1. The bottom tray 3 is movably mounted on the adjustable scissor-fork structure 2. The massage power unit 4 and the massage unit 5 are both mounted in the bottom tray 3. The massage unit 5 is driven by the massage power unit 4 to reciprocate from one side to the other side. The adjustable scissor-fork structure 2 is used to drive the bottom tray 3 to move to multiple dynamic positions; the dynamic positions include at least the following position states: the plane where the bottom tray 3 is located is parallel to the first plane and is located at a first height above the first plane (for specific states, see Figure 3 ), the plane where the bottom tray 3 is located is parallel to the first plane and is located at a second height above the first plane (for specific conditions, see Figure 4 ), the plane where the bottom tray 3 is located is inclined to the first plane and the angle between the two is between 15-45 degrees, and the second height is greater than the first height (for specific conditions, see Figure 5 ).

[0026] In this embodiment, the linear walking frame 1 includes two guide rails 12, a front end plate 13 and a rear end plate 14 arranged opposite to each other and in parallel. The front end plate 13 is vertically connected to one end of the two guide rails 12, and the rear end plate 14 is vertically connected to the other end of the two guide rails 12. The two guide rails 12, the front end plate 13 and the rear end plate 14 constitute a frame structure. The bottom of the adjusting scissor structure 2 is rotatably provided with multiple sets of walking wheels on both sides relative to each other. The walking wheels slide freely along the guide rails 12. The middle part of the front end plate 13 is rotatably equipped with a walking screw 15. The middle part of the bottom of the adjusting scissor structure 2 is provided with a linkage part 16 threadedly assembled with the walking screw 15. The walking screw 15 penetrates the linkage part 16. The middle part of the rear end plate 14 is provided with a walking power part 17. The end of the walking screw 15 away from the front end plate 13 is connected to the power output end of the walking power part 17. The walking screw 15 and the linkage part 16 are both on the plane where the frame structure is located.

[0027] The two guide rails 12, the front end plate 13 and the rear end plate 14 form a stable and firm frame structure, which provides a stable sliding space for the movement chassis 26, and provides a stable installation position for the travel screw 15, the linkage part 16 and the travel power part 17. Moreover, since the travel screw 15 and the linkage part 16 are both located on the plane of the frame structure, the entire linear travel frame 1 is a flat plane structure as a whole, which is small in size and occupies less internal space of the sofa, and is very practical.

[0028] The adjustable scissors structure 2 includes a movement chassis 26, wherein the running wheels include a first roller 261 located on both sides of the front end of the movement chassis 26 and a second roller 263 located on both sides of the rear end of the movement chassis 26, the first roller 261 is connected to the side of the movement chassis 26 through a first rotating shaft 262, and the second roller 263 is connected to the side of the movement chassis 26 through a second rotating shaft 264.

[0029] In this embodiment, please refer to Figure 2 and Figure 6 The linkage part 16 includes an internal thread sleeve 161 and a fixed bracket. An elastic pad 265 is provided on the movement chassis 26 and is attached to and connected to the fixed bracket. The internal thread sleeve 161 is arranged inside the fixed bracket. The travel screw 15 passes through and is threadedly assembled on the internal thread sleeve 161. When the movement chassis 26 is driven by the linkage part 16 to move linearly, the elastic pad 265 can play a certain buffering role and reduce noise and abnormal sound.

[0030] The fixing bracket includes a square sleeve 162 and a plurality of reinforcing plates 163. The peripheral side of the internal thread sleeve 161 is fixedly connected to the inner peripheral wall of the square sleeve 162 through the plurality of reinforcing plates 163. The square sleeve 162 and the internal thread sleeve 161 are arranged coaxially, wherein there are four reinforcing plates 163, and the four reinforcing plates 163 are respectively vertically connected to the four inner side walls of the square sleeve 162, and the four reinforcing plates 163 are arranged in a "cross" shape. The linkage part 16 designed above has a simple and firm structure, is easy to install, and is not easily deformed by force.

[0031] In this embodiment, the travel power unit 17 includes a speed reduction and direction changing gear box 171 and a travel brushless motor 172, the output end of the speed reduction and direction changing gear box 171 is connected to the end of the travel screw 15, and the output shaft of the travel brushless motor 172 is connected to the input end of the speed reduction and direction changing gear box 171, wherein the output shaft of the travel brushless motor 172 is arranged vertically to the travel screw 15, and the maximum thickness of the travel power unit 17 does not exceed 2.5 times the thickness of the frame structure. The travel power unit 17 designed as above has a simple structure, stable operation, and easy and precise control.

[0032] In this embodiment, the cross section of the guide rail 12 is a U-shaped structure, the U-shaped openings of the two guide rails 12 are arranged oppositely, the running wheels roll freely inside the guide rail 12, the width of the U-shaped opening of the guide rail 12 is the thickness of the frame structure, and the first connecting piece 131 is provided at both ends of the front plate 13, and the second connecting piece 141 is provided at both ends of the rear plate 14. The first connecting piece 131 and the second connecting piece 141 are fixedly connected to the ends of the guide rail 12 by multiple groups of bolts. The frame structure designed above is simple and stable in structure, easy to assemble, and not easy to deform or damage.

[0033] In this embodiment, the adjustable scissor fork structure 2 also includes two groups of scissor forks 21, an adjustable driving unit 22 and a guide block 23. The middle part of the scissor fork 21 is hinged and the four corners form a first active point, a second active point, a third active point and a fourth active point. The two groups of scissor forks 21 are respectively located on opposite sides of the bottom tray 3. The first active point is hinged on the first rotating shaft 262, and the second active point is hinged on the second rotating shaft 264. The guide block 23 is installed on the movement chassis 26 and has a sliding groove 231. The second rotating shaft 264 vertically penetrates and is slidably connected to the sliding groove 231. The movement chassis 26 also has a sliding plate 266 slidably assembled along the walking screw 15 (in order to ensure that the adjustable scissor fork structure 2 is in the sliding process The stability of the left and right sides is ensured, that is, there is a section of smooth rod-shaped structure on the walking screw 15 to facilitate penetration and sliding connection with the sliding plate 266), the two second rotating shafts 264 are respectively connected to the opposite ends of the sliding plate 266, the third active point is hinged to the front end outer side of the bottom tray 3, and an adjusting column 211 is arranged at the fourth active point. The rear end outer side of the bottom tray 3 is provided with mutually connected linear grooves 31 and inclined grooves 32. The linear groove 31 is parallel to the plane where the bottom tray 3 is located, and the angle between the inclined groove 32 and the linear groove 31 is between 15-45 degrees. The adjusting column 211 slides in the inclined groove 32 and the linear groove 31, and the adjusting drive unit 22 is installed on the movement chassis 26 and drives the sliding plate 266 to slide back and forth.

[0034] The adjusting scissor structure 2 designed above has a simple structure and stable operation. When the first active point and the third active point move to the end limit position of the linear walking frame 1, the adjusting driving part 22 can be started, thereby driving the sliding plate 266 and the second rotating shaft 264 to approach the first active point (that is, the adjusting scissor structure 2 contracts), thereby driving the adjusting column 211 to slide in the linear groove 31 and the inclined groove 32 in turn, and gradually realizing Figure 3 , Figures 4 to 5 Three working states have better massage effect.

[0035] In order to improve the stability of the entire system during operation, the adjusting scissors-fork structure 2 also includes a bending plate 24 fixed to one side of the front end of the movement chassis 26, and a buffer spring 25 arranged along the sliding direction of the adjusting scissors-fork structure 2 is fixed to the outer side of the bending plate 24. When the adjusting scissors-fork structure 2 gradually slides to the tail end limit position of the linear walking frame 1, the end of the buffer spring 25 away from the bending plate 24 is pressed against the rear end plate 14, and a guide steel wire 11 is also arranged between the front end plate 13 and the rear end plate 14, which passes through the bending plate 24 and the buffer spring 25.

[0036] By adjusting the scissor structure 2 of the above-mentioned structural design, it is possible to at least drive the bottom tray 3 to move to the above-mentioned three dynamic positions, and by customizing the length of the inclined groove 32 and the straight groove 31 and the inclination angle of the inclined groove 32 in advance, the massage limit position and massage intensity of the massage unit 5 can be controlled.

[0037] In this embodiment, the adjustment drive unit 22 includes a brushless DC motor 221 and an adjustment screw 222, the adjustment screw 222 penetrates and is threadedly assembled on the sliding plate 266, the adjustment screw 222 is rotatably assembled on the movement chassis 26 and is spaced parallel to the travel screw 15, the brushless DC motor 221 is installed on the movement chassis 26 and is located at the rear end of the movement chassis 26, and the brushless DC motor 221 is transmission-connected to the adjustment screw 222. The adjustment drive unit 22 designed as above has a simple structure, stable operation, and is easy and accurate to control.

[0038] In order to reduce the noise generated by the adjusting column 211 during the sliding process, the bottom tray 3 is a metal part, and a plastic spacer 33 is provided on the inner peripheral wall of the inclined groove 32 and the linear groove 31 , and the plastic spacer 33 is in direct contact with the adjusting column 211 .

[0039] In this embodiment, there are two groups of massage units 5, and the two groups of massage units 5 are respectively located on opposite sides of the massage power unit 4. The massage power unit 4 includes a massage brushless motor 41 and a massage gear box 42. Power output ends are respectively arranged on both sides of the massage gear box 42. The output shaft of the massage brushless motor 41 is connected to the input end of the massage gear box 42. The two power output ends of the massage gear box 42 are respectively connected to the two groups of massage units 5, wherein the massage unit 5 includes a swing fork arm 51 and two massage wheels 52. The bottom of the swing fork arm 51 is rotatably connected to the bottom tray 3. The top of the swing fork arm 51 has two rotating holes. The two massage wheels 52 are respectively rotatably assembled in the rotating holes.

[0040] The massage unit 5 and massage power unit 4 designed above have simple structure and stable operation, are easy and precise to control, have good massage effect during the swinging process, and the massage action includes a series of complex actions such as kneading and tapping. At the same time, the present invention can also adapt the massage angle according to the body shape of the person.

[0041] The beneficial technical effects of the dynamic massage device with a scissor-type structure in the embodiment of the present application are as follows: Starting the power part of the linear walking frame 1 (i.e., the walking power unit 17) can drive the adjusting scissor structure 2 to move in a straight line, that is, it can move back and forth between the user's buttocks and the back of the neck. For the non-planar curved surface structure between the buttocks and the back of the neck, the bottom tray 3 is moved to multiple dynamic positions by starting the adjusting scissor structure 2, and the massage power unit 4 is started to drive the massage unit 5 to swing back and forth, which is particularly suitable for the deeper massage position of the back of the neck, and the dynamic massage effects of various curved surface positions are comprehensively realized. In addition, since the linear walking frame 1 is a linear motion structure with a simple structure, it is easy to install, has a small installation space, is not easy to be damaged, and has low maintenance difficulty.

[0042] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the application should be included in the protection scope of the present application.

Claims

1. A dynamic massage device with a scissor-type structure, characterized in that: The invention comprises a linear travel frame (1), an adjustable scissor-fork structure (2), a bottom tray (3), a massage power unit (4) and a massage unit (5); the linear travel frame (1) is a square frame structure and is located on a first plane; the adjustable scissor-fork structure (2) is mounted on the linear travel frame (1) along a linear sliding manner and is driven by the linear travel frame (1) to reciprocate; the bottom tray (3) is movably mounted on the adjustable scissor-fork structure (2); the massage power unit (4) and the massage unit (5) are both mounted in the bottom tray (3); the massage unit (5) is driven by the massage power unit The force part (4) drives the bottom tray (3) to swing back and forth from one side to the other side, and the adjustable scissor structure (2) is used to drive the bottom tray (3) to move to a plurality of dynamic positions; the dynamic positions at least include the following position states: the plane where the bottom tray (3) is located is parallel to the first plane and is located at a first height above the first plane, the plane where the bottom tray (3) is located is parallel to the first plane and is located at a second height above the first plane, the plane where the bottom tray (3) is located is inclined to the first plane and the angle between the two is between 15 and 45 degrees, and the second height is greater than the first height.

2. The dynamic massage device with a scissor structure according to claim 1, characterized in that: The linear walking frame (1) comprises two guide rails (12) arranged oppositely and in parallel, a front end plate (13) and a rear end plate (14); the front end plate (13) is vertically connected to one end of the two guide rails (12); the rear end plate (14) is vertically connected to the other end of the two guide rails (12); the two guide rails (12), the front end plate (13) and the rear end plate (14) form a frame structure; the bottom of the adjustable scissor structure (2) is rotatably provided with a plurality of sets of walking wheels on both sides thereof; the walking wheels slide freely along the guide rails (12); the front end plate (13) and the rear end plate (14) are arranged on the bottom of the adjustable scissor structure (2); A traveling screw rod (15) is rotatably mounted in the middle of the plate (13); a linkage part (16) threadedly assembled with the traveling screw rod (15) is arranged in the middle of the bottom of the adjusting scissor structure (2); the traveling screw rod (15) passes through the linkage part (16); a traveling power part (17) is arranged in the middle of the rear end plate (14); the end of the traveling screw rod (15) away from the front end plate (13) is connected to the power output end of the traveling power part (17); the traveling screw rod (15) and the linkage part (16) are both located on the plane where the square frame structure is located.

3. The dynamic massage device with a scissor-type structure according to claim 2, characterized in that: The adjustable scissor structure (2) comprises a movement chassis (26); the running wheels comprise first rollers (261) located on both sides of the front end of the movement chassis (26) and second rollers (263) located on both sides of the rear end of the movement chassis (26); the first rollers (261) are connected to the side of the movement chassis (26) via a first rotating shaft (262); and the second rollers (263) are connected to the side of the movement chassis (26) via a second rotating shaft (264).

4. The dynamic massage device with a scissor structure according to claim 3, characterized in that: The adjustable scissor fork structure (2) also includes two groups of scissor forks (21), an adjustable driving unit (22) and a guide block (23). The middle part of the scissor forks (21) is hinged and the four corners form a first active point, a second active point, a third active point and a fourth active point. The two groups of scissor forks (21) are respectively located on opposite sides of the bottom tray (3). The first active point is hinged on the first rotating shaft (262), and the second active point is hinged on the second rotating shaft (264). The guide block (23) is installed on the movement chassis (26) and has a sliding groove (231). The second rotating shaft (264) vertically penetrates and is slidably connected to the sliding groove (231). The movement chassis (26) also has a sliding assembly along the travel screw (15). The second rotating shafts (264) are respectively connected to opposite ends of the sliding plate (266); the third movable point is hinged to the front outer side of the bottom tray (3); an adjusting column (211) is arranged at the fourth movable point; a linear groove (31) and an inclined groove (32) which are interconnected are arranged on the rear outer side of the bottom tray (3); the linear groove (31) is parallel to the plane where the bottom tray (3) is located; the angle between the inclined groove (32) and the linear groove (31) is between 15 and 45 degrees; the adjusting column (211) slides in the inclined groove (32) and the linear groove (31); the adjusting driving unit (22) is installed on the movement chassis (26) and drives the sliding plate (266) to slide back and forth.

5. The dynamic massage device with a scissor structure according to claim 4, characterized in that: The adjustment drive unit (22) comprises a brushless DC motor (221) and an adjustment screw (222); the adjustment screw (222) penetrates through and is threadedly assembled on the sliding plate (266); the adjustment screw (222) is rotationally assembled on the movement chassis (26) and is spaced and parallel to the travel screw (15); the brushless DC motor (221) is mounted on the movement chassis (26) and is located at the rear end of the movement chassis (26); and the brushless DC motor (221) is transmission-connected to the adjustment screw (222).

6. The dynamic massage device with a scissor structure according to claim 4, characterized in that: The bottom tray (3) is a metal part, and a plastic spacer (33) is provided on the inner peripheral wall of the inclined groove (32) and the linear groove (31), and the plastic spacer (33) is in direct contact with the adjustment column (211).

7. The dynamic massage device with a scissor structure according to claim 1, characterized in that: The massage units (5) have two groups, and the two groups of massage units (5) are respectively located on opposite sides of the massage power unit (4). The massage power unit (4) includes a massage brushless motor (41) and a massage gear box (42). Power output ends are respectively arranged on both sides of the massage gear box (42). The output shaft of the massage brushless motor (41) is connected to the input end of the massage gear box (42). The two power output ends of the massage gear box (42) are respectively connected to the two groups of massage units (5).

8. The dynamic massage device with a scissor-type structure according to claim 7, characterized in that: The massage unit (5) comprises a swing fork arm (51) and two massage wheels (52); the bottom of the swing fork arm (51) is rotatably connected to the bottom tray (3); the top of the swing fork arm (51) has two rotation holes; the two massage wheels (52) are rotatably assembled in the rotation holes respectively.

9. The dynamic massage device with a scissor structure according to claim 3, characterized in that: The linkage part (16) comprises an internal thread sleeve (161) and a fixed bracket. An elastic pad (265) is arranged on the movement chassis (26) and is attached to and connected to the fixed bracket. The internal thread sleeve (161) is arranged inside the fixed bracket. The travel screw (15) passes through and is threadedly assembled on the internal thread sleeve (161). The fixed bracket comprises a square sleeve (162) and a plurality of reinforcement plates (163). The peripheral side of the internal thread sleeve (161) is fixedly connected to the inner peripheral wall of the square sleeve (162) through the plurality of reinforcement plates (163). The square sleeve (162) and the internal thread sleeve (161) are arranged coaxially.

10. The dynamic massage device with a scissor structure according to claim 2, characterized in that: The walking power unit (17) comprises a speed reduction and direction changing gear box (171) and a walking brushless motor (172); the output end of the speed reduction and direction changing gear box (171) is connected to the end of the walking screw (15); the output shaft of the walking brushless motor (172) is connected to the input end of the speed reduction and direction changing gear box (171); the output shaft of the walking brushless motor (172) is arranged vertically to the walking screw (15); and the maximum thickness of the walking power unit (17) does not exceed 2.5 times the thickness of the frame structure.

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