Massage machine core and massage chair

Abstract

The utility model discloses a massage machine core and a massage chair, and relates to the technical field of massage chairs. The massage machine core comprises a machine core base assembly, a rack plate, an ejection assembly and a massage assembly. The machine core base assembly is used for driving the whole massage machine core to move in the massage chair; one end of the rack plate is rotationally assembled on the machine core base assembly; the ejection assembly pushes the rack plate through the acting end of the ejection assembly so that the rack plate can rotate relative to the machine core base assembly. The two groups of massage assemblies are used for massaging to-be-massaged parts of a human body; when the acting end of the ejection assembly pushes the rack plate to rotate and eject forwards, the massage head is pressed to the to-be-massaged part of the human body, and the first joint and the second joint are matched with each other to drive the massage head to massage the to-be-massaged part of the human body. By adopting the technical scheme, the massage device has the advantages of flexible and diversified massage modes and capability of simulating human hand massage.

Description

Technical Field

[0001] The utility model relates to the technical field of massage chairs, and particularly relates to a massage mechanism and a massage chair. Background Art

[0002] In today's society, with the acceleration of the pace of life and the increase of work pressure, people's demand for health preservation is growing day by day. As an important tool for relieving physical fatigue and promoting blood circulation, the market demand for massage chairs continues to expand. With the progress of technology and the improvement of consumer demand, the massage chair industry is also evolving continuously, especially the development of massage mechanism technology. The traditional massage mechanism has a simple structure and single massage actions. The simple massage actions are difficult to simulate the flexible massage actions of human hands and cannot meet the needs of users for diverse massage experiences, resulting in a rigid massage experience, incomplete massage, or poor comfort. Content of the Utility Model

[0003] The purpose of the utility model is to provide a massage mechanism and a massage chair aiming at the defects and deficiencies of the prior art, which have the advantages of flexible and diverse massage methods and can simulate the massage of human hands.

[0004] To achieve the above purpose, the technical scheme adopted by the utility model is: a massage mechanism, comprising:

[0005] A mechanism base component, which is provided with a through installation hole in the middle, and the mechanism base component is used to drive the whole massage mechanism to move in the massage chair;

[0006] A frame plate, which is arranged in the installation hole, and one end of the frame plate is rotationally assembled on the mechanism base component;

[0007] An ejecting component, which is arranged on the back side of the mechanism base component, the acting end of the ejecting component is located on the back side of the frame plate, and the ejecting component pushes the frame plate through its acting end to make the frame plate rotate relative to the mechanism base component; and

[0008] A massage component, which is arranged on the front side of the frame plate, and there are two groups of the massage components, which are used to massage the parts of the human body to be massaged;

[0009] The massage component includes: a first joint assembled on the frame plate, a second joint rotationally assembled on the first joint and located in front of the frame plate, a massage head assembled on the front side of the second joint, a first rotation motor fixedly assembled on the second joint and used to drive the second joint to rotate relative to the first joint in a direction perpendicular to the frame plate, and a second rotation motor assembled on the second joint and used to drive the massage head to rotate relative to the second joint in a direction parallel to the plane where the front side of the second joint is located.

[0010] The present utility model is further configured such that the massage assembly further includes: a first gear fixedly assembled at the front end of the first joint, and a second gear fixedly assembled on the output shaft of the first rotating motor and meshing with the front portion of the first gear; the first rotating motor drives the second gear to rotate around the front portion of the first gear, thereby driving the first rotating motor together with the second joint to rotate relative to the first joint.

[0011] The present utility model is further configured such that the second joint is L-shaped, and the second joint includes: a first section rotatably assembled on the first gear and perpendicular to the frame plate, and a second section extending vertically from the front end of the first section and perpendicular to the first section;

[0012] The first rotating motor is fixedly assembled on the first section, the second rotating motor is fixedly assembled on the second section, and the massage head is fixedly assembled on the output shaft of the second rotating motor.

[0013] The present utility model is further configured such that the massage core further includes: a swing assembly disposed on the back side of the frame plate and fixedly assembled with the first joint; the swing assembly is used to drive the massage assembly to swing on the frame plate; the plane where the swing direction of the massage assembly is located is perpendicular to the plane where the second joint rotates relative to the first joint, and is also perpendicular to the plane where the massage head rotates relative to the second joint.

[0014] The present utility model is further configured such that the frame plate is provided with two stroke holes respectively corresponding to the two first joints, a part of the first joint is located on the back side of the stroke hole and a part is exposed on the front side of the stroke hole, and the first joint can swing in the stroke hole;

[0015] The swing assembly includes:

[0016] Support plates, two of which are provided and assembled on the front side of the frame plate and arranged parallel to the first joint;

[0017] A support shaft rotatably assembled between the two support plates and the two first joints;

[0018] Screw rod mounting plates, two of which are provided and assembled on the back side of the frame plate and arranged perpendicular to the first joint;

[0019] A screw rod rotatably assembled between the two screw rod mounting plates;

[0020] A nut block slidably assembled on the screw rod, and a moving rod stroke hole is provided on the side of the nut block close to the frame plate;

[0021] A moving rod, with both ends fixedly assembled to the parts of the two first joints on the back side of the frame plate, and the moving rod passes through the moving rod travel hole; and

[0022] A driving assembly for driving the screw rod to rotate, thereby driving the nut block to move on the screw rod, and further driving the moving rod to move, so that the massage assembly swings around the support shaft.

[0023] The present utility model is further provided that the driving assembly includes: a swing motor and a pulley assembly arranged between the swing motor and the screw rod; an avoidance hole for avoiding the pulley assembly is opened on the frame plate.

[0024] The present utility model is further provided that the movement mechanism base assembly includes: a base plate provided with the installation hole, and a walking assembly arranged on the back side of the base plate;

[0025] The walking assembly includes:

[0026] A first rotating shaft rotatably mounted at one end of the back side of the base plate;

[0027] There are two first walking wheels, which are respectively fixedly assembled on both sides of the first rotating shaft;

[0028] A second rotating shaft rotatably mounted at the other end of the back side of the base plate;

[0029] There are two second walking wheels, which are respectively rotatably assembled on both sides of the second rotating shaft; and a walking motor for driving the first rotating shaft to rotate;

[0030] The frame plate is rotatably assembled on the first rotating shaft.

[0031] The present utility model is further provided that the walking assembly further includes:

[0032] A worm arranged at the output end of the walking motor; and

[0033] A worm gear fixedly arranged on the first rotating shaft and vertically meshing with the worm.

[0034] The present utility model is further provided that the ejection assembly includes:

[0035] An ejection gear fixedly sleeved on the second rotating shaft;

[0036] A rack, which is arc-shaped, one side of which meshes with the ejection gear, and one end of which is fixedly connected to the back side of the frame plate; and

[0037] The ejection motor is used to drive the rotation of the ejection gear, thereby driving the swing of the rack, and then pushing the frame plate so that the massage assembly presses against the part of the human body to be massaged.

[0038] To achieve the above object, another technical solution adopted by the present utility model is: a massage chair, comprising: a massage chair body and a massage mechanism as described in any one of the above, which is assembled inside the massage chair body.

[0039] After adopting the above technical solution, the beneficial effects of the present utility model are as follows: in the present utility model, by providing a core base assembly and a frame plate rotatably assembled therewith, and a massage assembly is provided on the front side of the frame plate, and an ejection assembly is provided on the rear side of the frame plate, so that the ejection assembly can push the frame plate through its acting end to make the frame plate rotate relative to the core base assembly, and then make the massage head press against the part of the human body to be massaged, thereby realizing the full fitting of the massage head to the part of the human body to be massaged and making an ejection traction massage action on the part of the human body to be massaged; in addition, the massage assembly includes: a first joint, a second joint, a massage head, a first rotation motor and a second rotation motor, and a variety of massage actions are realized through the cooperation between multiple components to simulate the massage of human hands, with excellent massage effect and comfort. Description of the Drawings

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0041] Figure 1 is a structural schematic diagram of the present utility model;

[0042] Figure 2 is a structural schematic diagram of another perspective of the present utility model;

[0043] Figure 3 is a structural schematic diagram of yet another perspective of the present utility model;

[0044] Figure 4 is a structural schematic diagram of the massage assembly;

[0045] Figure 5 is a structural schematic diagram of the swing assembly installed on the base plate;

[0046] Figure 6 is a structural schematic diagram of another perspective of the swing assembly installed on the base plate;

[0047] Figure 7It is a schematic structural diagram of a walking component installed on a base plate and part of the housing exploded;

[0048] Figure 8 It is a schematic structural diagram of a frame plate rotating and ejecting relative to the base plate;

[0049] Figure 9 It is a schematic structural diagram of an ejecting component;

[0050] Figure 10 It is a schematic structural diagram of a massage mechanism using one type of massage head;

[0051] Figure 11 It is a schematic structural diagram of a massage mechanism using another type of massage head.

[0052] Explanation of reference numerals:

[0053] 100, base plate; 110, mounting hole;

[0054] 200, frame plate; 210, stroke hole; 220, avoidance hole;

[0055] 300, ejecting component; 310, ejecting gear; 320, rack; 330, ejecting motor; 340, fixed shaft;

[0056] 400, massage component; 410, first joint; 420, second joint; 421, first segment; 422, second segment; 430, massage head; 440, first rotating motor; 450, second rotating motor; 460, first gear; 470, second gear;

[0057] 500, swinging component; 510, support plate; 520, support shaft; 530, screw rod mounting plate; 540, screw rod; 550, nut block; 551, moving rod stroke hole; 560, moving rod; driving component; 570, swinging motor; 580, pulley assembly;

[0058] 600, walking component; 610, first rotating shaft; 620, first walking wheel; 630, second rotating shaft; 640, second walking wheel; 650, walking motor; 660, worm; 670, worm gear. Detailed implementation manners

[0059] The following further elaborates on the present utility model in conjunction with the attached drawings.

[0060] This specific embodiment is merely an explanation of the present utility model and is not a limitation thereof. After reading this specification, those skilled in the art can make modifications to this embodiment that do not contribute to the creation as needed, but as long as it is within the scope of the claims of the present utility model, it is protected by the patent law.

[0061] This embodiment relates to a massage mechanism. For the convenience of understanding and description, when the massage mechanism is located inside a massage chair, the side facing the human body is the front side, and the side away from the human body is the back side. Refer to Figures 1-4 , the massage mechanism includes: a mechanism base assembly, a frame plate 200, an ejection assembly 300, and a massage assembly 400.

[0062] Among them, refer to Figures 1-3 , the mechanism base assembly is used to drive the entire massage mechanism to move inside the massage chair, and a through installation hole 110 is provided in the middle of the mechanism base assembly. The frame plate 200 is arranged in the installation hole 110, and one end of the frame plate 200 is rotationally assembled on the mechanism base assembly. The ejection assembly 300 is arranged on the back side of the mechanism base assembly, the acting end of the ejection assembly 300 is located on the back side of the frame plate 200, and the ejection assembly 300 pushes the frame plate 200 through its acting end to make the frame plate 200 rotate relative to the mechanism base assembly. The massage assembly 400 is arranged on the front side of the frame plate 200, and there are two groups of massage assemblies 400, which are used to massage the parts of the human body to be massaged.

[0063] By providing the mechanism base assembly, the frame plate 200, the massage assembly 400 and the ejection assembly 300, the ejection assembly 300 can push the frame plate 200 through its acting end to make the frame plate 200 rotate relative to the mechanism base assembly, and then press the massage assembly 400 to the parts of the human body to be massaged, so as to realize the full fitting of the massage assembly 400 to the parts of the human body to be massaged and perform the ejection traction massage action on the parts of the human body to be massaged.

[0064] Refer to Figures 2-4 , the massage assembly 400 includes: a first joint 410, a second joint 420, a massage head 430, a first rotation motor 440 and a second rotation motor 450. Among them, the first joint 410 is assembled on the frame plate 200; the second joint 420 is rotationally assembled on the first joint 410 and is located above the frame plate 200; the massage head 430 is assembled on the second joint 420; the first rotation motor 440 is fixedly assembled on the second joint 420 and is used to drive the second joint 420 to rotate relative to the first joint 410 in a direction perpendicular to the frame plate 200; the second rotation motor 450 is assembled on the second joint 420 and is used to drive the massage head 430 to rotate relative to the second joint 420 in a direction parallel to the plane where the front side of the second joint 420 is located. The massage assembly 400 itself realizes various massage actions through the cooperation between multiple components to simulate manual massage, with accurate massage and excellent comfort.

[0065] Specifically, refer to Figures 2-4, the first motor drives the second joint 420 together with the massage head 430 to perform a left - and - right swinging massage action, thereby performing a left - and - right scraping massage action on the back. The two massage components 400 can swing in the same direction or in the opposite direction respectively under the drive of the two first motors.

[0066] Referring to Figure Figures 2-4 , the second motor drives the massage head 430 to perform a rotational massage action parallel to the frame plate 200, which can simulate the elbow joint to massage the part of the human body to be massaged. Specifically, the massage head 430 can be set as an eccentric structure. At this time, during circular motion, it can simulate the elbow joint to press on the shoulder or other parts.

[0067] In some embodiments, referring to Figure 10 , the massage head 430 can be set as an eccentric structure, such as a shape similar to a kidney bean seed. At this time, when the second motor drives the massage head 430 to perform circular motion, it can simulate the elbow joint to press on the shoulder or other parts. In other embodiments, referring to Figure 11 , the massage head 430 is a circular massage head 430 with multiple dot protrusions or a massage head 430 of other shapes. At this time, when the ejecting component 300 pushes the frame plate 200 to press the massage head 430 against the part of the human body to be massaged, it can simulate the knuckle to perform acupressure massage actions. The connection between the massage head 430 and the second motor is detachable, and different massage heads 430 can be replaced according to different massage scenarios.

[0068] In this embodiment, referring to Figure 4 , the massage component 400 further includes: a first gear 460 fixedly assembled at the front end of the first joint 410 and a second gear 470 fixedly assembled on the output shaft of the first rotating motor 440 and meshing with the front part of the first gear 460. The first rotating motor 440 drives the second gear 470 to rotate around the front part of the first gear 460, thereby driving the first rotating motor 440 together with the second joint 420 to rotate relative to the first joint 410. The mutual cooperation of the first gear 460 and the second gear 470 can ensure that the rotation angle and speed of the second joint 420 are precisely controlled, so that the massage head 430 moves more smoothly and accurately on the part of the human body to be massaged under the drive of the second joint 420, providing a more delicate massage experience.

[0069] In this embodiment, referring to Figure 4, the second joint 420 is L-shaped. The second joint 420 includes: a first segment 421 rotatably assembled to the first gear 460 and perpendicular to the frame plate 200, and a second segment 422 extending in the vertical direction from the front end of the first segment 421 and perpendicular to the first segment 421. The L-shaped setting can save space, facilitate the installation of the first rotating motor 440 and the second rotating motor 450, and also help to adjust the angle of the massage head 430. The first rotating motor 440 is fixedly assembled to the first segment 421, the second rotating motor 450 is fixedly assembled to the second segment 422, and the massage head 430 is fixedly assembled on the output shaft of the second rotating motor 450. The cooperation of the first joint 410, the second joint 420, the first rotating motor 440 and the second rotating motor 450 enables the massage head 430 to perform both left and right scraping massage actions and rotational massage actions.

[0070] In this embodiment, referring to Figures 1-3 , Figure 5 , the massage mechanism further includes: a swing assembly 500 disposed on the back side of the frame plate 200 and fixedly assembled with the first joint 410, and the swing assembly 500 is used to drive the massage assembly 400 to swing on the frame plate 200. The plane where the swing direction of the massage assembly 400 is located is perpendicular to the plane where the second joint 420 rotates relative to the first joint 410, and is also perpendicular to the plane where the massage head 430 rotates relative to the second joint 420. The addition of the swing assembly 500 adds a new massage action to the massage mechanism, enabling the massage assembly 400 to not only rotate in the vertical and horizontal directions, but also swing up and down, greatly enriching the massage techniques, simulating more human-like massage actions, and providing a more diverse and realistic massage experience.

[0071] In this embodiment, referring to Figures 4-6 , the frame plate 200 is provided with two stroke holes 210 corresponding to the two first joints 410 respectively. The first joint 410 is partially located on the back side of the stroke hole 210 and partially exposed on the front side of the stroke hole 210. The first joint 410 can swing within the stroke hole 210, enabling the massage assembly 400 to swing up and down within a certain range and provide scraping massage within a certain range.

[0072] Referring to Figures 5-8, the swing assembly 500 includes: a support plate 510, a support shaft 520, a lead screw mounting plate 530, a lead screw 540, a nut block 550, a moving rod 560, and a drive assembly. Among them, there are two support plates 510, which are assembled on the front side of the frame plate 200 and arranged in parallel with the first joint 410, providing a stable support point for the support shaft 520. The support shaft 520 is rotatably assembled between the two support plates 510 and the two first joints 410, serving as the rotation center for the swing of the massage assembly 400, ensuring that the massage assembly 400 can swing smoothly and stably around the support shaft 520. There are two lead screw mounting plates 530, which are assembled on the back side of the frame plate 200 and arranged perpendicular to the first joint 410, providing a stable mounting platform for the lead screw 540. The lead screw 540 is rotatably assembled between the two lead screw mounting plates 530. The nut block 550 is slidably assembled on the lead screw 540, and a moving rod travel hole 551 is provided on one side of the nut block 550 close to the frame plate 200. The cooperation between the lead screw 540 and the nut block 550 can precisely control the swing amplitude and frequency of the massage assembly 400. The two ends of the moving rod 560 are respectively fixedly assembled on the parts of the two first joints 410 on the back side of the frame plate 200, and the moving rod 560 passes through the moving rod travel hole 551. The drive assembly drives the lead screw 540 to rotate, thereby driving the nut block 550 to move on the lead screw 540, and then driving the moving rod 560 to move, so that the massage assembly 400 swings around the support shaft 520. This swinging massage action can imitate the up and down scraping massage action of the human hand on the back, providing a more diverse and natural massage experience.

[0073] In this embodiment, referring to Figures 6-8 , the drive assembly includes: a swing motor 570 and a pulley assembly 580 provided between the swing motor 570 and the lead screw 540. The pulley assembly 580 transmits the power of the swing motor 570 to the lead screw 540, thereby controlling the transmission of the lead screw 540. As a preferred solution, an avoidance hole 220 for avoiding the pulley assembly 580 is provided on the frame plate 200, providing space for the pulley assembly 580, so that the pulley assembly 580 will not protrude too much on the back side of the frame plate 200, making the entire massage core structure more compact and facilitating the transmission within a limited space.

[0074] In this embodiment, referring to Figures 6-8 , the movement base assembly includes: a base plate 100 provided with mounting holes 110 and a traveling assembly 600 provided on the back side of the base plate 100. The traveling assembly 600 enables the entire massage core to move inside the massage chair, which not only increases the flexibility of the massage core but also expands the massage coverage range, allowing different parts of the user's body to be massaged.

[0075] The walking assembly 600 includes: a first rotating shaft 610 rotatably mounted at one end of the back side of the base plate 100, two first walking wheels 620 respectively and fixedly assembled on both sides of the first rotating shaft 610, a second rotating shaft 630 rotatably mounted at the other end of the back side of the base plate 100, two second walking wheels 640 respectively and rotatably assembled on both sides of the second rotating shaft 630, and a walking motor 650 for driving the first rotating shaft 610 to rotate. The walking motor 650 drives the first rotating shaft 610 to rotate, thereby driving the first walking wheels 620 fixed on both sides thereof to rotate. The second walking wheels 640 are driven wheels and rotate around the second rotating shaft 630 when the first walking wheels 620 move. The first walking wheels 620 and the second walking wheels 640 work together to enable the massage core to move on different massage areas of the massage chair and provide comprehensive massage services. The frame plate 200 is rotatably assembled on the first rotating shaft 610. When the walking motor 650 drives the first rotating shaft 610 to rotate, it will not interfere with the swing of the frame plate 200; when the frame plate 200 swings, it will not interfere with the rotation of the first rotating shaft 610 either.

[0076] In this embodiment, referring to Figure 7 , the walking assembly 600 further includes: a worm 660 disposed on the output end of the walking motor 650 and a worm gear 670 fixedly disposed on the first rotating shaft 610 and perpendicularly engaged with the worm 660. This design enables the walking motor 650 to be located on the back side of the frame plate 200 and not protrude from the left and right sides of the frame plate 200, saving more space and ensuring that the first walking wheels 620 have sufficient force when moving the massage core.

[0077] In this embodiment, referring to Figure 2 、 7 - Figure 9 , the ejecting assembly 300 includes: an ejecting gear 310 fixedly sleeved on the second rotating shaft 630, a rack 320 meshing with one side of the ejecting gear 310, having one end fixedly connected to the back side of the frame plate 200 and being arc-shaped, and an ejecting motor 330. The ejecting motor 330 drives the ejecting gear 310 to rotate, thereby driving the rack 320 to swing. The swing amplitude of the rack 320 can be controlled, thereby controlling the tilt angle of the frame plate 200, and further pushing the frame plate 200 to press the massage assembly 400 against the human body part to be massaged, ensuring that the massage assembly 400 can contact the human body part to be massaged with different forces. Specifically, in this embodiment, there are two racks 320, and the non-acting ends of the two racks 320 are fixedly connected by a fixed shaft 340.

[0078] Through the cooperation of the ejecting assembly 300, the massage assembly 400, the swinging assembly 500 and the walking assembly 600, this massage core can realize the adjustment of different positions and angles of the massage assembly 400 relative to the human body, simulate various massage actions of human hands, and provide users with an ultimate experience.

[0079] This embodiment also relates to a massage chair, including: a massage chair body (not shown) and a massage mechanism as described above assembled in the massage chair.

[0080] The working principle of the present utility model is generally as follows: The walking assembly 600 drives the entire massage mechanism to move within the massage chair; the ejecting motor 330 in the ejecting assembly 300 drives the ejecting gear 310 to rotate, thereby driving the rack 320 to eject, and then pushing the frame plate 200 to press the massage assembly 400 against the part of the human body to be massaged; the swinging motor 570 in the swinging assembly drives the pulley assembly 580 to rotate, thereby driving the lead screw 540 to rotate, and then driving the nut block 550 to move on the lead screw 540, and then driving the moving rod 560 to move, so that the massage assembly 400 performs an up and down scraping massage action around the support shaft 520 on the part of the human body to be massaged; the first rotating motor 440 in the massage assembly 400 drives the second joint 420 to rotate relative to the first joint 410 in a direction perpendicular to the frame plate 200, thereby driving the massage head 430 to perform a left and right scraping massage action on the part of the human body to be massaged; the second rotating motor 450 in the massage assembly 400 drives the massage head 430 to rotate relative to the second joint 420 in a direction parallel to the plane on the front side of the second joint 420, thereby driving the massage head 430 to simulate the elbow joint to massage the part of the human body to be massaged; through the cooperation of the walking assembly 600, the ejecting assembly 300, the swinging assembly 500 and the massage assembly 400, it is possible to realize the adjustment of different positions and angles of the massage assembly 400 relative to the human body, and various massage actions can be simulated by imitating the human hand, giving the user an ultimate experience.

[0081] The above is only used to illustrate the technical solution of the present utility model and not to limit it. Any other modifications or equivalent replacements made by those of ordinary skill in the art to the technical solution of the present utility model should be covered within the scope of the claims of the present utility model as long as they do not depart from the spirit and scope of the technical solution of the present utility model.

Claims

1. A massage movement, characterized in that: include: A movement base assembly, a through mounting hole (110) is provided in the middle thereof, and the movement base assembly is used to drive the entire massage movement to move in the massage chair; A frame plate (200) is arranged in the mounting hole (110), and one end of the frame plate (200) is rotatably assembled on the movement base assembly; An ejection assembly (300) is arranged on the back side of the movement base assembly, the action end of the ejection assembly (300) is located on the back side of the frame plate (200), and the ejection assembly (300) pushes the frame plate (200) through its action end to make the frame plate (200) rotate relative to the movement base assembly; as well as A massage component (400) is arranged on the front side of the frame plate (200), and the massage component (400) is provided with two groups, and is used to massage a part of a human body to be massaged; The massage assembly (400) comprises: a first joint (410) mounted on the frame plate (200), a second joint (420) rotatably mounted on the first joint (410) and located in front of the frame plate (200), a massage head (430) mounted in front of the second joint (420), a first rotating motor (440) fixedly mounted on the second joint (420) and used for driving the second joint (420) to rotate relative to the first joint (410) in a direction perpendicular to the frame plate (200), and a second rotating motor (450) mounted on the second joint (420) and used for driving the massage head (430) to rotate relative to the second joint (420) in a direction parallel to a surface where the front side of the second joint (420) is located.

2. The massage movement according to claim 1, characterized in that: The massage component (400) further includes: a first gear (460) fixedly mounted on the front end of the first joint (410), and a second gear (470) fixedly mounted on the output shaft of the first rotating motor (440) and meshing with the front portion of the first gear (460); the first rotating motor (440) drives the second gear (470) to rotate around the front portion of the first gear (460), thereby driving the first rotating motor (440) and the second joint (420) to rotate relative to the first joint (410).

3. The massage movement according to claim 2, characterized in that: The second joint (420) is L-shaped, and comprises: a first segment (421) rotatably mounted on the first gear (460) and perpendicular to the frame plate (200), and a second segment (422) extending from the front end of the first segment (421) in a vertical direction and perpendicular to the first segment (421); The first rotating motor (440) is fixedly mounted on the first segment (421), the second rotating motor (450) is fixedly mounted on the second segment (422), and the massage head (430) is fixedly mounted on the output shaft of the second rotating motor (450).

4. The massage movement according to any one of claims 1 to 3, characterized in that: The massage movement further comprises: a swing component (500) arranged on the back side of the frame plate (200) and fixedly assembled with the first joint (410); the swing component (500) is used to drive the massage component (400) to swing on the frame plate (200); the plane where the swing direction of the massage component (400) is located is perpendicular to the plane where the second joint (420) rotates relative to the first joint (410), and is also perpendicular to the plane where the massage head (430) rotates relative to the second joint (420).

5. The massage movement according to claim 4, characterized in that: The frame plate (200) is provided with two travel holes (210) respectively corresponding to the two first joints (410); the first joint (410) is partially located on the back side of the travel hole (210) and partially exposed on the front side of the travel hole (210); the first joint (410) can swing in the travel hole (210); The swing assembly (500) comprises: Two support plates (510) are provided and are mounted on the front side of the frame plate (200) and are arranged parallel to the first joint (410); A support shaft (520) is rotatably mounted between the two support plates (510) and the two first joints (410); Two screw rod mounting plates (530) are provided and are mounted on the back side of the frame plate (200) and are arranged perpendicular to the first joint (410); A screw rod (540) is rotatably mounted between the two screw rod mounting plates (530); A nut block (550) is slidably mounted on the screw rod (540), and a moving rod travel hole (551) is provided on a side of the nut block (550) close to the frame plate (200); A moving rod (560), both ends of which are respectively fixedly mounted on the two first joints (410) located on the back side of the frame plate (200), and the moving rod (560) passes through the moving rod travel hole (551); and The driving assembly is used to drive the screw rod (540) to rotate, thereby driving the nut block (550) to transmit on the screw rod (540), thereby driving the moving rod (560) to move, so that the massage assembly (400) swings around the support shaft (520).

6. The massage movement according to claim 5, characterized in that: The driving assembly comprises: a swing motor (570) and a pulley assembly (580) arranged between the swing motor (570) and the screw rod (540); and an avoidance hole (220) for avoiding the pulley assembly (580) is opened on the frame plate (200).

7. The massage movement according to claim 1, characterized in that: The movement base assembly comprises: a base plate (100) provided with the mounting hole (110), and a travel assembly (600) arranged on the back side of the base plate (100); The walking assembly (600) comprises: A first rotating shaft (610) rotatably mounted on one end of the back side of the base plate (100); There are two first running wheels (620), which are respectively fixedly mounted on both sides of the first rotating shaft (610); A second rotating shaft (630) is rotatably mounted on the other end of the back side of the base plate (100); There are two second running wheels (640), which are rotatably mounted on two sides of the second rotating shaft (630); and A travel motor (650), used for driving the first rotating shaft (610) to rotate; The frame plate (200) is rotatably mounted on the first rotating shaft (610).

8. The massage movement according to claim 7, characterized in that: The walking assembly (600) further includes: A worm (660) is arranged at the output end of the travel motor (650); and The worm wheel (670) is fixedly disposed on the first rotating shaft (610) and vertically meshes with the worm (660).

9. The massage movement according to claim 7, characterized in that: The ejection assembly (300) comprises: An ejector gear (310) is fixedly sleeved on the second rotating shaft (630); a rack (320) arranged in an arc shape, one side of which is meshed with the ejection gear (310), and one end of which is fixedly connected to the back side of the frame plate (200); and The ejection motor (330) is used to drive the ejection gear (310) to rotate, thereby driving the rack (320) to swing, and then pushing the frame plate (200) to press the massage component (400) to the part of the human body to be massaged.

10. A massage chair, characterized in that: include: A massage chair body and a massage movement as described in any one of claims 1 to 9 and assembled in the massage chair body.

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