Massage chair and massage machine core thereof

Abstract

The utility model discloses a massage chair and a massage machine core thereof, the massage chair comprises a machine core frame and two massage crank arms arranged on the machine core frame, and massage rollers are arranged on the massage crank arms; the massage assembly is used for driving the massage rollers on the two massage crank arms to realize a massage action; the knocking component is used for driving the massage rollers on the two massage crank arms to realize knocking action; the massage chair further comprises a walking assembly used for driving the machine core frame to move on the massage chair. And the 3D assembly is used for adjusting the angle of the movement frame. The 3D assembly is arranged on the driven adjusting shaft, the adjusting shaft is driven to rotate, so that the adjusting rod is driven to rotate, the machine core kneading mechanism conducts feeding in the 3D direction relative to the two adjusting rolling wheels, and then the 3D massage action is achieved.

Description

Technical Field

[0001] The utility model relates to the field of household appliances, in particular to a massage chair and a massage mechanism thereof. Background Art

[0002] Generally, an office chair with a massage function includes a skeleton and a massage mechanism that can move up and down on the skeleton. A guide rail is provided on the chair skeleton, and the massage mechanism moves along the guide rail to perform massage actions such as kneading and knocking on the human body.

[0003] The prior art with the publication number CN214435302U discloses a new type of 3D massage mechanism, which includes a walking platform that walks along a walking track, and a knocking and kneading component is arranged on the walking platform. The knocking and kneading component includes a main shaft rotatably arranged at one end of the walking platform. The main shaft rotates self - driven by a kneading speed reducer, and the kneading speed reducer is fixed on the walking platform. Two kneading arm groups are sleeved on the main shaft, and the kneading arm groups perform reciprocating left - and - right kneading driven by the main shaft. A knocking device for pushing the kneading arm groups to pound back and forth is also arranged on the walking platform; both ends of the main shaft are fixedly provided with first eccentric sleeves that are eccentrically arranged with respect to the main shaft. An eccentrically arranged guide wheel shaft is fixed on the first eccentric sleeve, and a first walking roller that rotates along it is sleeved on the guide wheel shaft. The first walking roller rolls along the walking track and drives the walking platform to swing relative to the walking track.

[0004] In the prior art, when the massage mechanism performs the kneading action, the massage mechanism necessarily swings on the massage moving skeleton, which not only makes the actions of the massage chair rigid, but also cannot meet the need for fixed - angle massage. The types of massages and the applicable population are relatively limited. In this application, the 3D component is arranged on the driven adjustment shaft. By driving the adjustment shaft to rotate, the crank fixed on the walking driven shaft rotates, so that the kneading mechanism of the mechanism makes a 3D - direction feed relative to the two adjustment rollers, thereby realizing the 3D massage action. In addition, this 3D massage mechanism is all driven by brushless motors, with high reliability, no commutation sparks and wear, low noise, low interference, precise position control, long service life, and a compact and simple structure. Content of the Utility Model

[0005] In order to solve the problem that the massage mechanism in the prior art cannot meet the need for fixed - angle massage, the purpose of the utility model is to provide a massage chair and a massage mechanism thereof. The massage chair can independently perform actions such as walking, kneading, knocking, and massage angle adjustment, and can combine any of the above actions, thereby making the functions of the massage chair more diverse and the applicable population wider.

[0006] To achieve the above object, the present utility model adopts the following technical solutions: A massage mechanism, comprising a mechanism frame and two massage crank arms mounted on the mechanism frame, with massage rollers mounted on the massage crank arms; further comprising a kneading assembly for driving the massage rollers on the two massage crank arms to perform kneading actions; further comprising a knocking assembly for driving the massage rollers on the two massage crank arms to perform knocking actions; further comprising a walking assembly for driving the mechanism frame to move on the massage chair; further comprising a 3D assembly for adjusting the angle of the mechanism frame;

[0007] The kneading assembly includes a kneading shaft and a kneading driving mechanism for driving the kneading shaft to rotate. The kneading shaft is rotatably mounted on the mechanism frame, a kneading eccentric bushing is sleeved on the kneading shaft, and the massage crank arm is mounted on the kneading eccentric bushing;

[0008] The knocking assembly includes a knocking shaft and a knocking driving mechanism for driving the knocking shaft to rotate. The knocking shaft is rotatably mounted on the mechanism frame, knocking eccentric bushings are sleeved on both ends of the knocking shaft, the two knocking eccentric bushings respectively correspond to the two massage crank arms, and the knocking eccentric bushing and the massage crank arm are connected by a knocking connecting rod. One end of the knocking connecting rod is hinged to the knocking eccentric bushing, and the other end of the knocking connecting rod is connected to the bottom ball head of the massage crank arm;

[0009] The walking assembly includes a walking shaft and a walking driving mechanism for driving the walking shaft to rotate. The walking shaft is rotatably mounted on the mechanism frame, both ends of the walking shaft extend out of the mechanism frame, and walking rollers are mounted at both ends of the walking shaft;

[0010] The 3D assembly includes an adjusting shaft, an adjusting rod, an adjusting roller and an adjusting driving mechanism for driving the adjusting shaft to rotate. The adjusting shaft is rotatably mounted on the mechanism frame, both ends of the adjusting shaft extend out of the mechanism frame, two adjusting rods are respectively mounted at both ends of the adjusting shaft, and both ends of the adjusting rod are respectively connected to the adjusting shaft and the adjusting roller;

[0011] The walking driving mechanism, the adjusting driving mechanism, the adjusting shaft, the kneading driving mechanism and the walking shaft enclose a receiving space, and the kneading shaft, the knocking shaft and the knocking connecting rod are arranged in the receiving space.

[0012] Preferably, a massage roller is respectively mounted at both ends of the top of the massage crank arm.

[0013] Preferably, the two kneading eccentric bushings are fixedly connected by a connecting sleeve, and the connecting sleeve is sleeved on the kneading shaft.

[0014] Preferably, the walking shaft and the adjusting shaft are respectively arranged at the front and rear ends of the mechanism frame, the walking driving mechanism and the adjusting driving mechanism are arranged on the same side of the mechanism frame, and the walking driving mechanism and the kneading driving mechanism are respectively arranged on two sides of the mechanism frame.

[0015] Preferably, the movement frame includes a bottom case and a cover plate. The bottom case and the cover plate are fixedly connected to form a box body with a cavity. The kneading drive mechanism, the walking drive mechanism, the adjustment drive mechanism, and the percussion drive mechanism are all installed inside the box body. The walking shaft and the adjustment shaft extend from both sides of the bottom case, and the massage crank arm extends from the cover plate.

[0016] Preferably, the kneading drive mechanism includes a kneading motor and a kneading speed reducer. The kneading speed reducer is fixed on the movement frame. The kneading speed reducer includes a kneading speed reducer housing which is fixed on the movement frame. A kneading worm is installed inside the kneading speed reducer housing. One end of the kneading shaft extends into the kneading speed reducer housing. A kneading worm gear is installed on the kneading shaft. The kneading worm gear and the kneading worm are in meshing transmission. The kneading motor is installed on the kneading speed reducer housing and is connected to the kneading worm.

[0017] Preferably, the percussion drive mechanism includes a percussion motor and a percussion speed reducer. The percussion speed reducer includes a percussion speed reducer housing which is fixed on the movement frame. The percussion shaft is rotatably installed in the percussion speed reducer housing. The percussion motor is installed on the percussion speed reducer housing. A large pulley is installed on the percussion shaft. A small pulley is installed on the output shaft of the percussion motor. The large pulley and the small pulley are in transmission connection. The percussion motor is located below the walking shaft and is installed on the end face of the percussion speed reducer housing facing the kneading drive mechanism.

[0018] Preferably, the walking drive mechanism includes a walking motor and a walking speed reducer. The walking speed reducer includes a walking speed reducer housing which is fixed on the movement frame. A walking worm is installed inside the walking speed reducer housing. One end of the walking shaft extends into the walking speed reducer housing. A walking worm gear is installed on the walking shaft. The walking worm gear and the walking worm are in meshing transmission. The walking motor is installed on the walking speed reducer housing and is connected to the walking worm.

[0019] Preferably, the adjustment drive mechanism includes an adjustment motor and an adjustment speed reducer. The adjustment speed reducer includes an adjustment speed reducer housing which is fixed on the movement frame. An adjustment worm is installed inside the adjustment speed reducer housing. One end of the adjustment shaft extends into the adjustment speed reducer housing. An adjustment worm gear is installed on the adjustment shaft. The adjustment worm gear and the adjustment worm are in meshing transmission. The adjustment motor is installed on the adjustment speed reducer housing and is connected to the adjustment worm.

[0020] A massage chair includes the above-mentioned massage movement.

[0021] The beneficial effects of the technical solution of the present utility model are as follows: The above massage mechanism is a massage mechanism with functions such as kneading, knocking, walking, and 3D pushing. The massage mechanism can independently perform actions such as walking, kneading, knocking, and angle adjustment, and the massage mechanism can combine any of the above actions, thereby making the functions of the massage mechanism more abundant and the application range of the massage mechanism wider; and while the above structure realizes the independent execution of each action, it also makes the structure of the massage mechanism more compact. And the 3D component is arranged on the driven adjustment shaft. By driving the adjustment shaft to rotate, the adjustment rod is driven to rotate, so that the kneading mechanism of the mechanism makes a 3D-direction feeding relative to the two adjustment rollers, thereby realizing the 3D massage action. In addition, all parts of this massage mechanism are driven by brushless motors, which have high reliability, no commutation sparks and wear, low noise, low interference, precise position control, long service life, and a compact and simple structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic structural diagram of the massage mechanism;

[0023] Figure 2 is a schematic structural diagram of the massage mechanism after removing the cover plate;

[0024] Figure 3 is a schematic structural diagram of the massage mechanism after removing the housing Figure 1 ;

[0025] Figure 4 is a schematic structural diagram of the massage mechanism after removing the housing Figure 2 ;

[0026] Figure 5 is a schematic structural diagram of the massage mechanism after removing the housing and the reducer housing Figure 1 ;

[0027] Figure 6 is a schematic structural diagram of the massage mechanism after removing the housing and the reducer housing Figure 2 。

[0028] Reference numerals: 1, mechanism frame; 11, housing; 12, cover plate;

[0029] 21, walking shaft; 22, walking reducer housing; 23, first bracket; 24, gear; 25, walking roller; 26, walking motor; 27, walking worm; 28, walking worm gear;

[0030] 31, adjustment shaft; 32, adjustment rod; 33, adjustment roller; 34, second bracket; 35, adjustment reducer housing; 36, adjustment motor; 37, adjustment worm; 38, adjustment worm gear;

[0031] 41. Kneading reducer housing; 42. Kneading motor; 43. Kneading worm gear; 44. Knocking reducer housing; 45. Knocking motor; 46. Knocking shaft; 47. Large pulley; 48. Knocking eccentric bushing; 49. Knocking connecting rod;

[0032] 51. Kneading shaft; 52. Connecting sleeve; 53. Kneading eccentric bushing; 54. Massage crank arm; 55. Massage roller. Detailed implementation manner

[0033] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention, but should not be construed as limiting the present invention.

[0034] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, and does 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 construed as limiting the present invention.

[0035] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more, unless otherwise clearly defined.

[0036] In the present invention, unless otherwise clearly specified and defined, the terms "installation", "connection", "connection", "fixation", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In the present utility model, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include direct contact between the first and second features, or may include the first and second features not being in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over", and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath", and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the horizontal height of the first feature is less than that of the second feature. Embodiment

[0038] As Figures 1 to 6 The shown massage mechanism includes a mechanism frame 1 and two massage crank arms 54 mounted on the mechanism frame 1. Massage rollers 55 are mounted on the massage crank arms 54; it further includes a kneading assembly for driving the massage rollers 55 on the two massage crank arms 54 to perform kneading actions; it further includes a knocking assembly for driving the massage rollers 55 on the two massage crank arms 54 to perform knocking actions; it further includes a walking assembly for driving the mechanism frame 1 to move on the massage chair; it further includes a 3D assembly for adjusting the angle of the mechanism frame 1;

[0039] Among them, the kneading assembly includes a kneading shaft 51 and a kneading driving mechanism for driving the kneading shaft 51 to rotate. The kneading shaft 51 is rotatably mounted on the mechanism frame 1. A kneading eccentric bushing 53 is sleeved on the kneading shaft 51. The two massage crank arms 54 are respectively mounted on the two kneading eccentric bushings 53; the two kneading eccentric bushings 53 are fixedly connected through a connecting sleeve 52. The connecting sleeve 52 is sleeved on the kneading shaft 51, and the connecting sleeve 52 is eccentrically arranged with respect to the kneading shaft 51;

[0040] Among them, the knocking assembly includes a knocking shaft 46 and a knocking driving mechanism for driving the knocking shaft 46 to rotate. The knocking shaft 46 is rotatably mounted on the mechanism frame 1. Knocking eccentric bushings 48 are sleeved on both ends of the knocking shaft 46. The two knocking eccentric bushings 48 respectively correspond to the two massage crank arms 54 one by one. The knocking eccentric bushing 48 and the massage crank arm 54 are connected through a knocking connecting rod 49. One end of the knocking connecting rod 49 is hinged to the knocking eccentric bushing 48, and the other end of the knocking connecting rod 49 is connected to the bottom ball head of the massage crank arm 54;

[0041] Among them, the walking assembly includes a walking shaft 21 and a walking driving mechanism for driving the walking shaft 21 to rotate. The walking shaft 21 is rotatably mounted on the mechanism frame 1. Both ends of the walking shaft 21 extend out from within the mechanism frame 1. Walking rollers 25 are mounted at both ends of the walking shaft 21;

[0042] Among them, the 3D component includes an adjustment shaft 31, an adjustment rod 32, an adjustment roller 33, and an adjustment drive mechanism for driving the rotation of the adjustment shaft 31. The adjustment shaft 31 is rotatably installed on the movement frame 1, and both ends of the adjustment shaft 31 extend out of the movement frame 1. Both ends of the adjustment rod 32 are respectively connected to the adjustment roller 33 and the adjustment shaft 31; one end of the adjustment rod 32 is fixedly connected to the adjustment shaft 31, and the adjustment roller 33 is rotatably installed at the other end of the adjustment rod 32; among them, two adjustment rods are respectively installed at both ends of the adjustment shaft, the adjustment rod is disposed perpendicular to the adjustment shaft, and the adjustment rod is a crank. The adjustment drive mechanism drives the adjustment roller to rotate around the adjustment shaft through the adjustment shaft and the adjustment rod. With such a setting, in the 3D component, the adjustment rod is arranged on the driven adjustment shaft, and the driven adjustment shaft is driven to rotate by the reduction mechanism, so that the crank fixed on the driven adjustment shaft rotates, so that the movement kneading component makes a 3D-direction feed relative to the two adjustment rollers, thereby realizing the 3D massage action.

[0043] The walking drive mechanism, the adjustment drive mechanism, the adjustment shaft 31, the kneading drive mechanism, and the walking shaft 21 enclose a receiving space, and the kneading shaft 51, the knocking shaft 46, and the knocking link 49 are arranged in the receiving space.

[0044] With such a setting, the massage movement can independently perform actions such as walking, kneading, knocking, and angle adjustment, and the massage movement can combine any of the above actions, thereby making the functions of the massage movement more abundant and the application range of the massage movement wider; and while the above structure realizes the independent execution of each action, it also makes the structure of the massage movement more compact.

[0045] In order to make the structure of the massage movement more compact, in this embodiment, the walking shaft 21 and the adjustment shaft 31 are respectively arranged at the front and rear ends of the movement frame 1, the walking drive mechanism and the adjustment drive mechanism are arranged on the same side of the movement frame 1, and the walking drive mechanism and the kneading drive mechanism are respectively arranged on two sides of the movement frame 1;

[0046] As Figures 1 to 4 shown, further, the walking drive mechanism includes a walking motor 26 and a walking reducer, and the adjustment drive mechanism includes an adjustment motor 36 and an adjustment reducer; the walking reducer and the adjustment reducer are arranged front and back and fixedly installed on the movement frame 1, the walking motor 26 is installed on the top of the walking reducer, and the adjustment motor 36 is installed at the bottom of the adjustment reducer; the kneading drive mechanism includes a kneading motor 42 and a kneading reducer, the knocking drive mechanism includes a knocking motor 45 and a knocking reducer, the kneading reducer and the knocking reducer are fixed on the movement frame 1, the knocking reducer is located between the walking reducer and the kneading reducer, the knocking motor 45 is installed on the end face of the knocking reducer housing facing the kneading reducer, the knocking motor 45 is located below the kneading motor 42, and the kneading motor 42 is installed on the top of the kneading reducer housing.

[0047] AsFigure 1 and Figure 2 As shown in Figure 2 , in this embodiment, the movement frame 1 includes a bottom case 11 and a cover plate 12. The bottom case 11 and the cover plate 12 are fixedly connected to form a box body with a cavity. The kneading drive mechanism, the walking drive mechanism, the adjustment drive mechanism, and the knocking drive mechanism are all installed in the box body. The walking shaft 21 and the adjustment shaft 31 extend from both sides of the bottom case 11, and the massage crank arm 54 extends from the cover plate 12. With such a setting, the load-bearing capacity of the massage movement is better, the stability of the massage movement is higher, and the safety is better.

[0048] As Figures 3 to 6 shown in Figures 3 to 6 , in this embodiment, the kneading speed reducer includes a kneading speed reducer housing 41. The kneading speed reducer housing 41 is fixed on the movement frame 1. A kneading worm is installed in the kneading speed reducer housing 41. One end of the kneading shaft 51 extends into the kneading speed reducer housing 41. A kneading worm gear 43 is installed on the kneading shaft 51. The kneading worm gear 43 and the kneading worm are in meshing transmission. The kneading motor 42 is installed on the kneading speed reducer housing 41, and the kneading motor 42 is connected to the kneading worm.

[0049] As Figures 3 to 6 shown in Figures 3 to 6 , in this embodiment, the knocking speed reducer includes a knocking speed reducer housing 44. The knocking speed reducer housing 44 is fixed on the movement frame 1. The knocking shaft 46 is rotatably installed in the knocking speed reducer housing 44. The knocking motor 45 is installed on the knocking speed reducer housing 44. A large belt pulley 47 is installed on the knocking shaft 46. A small belt pulley is installed on the output shaft of the knocking motor 45. The large belt pulley 47 and the small belt pulley are connected by a transmission belt. The knocking motor 45 is located below the walking shaft 21, and the knocking motor 45 is installed on the end face of the knocking speed reducer housing 44 facing the kneading drive structure.

[0050] As Figures 3 to 6 shown in Figures 3 to 6 , in this embodiment, the walking speed reducer includes a walking speed reducer housing 22. The walking speed reducer housing 22 is fixed on the movement frame 1. A walking worm 27 is installed in the walking speed reducer housing 22. One end of the walking shaft 21 extends into the walking speed reducer housing 22. A walking worm gear 20 is installed on the walking shaft 21. The walking worm gear 20 and the walking worm 27 are in meshing transmission. The walking motor 26 is installed on the walking speed reducer housing 22, and the walking motor 26 is connected to the walking worm 27. A gear 24 is installed on the walking shaft 21, and the two gears 24 are located on both sides of the movement frame 1. The walking shaft is connected to the housing through a first bracket 23, and the first bracket 23 and the walking speed reducer are arranged on both sides of the housing.

[0051] As Figures 3 to 6As shown, in this embodiment, the adjustment speed reducer includes an adjustment speed reducer housing 35 which is fixed on the movement frame 1. An adjustment worm 37 is installed inside the adjustment speed reducer housing 35. One end of the adjustment shaft 31 extends into the adjustment speed reducer housing 35. An adjustment worm gear 38 is installed on the adjustment shaft 31. The adjustment worm gear 38 and the adjustment worm 37 are in meshing transmission. The adjustment motor 36 is installed on the adjustment speed reducer housing 35 and is connected to the adjustment worm 37. The adjustment shaft is connected to the bottom case 11 through the second bracket 34. The second bracket 34 and the adjustment speed reducer housing 35 are respectively arranged on both sides of the bottom case 11.

[0052] In this embodiment, the kneading motor, the knocking motor, the walking motor and the adjustment motor all adopt brushless motors; in this way, the massage movement mechanism can have high reliability, no commutation sparks and wear, low noise, low interference, precise position control, long service life, and a compact and simple structure.

[0053] A massage chair includes the above-mentioned massage movement mechanism. The massage chair further includes a chair frame. A guide rail is installed on the chair frame. A rack is arranged on the guide rail. The gear 24 on the massage movement mechanism meshes with the rack. The walking rollers 25 and the adjustment rollers 33 on the massage movement mechanism are both supported on the guide rail.

[0054] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0055] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention without departing from the principle and purpose of the present invention.

Claims

1. A massage movement, comprising a movement frame (1) and two massage arms (54) mounted on the movement frame (1), wherein massage rollers (55) are mounted on the massage arms (54); further comprising a kneading component for driving the massage rollers (55) on the two massage arms (54) to perform a kneading action; further comprising a knocking component for driving the massage rollers (55) on the two massage arms (54) to perform a knocking action; and further comprising a walking component for driving the movement frame (1) to move on the massage chair; Features: Also included is a 3D component for adjusting the angle of the movement frame (1); The kneading assembly comprises a kneading shaft (51) and a kneading driving mechanism for driving the kneading shaft (51) to rotate; the kneading shaft (51) is rotatably mounted on the movement frame (1); a kneading eccentric shaft sleeve (53) is sleeved on the kneading shaft (51); and a massage curved arm (54) is mounted on the kneading eccentric shaft sleeve (53); The knocking assembly comprises a knocking shaft (46) and a knocking driving mechanism for driving the knocking shaft (46) to rotate. The knocking shaft (46) is rotatably mounted on the movement frame (1). Both ends of the knocking shaft (46) are sleeved with knocking eccentric shaft sleeves (48). The two knocking eccentric shaft sleeves (48) correspond to the two massage arms (54) respectively. The knocking eccentric shaft sleeves (48) and the massage arms (54) are connected via a knocking connecting rod (49). One end of the knocking connecting rod (49) is hinged to the knocking eccentric shaft sleeve (48), and the other end of the knocking connecting rod (49) is connected to the bottom ball head of the massage arm (54). The walking assembly comprises a walking shaft (21) and a walking drive mechanism for driving the walking shaft (21) to rotate. The walking shaft (21) is rotatably mounted on the movement frame (1). Both ends of the walking shaft (21) extend out from the movement frame (1). Both ends of the walking shaft (21) are mounted with walking rollers (25). The 3D component comprises an adjusting shaft (31), an adjusting rod (32), an adjusting roller (33) and an adjusting driving mechanism for driving the adjusting shaft (31) to rotate, wherein the adjusting shaft (31) is rotatably mounted on the movement frame (1), two ends of the adjusting shaft (31) extend out from the movement frame (1), and two ends of the adjusting rod (32) are respectively connected to the adjusting shaft (31) and the adjusting roller (33); The travel drive mechanism, the adjustment drive mechanism, the adjustment shaft (31), the kneading drive mechanism and the travel shaft (21) enclose an accommodation space, and the kneading shaft (51), the knocking shaft (46) and the knocking connecting rod (49) are arranged in the accommodation space.

2. A massage movement according to claim 1, characterized in that: A massage roller (55) is respectively mounted on both ends of the top of the massage curved arm (54).

3. A massage movement according to claim 1, characterized in that: The two kneading eccentric shaft sleeves (53) are fixedly connected via a connecting sleeve (52), and the connecting sleeve (52) is sleeved on the kneading shaft (51).

4. A massage movement according to claim 1, characterized in that: The travel shaft (21) and the adjustment shaft (31) are respectively arranged at the front and rear ends of the movement frame (1); the travel drive mechanism and the adjustment drive mechanism are arranged on the same side of the movement frame (1); and the travel drive mechanism and the kneading drive mechanism are respectively arranged on two sides of the movement frame (1).

5. A massage movement according to claim 1, characterized in that: The movement frame (1) comprises a bottom shell (11) and a cover plate (12), wherein the bottom shell (11) and the cover plate (12) are fixedly connected to form a box body having a cavity; the kneading drive mechanism, the travel drive mechanism, the adjustment drive mechanism and the knocking drive mechanism are all installed in the box body, the travel shaft (21) and the adjustment shaft (31) extend from both sides of the bottom shell (11), and the massage arm (54) extends from the cover plate (12).

6. A massage movement according to claim 1, characterized in that: The kneading drive mechanism comprises a kneading motor (42) and a kneading reducer, the kneading reducer is fixed on the movement frame (1), the kneading reducer comprises a kneading reducer housing (41), the kneading reducer housing (41) is fixed on the movement frame (1), a kneading worm is installed in the kneading reducer housing (41), one end of the kneading shaft (51) extends into the kneading reducer housing (41), a kneading worm wheel (43) is installed on the kneading shaft (51), the kneading worm wheel (43) and the kneading worm are meshed and driven, the kneading motor (42) is installed on the kneading reducer housing (41), and the kneading motor (42) is connected to the kneading worm.

7. A massage movement according to claim 1, characterized in that: The knocking drive mechanism comprises a knocking motor (45) and a knocking reducer, wherein the knocking reducer comprises a knocking reducer housing (44), the knocking reducer housing (44) is fixed on the movement frame (1), a knocking shaft (46) is rotatably mounted on the knocking reducer housing (44), the knocking motor (45) is mounted on the knocking reducer housing (44), a large pulley (47) is mounted on the knocking shaft (46), a small pulley is mounted on the output shaft of the knocking motor (45), the large pulley (47) and the small pulley are transmission-connected, the knocking motor (45) is located below the travel shaft (21), and the knocking motor (45) is mounted on the end surface of the knocking reducer housing (44) facing the kneading drive mechanism.

8. The massage movement according to claim 1, characterized in that: The travel drive mechanism comprises a travel motor (26) and a travel reducer, the travel reducer comprising a travel reducer housing (22), the travel reducer housing (22) being fixed on the movement frame (1), a travel worm (27) being installed in the travel reducer housing (22), one end of a travel shaft (21) extending into the travel reducer housing (22), a travel worm wheel (28) being installed on the travel shaft (21), the travel worm wheel (28) and the travel worm (27) being meshed for transmission, the travel motor (26) being installed on the travel reducer housing (22), and the travel motor (26) being connected to the travel worm (27).

9. A massage movement according to claim 1, characterized in that: The adjusting drive mechanism comprises an adjusting motor (36) and an adjusting reducer, wherein the adjusting reducer comprises an adjusting reducer housing (35), the adjusting reducer housing (35) being fixed on the movement frame (1), an adjusting worm (37) being installed in the adjusting reducer housing (35), one end of the adjusting shaft (31) extending into the adjusting reducer housing (35), an adjusting worm wheel (38) being installed on the adjusting shaft (31), the adjusting worm wheel (38) and the adjusting worm (37) being meshed for transmission, the adjusting motor (36) being installed on the adjusting reducer housing (35), and the adjusting motor (36) being connected to the adjusting worm (37).

10. A massage chair, characterized in that: A massage movement comprising any one of claims 1-9.

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