Multi-degree-of-freedom massage mechanical structure

Abstract

The utility model relates to the technical field of massage machinery, in particular to a multi-degree-of-freedom massage mechanical structure, which is characterized by comprising a translation component, the machine core is arranged on the translation assembly, and the translation assembly is used for driving the machine core to reciprocate in the first horizontal direction and the second horizontal direction which are perpendicular to each other; the massage head is arranged on the machine core, the machine core is used for driving the massage head to rotate horizontally and used for driving the massage head to rotate and adjust along the vertical plane, the problem that an existing massage structure is single is solved, the track flexibility of the massage head is remarkably improved, and the diversified requirements of consumers are met.

Description

Technical Field

[0001] The utility model relates to the technical field of massage machinery, in particular to a multi-freedom massage machinery structure. Background Art

[0002] A massage chair is a piece of furniture that combines mechanical massage technology and ergonomic design. It is used to provide massage effects to the entire body or parts of the body, aiming to provide users with a comfortable massage experience. With the development of technology, massage chairs have gradually entered thousands of households and there is still a lot of room for development in the future.

[0003] In the related art, massage chairs mainly realize massage by a massage structure. The conventional massage structure mainly includes an eccentric wheel structure and a massage head arranged on the eccentric wheel structure. The massage head is driven by the eccentric wheel structure to perform kneading motion to achieve an automated massage effect.

[0004] However, the current massage structure is relatively simple, which is specifically reflected in the insufficient range of movement of the massage head. Its trajectory and strength are limited to a fixed range, which cannot well meet the consumers' more usage needs and is difficult to provide a personalized experience. Therefore, the existing technology needs to be improved. Summary of the Invention

[0005] The utility model provides a multi-degree-of-freedom massage mechanical structure to solve the problem that the current massage structure has a single structure, which leads to insufficient flexibility of the massage head trajectory.

[0006] To achieve the above objectives, the present invention provides the following technical solutions:

[0007] A multi-degree-of-freedom massage mechanical structure includes: a translation component; a movement, arranged in the translation component, the translation component is used to drive the movement to reciprocate in a first horizontal direction and a second horizontal direction perpendicular to each other; and a massage head, arranged in the movement, the movement is used to drive the massage head to rotate horizontally and to drive the massage head to rotate and adjust along a vertical plane.

[0008] Preferably, the movement includes a base; a horizontal rotating component, which is arranged on the base; a vertical rotating component, which is connected to the horizontal rotating component, and the horizontal rotating component is used to drive the vertical rotating component to rotate horizontally, and the vertical rotating component is connected to the massage head, and is used to drive the massage head to rotate along a vertical plane.

[0009] Preferably, the horizontal rotating component includes a rotating seat rotatably arranged on the base; a horizontal rotating motor fixedly arranged on the base, with the output shaft arranged vertically; and a pair of mutually meshing bevel gears, respectively arranged on the rotating seat and the output shaft of the horizontal rotating motor.

[0010] Preferably, the vertical rotating component includes a vertical rotating motor; a worm, vertically arranged and connected to the output shaft of the vertical rotating motor; and a worm gear shaft, horizontally arranged, one end of which is engaged with the worm and the other end is fixedly connected to the massage head.

[0011] Preferably, the translation assembly includes a frame; a first linear component, the frame is arranged on the first linear component; and a second linear component, arranged on the frame, the movement is arranged on the frame through the second linear component, the first linear component drives the movement to reciprocate along the first horizontal direction through the frame, and the second linear component is used to drive the movement to reciprocate along the second horizontal direction.

[0012] Preferably, the first linear component includes a rack parallel to the first horizontal direction; a gear shaft rotatably disposed on the frame and engaged with the rack; and a first motor transmission-connected to the gear shaft for driving the gear shaft to rotate forward and reverse.

[0013] Preferably, the first linear component further includes a guide rail parallel to the first horizontal direction; and a guide wheel shaft rotatably disposed on the frame and slidably disposed on the guide rail.

[0014] Preferably, the second linear component includes at least two screw rods, which are arranged along the second horizontal direction and rotatably arranged on the frame, and the screw rods are threadedly connected to the movement; and a second motor, which is arranged on the frame and transmission-connected to the screw rods, and is used to drive the screw rods to rotate forward or reverse.

[0015] Preferably, there are two groups of movements, and the screw rod has a first thread segment and a second thread segment with opposite thread rotation directions. The screw rod is threadably connected to the two groups of movements through the first thread segment and the second thread segment respectively, so as to drive the two groups of movements closer to or away from each other.

[0016] Preferably, the massage head includes a main body connected to the movement; and a plurality of massage arms fixedly arranged on the main body.

[0017] Compared with the existing technology, the utility model includes the following beneficial effects: under the combined drive of the translation component, the movement can move arbitrarily on the horizontal plane, thereby adjusting the overall massage position, and can adapt to the massage needs of different positions of the human body. On this basis, the movement can drive the massage head to rotate horizontally, thereby realizing kneading action. In addition, the movement drives the massage head to rotate and adjust along the vertical plane, while realizing kneading and pressing, it can also provide different pressing strengths, meeting the user's personalized massage needs, and the trajectory flexibility of the massage head is significantly optimized and improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is a structural diagram of a multi-degree-of-freedom massage mechanical structure provided by a preferred embodiment of the utility model;

[0020] Figure 2 This is a schematic structural diagram of a horizontal rotating component and a vertical rotating component provided by a preferred embodiment of the present utility model;

[0021] Figure 3 It is a cross-sectional view of a movement and a massage head provided by a preferred embodiment of the present invention.

[0022] Reference numerals:

[0023] 1. Translation assembly; 11. Frame; 12. First linear component; 121. Rack; 122. Gear shaft; 123. First motor; 124. Guide rail; 125. Guide wheel shaft; 13. Second linear component; 131. Screw; 1311. First threaded segment; 1312. Second threaded segment; 132. Second motor;

[0024] 2. Movement; 21. Base; 22. Horizontal rotating component; 221. Rotating seat; 222. Horizontal rotating motor; 223. Bevel gear; 23. Vertical rotating component; 231. Vertical rotating motor; 232. Worm; 233. Worm gear shaft;

[0025] 3. Massage head; 31. Main body; 32. Massage arm. DETAILED DESCRIPTION

[0026] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0027] In the description of the present invention, it should be understood that when a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a centrally located component. When a component is considered to be "disposed on" another component, it may be directly disposed on the other component or there may be a centrally located component.

[0028] In addition, the terms "long", "short", "inside", "outside", etc. that indicate orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings and are only used to facilitate the description of the present invention. They do not indicate or imply that the device or component referred to must have this specific orientation or operate in a specific orientation structure, and should not be understood as a limitation of the present invention.

[0029] The following is combined with Figure 1-3 The technical solution of the utility model is further explained through specific implementation methods.

[0030] Reference Figure 1 and Figure 2 This embodiment provides a multi-degree-of-freedom massage mechanism, which primarily comprises a translation assembly 1, a movement 2, and a massage head 3. The translation assembly 1 is typically mounted on a corresponding frame, such as the frame of a massage chair or other massager. The movement 2 is mounted on the translation assembly 1, and the massage head 3 is mounted on the movement 2. The translation assembly 1 is used to drive the movement 2 and massage head 3 to move horizontally to adjust the massage position, while the movement 2 is used to drive the massage head 3 to rotate horizontally and vertically.

[0031] On the one hand, by driving the massage head 3 to rotate horizontally, the massage head 3 can achieve a kneading action. On the other hand, by driving the massage head 3 to rotate and adjust in a vertical plane, the pressing force can be adjusted. Combined with the displacement effect of the translation component 1, the kneading massage effect can be achieved over a large area.

[0032] To enable flexible horizontal displacement of the movement 2 and massage head 3, in this embodiment, the translation assembly 1 primarily comprises a frame 11, a first linear member 12, and a second linear member 13. Specifically, the movement 2 and massage head 3 are driven to move by applying two mutually perpendicular horizontal linear motions to the movement 2 and massage head 3. These two directions are defined herein as the first horizontal direction and the second horizontal direction, respectively. For ease of description, a rectangular coordinate system is constructed in the accompanying drawings for illustration purposes. The first horizontal direction represents the X-axis, and the second horizontal direction represents the Y-axis.

[0033] Based on this, the frame 11 is first placed on the first linear component 12 , and the first linear component 12 outputs reciprocating linear motion in the first horizontal direction. The first linear component 12 includes a rack 121 , a gear shaft 122 and a first motor 123 .

[0034] Specifically, to enhance displacement stability, the first linear member 12 is provided with two racks 121. These two racks 121 are fixedly mounted on the massage device frame, with their lengths parallel to the first horizontal direction. Furthermore, the gear shaft 122 comprises a central shaft and gears at either end. The gear shaft 122 is rotatably mounted on the frame 11 via bearings, and the gears at either end of the shaft mesh with the racks 121. Rotating the gear shaft 122, the meshing of the gears and racks 121 causes the frame 11 to move in the first horizontal direction.

[0035] Furthermore, the first motor 123 is responsible for driving the gear shaft 122 to rotate, wherein the first motor 123 is in transmission connection with the gear shaft 122 , and the function of the first motor 123 is to control the forward and reverse rotation of the gear shaft 122 to achieve the action of pushing the frame 11 to move back and forth.

[0036] Continue to refer to Figure 1 Specifically, the first motor 123 is fixedly mounted on the frame 11 to realize the transmission connection between the first motor 123 and the gear shaft 122; in this embodiment, a belt and a pulley structure can be added between the output shaft of the first motor 123 and the gear shaft 122, and the pulley is fixedly mounted on the gear shaft 122 and the output shaft of the first motor 123, and the belt is wrapped around the two pulleys to realize the transmission connection between the two; under the transmission action of the pulley and the belt mechanism, the first motor 123 controls the forward and reverse rotation of the gear shaft 122 by outputting forward or reverse torque, thereby controlling the frame 11 to realize reciprocating motion in the first horizontal direction.

[0037] It should be noted that, in another embodiment, the output shaft of the first motor 123 and the gear shaft 122 may also be connected to each other by adding a coupling or a pair of meshing gear sets. The specific transmission method of the two is not limited herein. Regardless of the transmission method adopted, it should be included in the scope of the explanation of the transmission connection. Furthermore, in other embodiments, the first linear component 12 may also use a screw rod 131 to achieve linear motion output. Any structure that can achieve linear reciprocating motion can be attempted and should be included in the scope of the explanation of this feature of the first linear component 12.

[0038] Continue to refer to Figure 1To further optimize the overall stability of the frame 11 when it moves in the first horizontal direction, the first linear component 12 further includes a guide rail 124 and a guide wheel shaft 125. The number of guide rails 124 can also be two, each fixed to the frame of the device and positioned adjacent to the frame 11. The length of the guide rails 124 is parallel to the first horizontal direction, and a sliding groove extending along the length is defined on the side of the guide rails 124 close to the frame 11.

[0039] At the same time, the guide wheel shaft 125 includes a shaft body and guide wheels rotatably mounted on both ends of the shaft body. The shaft body is rotatably mounted on the frame body 11, and the guide wheels slide in the slide grooves. With the sliding cooperation between the guide wheels and the guide rails 124, the movement of the frame body 11 is further guided, and the stability of the frame body 11 during movement is further optimized and improved.

[0040] Further, refer to Figure 1 and Figure 2 , the second straight component 13 is set on the frame 11, and the movement 2 is installed on the second straight component 13; at this time, the movement 2 is set on the frame 11 through the second straight component 13, and the second straight component 13 is used to drive the movement 2 to reciprocate in the second horizontal direction; through the above arrangement, under the superposition of the motion output by the first straight component 12 and the second straight component 13, the movement 2 can achieve flexible displacement on the horizontal plane.

[0041] Specifically, the second linear component 13 includes a screw rod 131 and a second motor 132, wherein the screw rod 131 is arranged horizontally, and the length direction of the screw rod 131 is parallel to the second horizontal direction. The two ends of the screw rod 131 are rotatably mounted on the frame 11 through bearings. At this time, the screw rod 131 can rotate compared to the frame 11.

[0042] At the same time, the second motor 132 is fixedly mounted on the frame 11, and the output shaft of the second motor 132 is transmission-connected to the screw rod 131. In this embodiment, the output shaft of the second motor 132 and the screw rod 131 are also transmission-connected by adding pulleys and belts. The specific connection method is not limited here and will not be elaborated on.

[0043] Under the above-mentioned setting conditions, the second motor 132 can drive the screw rod 131 to rotate forward or reverse by outputting torque in the forward or reverse direction under the action of the belt and the pulley; on this basis, by setting a threaded hole through the movement 2 and threading the screw rod 131 into the threaded hole, during the rotation of the screw rod 131, the movement 2 can be driven to move back and forth in a straight line in the second horizontal direction.

[0044] It should be further explained that, in order to meet the requirements of freedom of movement, the number of screw rods 131 should be set to at least two. For example, in the present embodiment, the number of screw rods 131 is selected as two as an example. The two screw rods 131 are parallel to each other and are arranged on both sides of the movement 2 respectively. The pulleys and belt structures are correspondingly set into two groups and are respectively configured on the two screw rods 131. At this time, the two screw rods 131 are equivalent to providing motion guidance for the movement 2 to meet the freedom of movement required for the movement 2 to achieve linear motion, and are driven by the same output source. The two actions are synchronized, and the movement 2 is more stable when displaced.

[0045] Furthermore, to further meet the actual needs of users, the number of movement 2 can be provided in multiple groups. For example, in this embodiment, two groups of movement 2 are used, and each group of movement 2 is correspondingly configured with a massage head 3. In this case, to achieve synchronous control of the movement of the two groups of movement 2, a first thread segment 1311 and a second thread segment 1312 with opposite thread rotation directions can be provided on the outer periphery of the screw rod 131 near both ends. The screw rod 131 is threadedly connected to the two groups of movement 2 through the first thread segment 1311 and the second thread segment 1312 respectively.

[0046] Through the above arrangement, during the rotation of the screw rod 131, the two groups of movements 2 can be driven to move closer to or away from each other, thereby realizing the control of the movement of the two groups of movements 2. This can increase the massage range while adding massage points to meet the personalized needs of users, and the structure is compact and ingenious.

[0047] Reference Figure 1 and Figure 2 Furthermore, in order to realize the kneading action, the movement 2 mainly includes a base 21, a horizontal rotating component 22 and a vertical rotating component 23. Among them, the base 21 mainly plays a bearing role, and a threaded hole is opened on the base 21, which is connected to the screw rod 131 through the threaded hole.

[0048] On this basis, the horizontal rotating component 22 is mounted on the base 21. The horizontal rotating component 22 includes a rotating base 221, a horizontal rotating motor 222, and a pair of intermeshing bevel gears 223. The rotating base 221 is rotatably mounted on the top of the base 21. In this embodiment, a vertical rotating shaft is provided at the bottom of the rotating base 221, which is rotatably mounted on the top of the base 21 via a bearing. The rotating base 221 provides a mounting position for the vertical rotating component 23. The vertical rotating component 23 is located inside the rotating base 221 and is connected to the horizontal rotating component 22.

[0049] Furthermore, a cavity structure can be provided within the base 21, allowing the horizontal rotary motor 222 to be secured thereto via threaded fasteners, with the output shaft of the horizontal rotary motor 222 positioned vertically. Furthermore, a pair of intermeshing bevel gears 223 are fixedly mounted to the rotating shaft of the rotating base 221 and the output shaft of the horizontal rotary motor 222, respectively, establishing a transmission connection between the horizontal rotary motor 222 and the rotating base 221.

[0050] Reference Figure 3 As shown, in one embodiment, the mutually meshing bevel gears 223 include a first bevel gear and a second bevel gear, and the mutually meshing bevel gears 223 are located in a cavity structure inside the base 21. A fixed plate is provided at the bottom of the rotating seat 221, and the fixed plate is connected to the rotating shaft, and the first bevel gear is fixedly mounted on the lower end of the rotating shaft. The second bevel gear is fixedly mounted on the upper end of the output shaft of the horizontal rotating motor 222. Driven by the output shaft of the horizontal rotating motor 222, the second bevel gear drives the first bevel gear to rotate. While the first bevel gear rotates, the first bevel gear drives the rotating seat 221 to rotate around the axis of the first bevel gear. Through the above arrangement, the action is transmitted quickly and stably, which can provide a comfortable kneading effect.

[0051] Furthermore, when the rotating shaft is specifically set up, a thrust bearing can be selected as the bearing element for installing the rotating shaft. Such a setting can provide axial support force for the rotating shaft, so that the two meshing bevel gears are not easily separated from each other under rotating conditions, and the power transmission is more stable.

[0052] Through the above arrangement, the horizontal rotating motor 222 outputs torque, and under the transmission of the bevel gear 223, the rotating seat 221 can be rotated, thereby driving the vertical rotating component 23 to rotate horizontally.

[0053] Further, continue to refer to Figure 2 and Figure 3 To adjust the pressing force, the vertical rotating component 23 includes a vertical rotating motor 231, a worm 232 and a worm gear shaft 233 ( Figure 3 Only part of the structure of the vertical rotating component 23 is shown in FIG); wherein, a cavity structure can also be provided inside the rotating seat 221, and the vertical rotating motor 231 is fixedly mounted inside the rotating seat 221 by threaded fasteners ( Figure 2 Only part of the structure of the rotating seat 221 is shown); at the same time, the worm 232 is arranged vertically, and both ends of the worm 232 are rotatably mounted on the rotating seat 221 through bearing seats, and one end of the worm 232 is fixedly connected to the output shaft of the vertical rotating motor 231, and the rotating motor is used to drive the worm 232 to rotate.

[0054] Furthermore, the worm gear shaft 233 includes a shaft body and a worm gear fixedly mounted on one end of the shaft body. The shaft body is horizontally arranged and rotatably mounted on the rotating seat 221 through a bearing seat. On this basis, one end of the worm gear shaft 233 is engaged with the worm 232 through the worm gear, and the other end extends to the outside of the rotating seat 221 and is fixedly connected to the massage head 3.

[0055] Through the above arrangement, the worm 232 can drive the worm gear shaft 233 to rotate during the rotation process, thereby driving the massage head 3 to swing in a vertical plane. It should be noted that the vertical plane can be understood as a plane perpendicular to the worm gear shaft 233 and passing through the massage head 3 with the center axis of the worm gear shaft 233 as a reference. At this time, the plane is set vertically, and the massage head 3 swings on this plane to achieve a tapping massage action.

[0056] In addition, by driving the massage head 3 to swing in the vertical plane, the height of the massage head 3 is adjusted and the pressing force is controlled. In addition, because the worm gear and the worm 232 structure have a non-return function, after driving the massage head 3 to the predetermined position, there is no need to continuously provide torque to maintain the position of the massage head 3. The structure is not easy to loosen and is more stressed.

[0057] Reference Figure 3 To optimize comfort during massage, the massage head 3 includes a main body 31 and a plurality of massage arms 32. Specifically, in this embodiment, the main body 31 is a rod-shaped structure, and the middle portion of the main body 31 is fixedly connected to the worm gear shaft 233. The worm gear shaft 233 can drive the main body 31 to swing during rotation.

[0058] Furthermore, one end of the massage arm 32 is integrally connected to the main body 31, thereby achieving a fixed connection. In this embodiment, the other end of the massage arm 32 is spherical, defined herein as the spherical portion. Due to its rounded surface, the spherical portion provides smooth support. Furthermore, the surface of the spherical portion can be coated with a soft material, such as silicone or rubber. Furthermore, the surface of the massage head can be further enhanced with massage ridges or raised points (not shown) to provide a more comfortable massage experience. It should be noted that any material that provides a soft touch can be used, and the specific choice of soft material is not limited here.

[0059] In addition, the specific number of massage arms 32 can be multiple, such as two, three or four, etc., and the specific number is not limited. In this embodiment, the number of massage arms 32 is two. Here, by setting multiple massage arms 32, multiple massage points can be formed to improve the comfort of the massage process.

[0060] The implementation principle of the embodiment of the present application is as follows: the translation component 1 drives the movement 2 to move back and forth in the first horizontal direction and the second horizontal direction perpendicular to each other, so that the movement 2 can move arbitrarily on the horizontal plane, thereby expanding the massage range and adapting to the massage needs of different positions of the human body. On this basis, the horizontal rotating component 22 can drive the massage head 3 to rotate horizontally, thereby realizing the kneading action, and the vertical rotating component 23 drives the massage head 3 to rotate and adjust along the vertical plane, while realizing kneading and pressing, it can also provide different pressing strengths, meet the user's personalized massage needs, and the trajectory flexibility of the massage head 3 is significantly optimized and improved.

[0061] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A multi-degree-of-freedom massage mechanical structure, characterized in that: include: Translation component (1); A movement (2) is provided on the translation assembly (1), and the translation assembly (1) is used to drive the movement (2) to move back and forth in a first horizontal direction and a second horizontal direction perpendicular to each other; And a massage head (3) is arranged on the core (2), and the core (2) is used to drive the massage head (3) to rotate horizontally and to drive the massage head (3) to rotate and adjust along a vertical plane.

2. The multi-degree-of-freedom massage mechanical structure according to claim 1, characterized in that: The movement (2) comprises: Base (21); A horizontal rotating component (22) is provided on the base (21); The vertical rotating component (23) is connected to the horizontal rotating component (22), and the horizontal rotating component (22) is used to drive the vertical rotating component (23) to rotate horizontally. The vertical rotating component (23) is connected to the massage head (3) and is used to drive the massage head (3) to rotate along a vertical plane.

3. The multi-degree-of-freedom massage mechanical structure according to claim 2, characterized in that: The horizontal rotating component (22) comprises: A rotating seat (221) is rotatably disposed on the base (21); A horizontal rotary motor (222) is fixedly mounted on the base (21), with its output shaft arranged vertically; A pair of mutually meshing bevel gears (223) are respectively arranged on the rotating seat (221) and the output shaft of the horizontal rotating motor (222).

4. The multi-degree-of-freedom massage mechanical structure according to claim 2, characterized in that: The vertical rotating component (23) comprises: vertical rotation motor (231); A worm (232) is vertically arranged and connected to the output shaft of the vertical rotating motor (231); The worm gear shaft (233) is arranged horizontally, one end of which is engaged with the worm (232) and the other end of which is fixedly connected to the massage head (3).

5. The multi-degree-of-freedom massage mechanical structure according to claim 1, characterized in that: The translation assembly (1) comprises: Frame (11); a first straight component (12), the frame (11) being arranged on the first straight component (12); and a second linear component (13) provided on the frame (11); the movement (2) is provided on the frame (11) via the second linear component (13); the first linear component (12) drives the movement (2) to move back and forth along a first horizontal direction via the frame (11); and the second linear component (13) is used to drive the movement (2) to move back and forth along a second horizontal direction.

6. The multi-degree-of-freedom massage mechanical structure according to claim 5, characterized in that: The first linear component (12) comprises: a rack (121) parallel to the first horizontal direction; A gear shaft (122) is rotatably mounted on the frame (11) and meshes with the rack (121); and a first motor (123) which is in transmission connection with the gear shaft (122) and is used to drive the gear shaft (122) to rotate forward and reverse.

7. The multi-degree-of-freedom massage mechanical structure according to claim 6, characterized in that: The first straight component (12) further comprises: a guide rail (124) parallel to the first horizontal direction; and a guide wheel shaft (125) rotatably arranged on the frame (11) and slidably arranged on the guide rail (124).

8. The multi-degree-of-freedom massage mechanical structure according to claim 5, characterized in that: The second straight line component (13) comprises: At least two screw rods (131) are arranged along a second horizontal direction and rotatably disposed on the frame (11), and the screw rods (131) are threadedly connected to the movement (2); and a second motor (132), which is arranged on the frame (11) and is in transmission connection with the screw rod (131) and is used to drive the screw rod (131) to rotate in a forward or reverse direction.

9. The multi-degree-of-freedom massage mechanical structure according to claim 8, characterized in that: The movement (2) is divided into two groups. The screw rod (131) has a first thread segment (1311) and a second thread segment (1312) with opposite thread rotation directions. The screw rod (131) is threadedly connected to the two groups of movement (2) through the first thread segment (1311) and the second thread segment (1312), respectively, for driving the two groups of movement (2) to move closer to or away from each other.

10. The multi-degree-of-freedom massage mechanical structure according to claim 1, characterized in that: The massage head (3) comprises: A main body (31) connected to the movement (2); and a plurality of massage arms (32) fixedly arranged on the main body (31).

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