CN216985625U - Massage movement and massage chair - Google Patents

Abstract

The utility model provides a massage machine core and a massage chair, wherein the massage machine core comprises a rack, walking components arranged on the rack, two groups of massage components arranged oppositely left and right, a translation component rotatably arranged on the rack and a 3D component arranged on the rack, wherein the walking components are used for driving the rack to move along the up-and-down direction, the massage components are provided with massage wheels, the translation component acts on the two groups of massage components and is used for driving the two groups of massage components to move reversely or oppositely along the left-and-right direction, and the 3D component acts on the translation component and is used for driving the translation component to rotate along the front-and-back direction. In this application, the massage subassembly can do and reciprocate, control and move the combined motion of rotation independent assortment around with to realize rubbing, beating, holding between the fingers, drawing, pushing and wait various massage gimmicks, have great massage scope, still satisfied the different intensity of human different positions simultaneously and the degree of depth massage of range, more accord with the curved massage of human body, massage experience is good.

Description

Massage movement and massage chair

Technical Field

The utility model relates to the technical field of massage, in particular to a massage machine core and a massage chair with the same.

Background

With the popularization of massage chairs, the household massage chair has higher requirements on the volume of the massage chair, not only needs to occupy small floor area, but also needs to take massage comfort into consideration. At present, a household massage chair or a commercial massage chair in the market mainly comprises a 2D massage machine core, and if the 3D massage machine core is configured, the massage chair is generally heavy. Further, the kneading function of the 3D massage machine core on the market is realized by driving the massage head by the eccentric shaft or the eccentric sleeve, the massage amplitude is limited, the massage head has an upper and lower fall when moving, the massage head cannot be completely attached to a human body, although the neck, the back, the waist, the hip, the thigh and other parts can be massaged, the massage range and the body feeling are basically the same, deep massage with different strengths and amplitudes of different parts of the human body cannot be met, and the massage experience is poor.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned drawbacks of the prior art, the present invention provides a massage movement having a wide massage range and capable of deep massage with different intensity and amplitude.

In order to achieve the purpose, the utility model provides a massage machine core which comprises a rack, walking components arranged on the rack, two groups of massage components arranged oppositely left and right, translation components rotatably arranged on the rack and a 3D component arranged on the rack, wherein the walking components are used for driving the rack to move along the up-and-down direction, the massage components are provided with massage wheels, the translation components act on the two groups of massage components and are used for driving the two groups of massage components to move reversely or oppositely along the left-and-right direction, and the 3D component acts on the translation components and is used for driving the translation components to rotate along the front-and-back direction.

Further, the massage core still includes two sets of subassembly of strikeing, the massage subassembly still includes articulated translation connecting rod and the curved arm of massage, the tip at the curved arm of massage is installed to the massage wheel, the translation subassembly links to each other with the translation connecting rod, and every group strikes the subassembly and all acts on the curved arm of massage of each massage subassembly, is used for driving the curved arm of massage and swings along the fore-and-aft direction.

Further, the translation subassembly is including rotationally supporting translation drive lead screw that extends about and in the frame, with translation drive lead screw normal running fit's translation web, fixing the translation motor in the frame, fixing left screw-nut in the translation connecting rod of left side massage subassembly and fixing right screw-nut in the translation connecting rod of right side massage subassembly, translation motor links to each other with translation drive lead screw, drives translation drive lead screw and rotates, translation drive lead screw have with left screw-nut screw-thread fit's left side lead screw section and with right screw-nut screw-thread fit's right side lead screw section, the screw thread handedness of left side lead screw section is opposite with the screw thread handedness of right side lead screw section.

Furthermore, the two translation webs are arranged oppositely left and right; the translation assembly further comprises a sliding shaft parallel to the translation driving screw rod, the left end and the right end of the sliding shaft are respectively fixed on the two translation webs, and the translation connecting rod is movably installed on the sliding shaft through a bearing.

Further, the 3D subassembly is including the 3D motor that is fixed in the frame, the 3D drive shaft that is on a parallel with translation drive lead screw and fix the 3D drive gear in the 3D drive shaft, the 3D drive shaft rotationally supports in the frame, the 3D motor links to each other with the 3D drive shaft, the drive 3D drive shaft rotates, the translation web is gear web, the periphery is equipped with the gear global, 3D drive gear meshes with the gear global of translation web periphery mutually.

Furthermore, the knocking component comprises a knocking motor fixed relative to the translation web plate, a knocking shaft parallel to the translation driving screw rod and a knocking connecting rod, the knocking shaft is rotatably supported in the translation web plate, the knocking motor is connected with the knocking shaft and drives the knocking shaft to rotate, one end of the knocking connecting rod is in sliding fit with the knocking shaft through a bearing, and the other end of the knocking connecting rod is hinged with the massage crank arm.

Furthermore, the walking assembly comprises a walking motor fixed on the rack, a walking main shaft rotatably supported in the rack, a walking gear fixed on the walking main shaft, and a fixed rack rail extending up and down, the walking motor is connected with the walking main shaft and drives the walking main shaft to rotate, and the walking gear is meshed with the fixed rack rail.

Further, the walking assembly further comprises walking wheels and walking auxiliary shafts rotatably supported in the rack, and the walking wheels are mounted at two ends of the walking main shaft and at two ends of the walking auxiliary shafts.

Furthermore, the frame includes two support webs that relative setting about, and fix the connecting plate between two support webs, massage subassembly, translation subassembly and 3D subassembly configuration are between two support webs.

The utility model also provides a massage chair, wherein the massage machine core is arranged in the massage chair.

As described above, the massage machine core and the massage chair according to the present invention have the following advantages:

in this application, walking assembly drive massage core wholly reciprocates, remove about translation assembly drive massage assembly, 3D assembly drive translation assembly and massage assembly rotate around together, so, massage assembly can do and reciprocate, remove about and the compound motion of rotation independent assortment around, thereby realize rubbing, strike, hold between the fingers, draw, push away various massage gimmicks such as, great massage scope has, the different intensity at human different positions and the degree of depth massage of range have still been satisfied simultaneously, more accord with the curved massage of human body, massage experience is good.

Drawings

Fig. 1 is a front view of a massage movement of the present invention.

Fig. 2 is a rear view of the massage movement of the present invention.

Fig. 3 is a schematic structural diagram of a 3D device according to the present invention.

Fig. 4 is a schematic structural view of the walking assembly of the present invention.

Fig. 5 is a schematic view of the translation assembly, the tapping assembly, and the massage assembly of the present invention.

Fig. 6 is a front view of fig. 5.

FIG. 7 is a schematic view of the knocking link according to the present invention.

Fig. 8 and 9 are schematic views of the massage assembly of the present invention at different viewing angles.

Description of the element reference numerals

10 frame

11 support web

12 connecting plate

20 walking assembly

21 walking motor

22 walking main shaft

23 running gear

24 road wheel

25 walking auxiliary shaft

26 worm gear mechanism

30 massage assembly

31 massage wheel

32 translation connecting rod

33 massage crank arm

34 screw shaft

35 oil-retaining bearing

36 oil cotton

40 translation assembly

41 translation driving screw rod

411 left side screw rod section

412 right side screw rod section

42 translational web

421 gear circumference

43 translation motor

44 left screw nut

45 right screw nut

46 sliding shaft

47 translation limiting ruler

48 support

503D assembly

513D motor

523D drive shaft

533D drive gear

54 worm gear box

55 Hall counter

563D limiting coded disc

60 rapping assembly

61 knocking motor

62 knocking shaft

63 knocking connecting rod

64 knocking oil sleeve

65 sliding sleeve

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.

It should be understood that the structures, proportions, and dimensions shown in the drawings and described herein are for illustrative purposes only and are not intended to limit the scope of the present invention, which is defined by the claims, but rather by the claims. In addition, the terms such as "upper", "lower", "left", "right" and "middle" used in the present specification are for convenience of description only, and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship thereof may be regarded as the scope of the present invention without substantial changes in the technical contents.

The utility model provides a massage chair and a massage machine core configured in the massage chair. In addition, in the following embodiments, the side of the massage movement facing the human body is defined as the front side, and the side of the massage movement facing away from the human body is defined as the rear side.

As shown in fig. 1 and fig. 2, the massage movement according to the present invention includes a frame 10, a walking assembly 20 mounted on the frame 10, two sets of massage assemblies 30 disposed opposite to each other left and right, a translation assembly 40 rotatably mounted on the frame 10, and a 3D assembly 50 mounted on the frame 10; wherein the massage unit 30 has a massage wheel 31 for pressing the human body; the walking assembly 20 is used for driving the frame 10 to move in the up-and-down direction, so as to drive the massage movement to move up and down integrally, namely, the 3D assembly 50, the translation assembly 40 and the massage assembly 30 are driven to move up and down together; the translation component 40 acts on the two groups of massage components 30 and is used for driving the two groups of massage components 30 to move reversely or oppositely along the left-right direction; the 3D assembly 50 acts on the translation assembly 40 to drive the translation assembly 40 in a forward-backward direction, thereby driving the translation assembly 40 and the massage assembly 30 to rotate together in a forward-backward direction.

In the massage movement related to the application, the translation component 40 can drive the two groups of massage components 30 to move reversely or oppositely along the left and right direction, so that the massage range of the massage movement is enlarged; meanwhile, the walking component 20 is matched to drive the whole body to move up and down, and the 3D component 50 drives the translation component 40 and the massage component 30 to rotate back and forth, so that the massage component 30 can do free combined compound motion with three dimensions of moving up and down, moving left and right and rotating back and forth, various massage manipulations such as kneading, knocking, pinching, pulling, pushing and the like are realized, deep massage with different intensities and amplitudes of different parts of a human body is met, the massage is more accordant with the curve of the human body, the massage comfort level is improved, and the massage experience is good.

Further, as shown in fig. 1 and 2, the frame 10 includes two support webs 11 disposed opposite to each other in the left-right direction, and a connecting plate 12 fixed between the two support webs 11, and the massage assembly 30, the translation assembly 40, and the 3D assembly 50 are disposed between the two support webs 11. Therefore, the massage machine core has compact integral structure, small occupied space and strong adaptability of the integral structure, and can be matched with massage chairs with different specifications and sizes.

Further, as shown in fig. 1, the massage movement also comprises two sets of knocking assemblies 60; as shown in fig. 8 and 9, the massage assembly 30 further comprises a translation link 32 and a massage crank arm 33 hinged by a screw shaft 34, the massage wheel 31 being mounted at the end of the massage crank arm 33; the translation assembly 40 is connected with the translation link 32 and drives the translation link 32 to move in the left-right direction, thereby driving the massage assembly 30 to move in the left-right direction; the two groups of knocking components 60 respectively act on the massage crank arms 33 of the massage components 30 and are used for driving the massage crank arms 33 to swing along the front and back directions, so as to realize knocking massage manipulations on human bodies.

The preferred structures of the translating assembly 40, the 3D assembly 50, the tapping assembly 60 and the walking assembly 20 are described below.

As shown in fig. 5 and 6, the translation assembly 40 includes a translation driving screw 41 extending left and right, a translation web 42 rotatably engaged with the translation driving screw 41, a translation motor 43 fixed on the right support web 11 in the frame 10, a left screw nut 44 fixed in the translation link 32 of the left massage assembly 30, and a right screw nut 45 fixed in the translation link 32 of the right massage assembly 30, the left and right ends of the translation driving screw 41 are rotatably supported in the left and right support webs 11 by rolling bearings, the translation driving screw 41 is also rotatably supported in the translation web 42 by a copper bush, a motor shaft of the translation motor 43 is connected to the translation driving screw 41 by a pulley transmission mechanism, the translation driving screw 41 has a left screw segment 411 screw-engaged with the left screw nut 44, and a right screw segment 412 screw-engaged with the right screw nut 45, the thread direction of the left screw rod section 411 is opposite to that of the right screw rod section 412. When the translation motor 43 rotates, the translation motor 43 drives the translation driving screw 41 to rotate through the belt pulley transmission mechanism, and the translation driving screw 41 drives the left screw nut 44 and the right screw nut 45 to move reversely or oppositely along the translation driving screw 41 through the threaded fit of the left screw segment 411 and the left screw nut 44 and the threaded fit of the right screw segment 412 and the right screw nut 45, so as to drive the left massage assembly 30 and the right massage assembly 30 to move reversely or oppositely along the translation driving screw 41. Therefore, the eccentric structure is omitted, the translation of the massage component 30 in the left and right directions always tends to linear motion, and the whole body is driven to move up and down by matching with the walking component 20, so that the massage action of plane kneading can be realized; on the basis of the massage action, accurate massage actions such as shoulder and neck grabbing and pinching can be realized by matching with the forward and backward rotation driven by the 3D assembly 50; on the basis of the massage action, the massage component is matched with the back-and-forth swing driven by the knocking component 60, so that various massage manipulations such as kneading, tapping, acupressure, kneading and beating, beating and the like can be realized, the massage manipulations can be realized in various combinations, and the requirements of different people are met. Moreover, the massage range depends on the length of the translation driving screw rod 41, and the massage chair has strong adaptability to massage chairs of different specifications, so that the deep massage of different strengths and amplitudes of different parts of a human body is met, and the massage experience is good.

Preferably, as shown in fig. 5 and 6, the translation webs 42 are arranged oppositely left and right, the left translation web 42 is located at the right side of the left support web 11, and the right translation web 42 is located at the left side of the right support web 11; namely: two translation webs 42 are located between the two support webs 11. As shown in fig. 5 and 6, and fig. 8 and 9, the translation assembly 40 further includes two sliding shafts 46 parallel to the translation driving screw 41, the left and right ends of the sliding shaft 46 are respectively fixed in the translation webs 42 at the left and right sides, and the translation connecting rod 32 is movably mounted on the sliding shaft 46 through the oil bearing 35, so as to improve the stability of the massage assembly 30 when moving left and right; and the oil cotton 36 is fixed on the side surface of the translation connecting rod 32. In addition, two sliding shafts 46 are distributed on the upper side and the lower side of the translation driving screw rod 41, and the two sliding shafts 46 and the translation driving screw rod 41 are distributed in a triangular mode, so that the stability of the whole structure is improved.

Preferably, the massage assembly 30 further comprises a light barrier detector fixed to the underside of the massage crank 33; as shown in fig. 5, the translation assembly 40 further includes a translation limit gauge 47 secured to the translation web 42; in the process that the translation assembly 40 drives the massage assembly 30 to move left and right, the grating detector is matched with the translation limiting ruler 47, the left and right positions of the massage assembly 30 can be judged through the output signal of the grating detector, and the left and right positions of the massage assembly 30 can be controlled by combining the accurate control of the translation motor 43, namely, the motion track of the massage assembly 30 is limited.

Further, as shown in fig. 5-7, the translating assembly 40 further includes a support 48 fixedly connected to the sliding shaft 46; the knocking assembly 60 comprises a knocking motor 61 fixed on the support member 48, a knocking shaft 62 parallel to the translation driving screw 41, and a knocking connecting rod 63, wherein the knocking shaft 62 is rotatably supported in the translation web 42 and the support member 48 through rolling bearings, the knocking motor 61 is connected with the knocking shaft 62 through a belt pulley transmission mechanism, one end of the knocking connecting rod 63 is in sliding fit with the knocking shaft 62 through a bearing, and the other end of the knocking connecting rod 63 is hinged with a pin shaft on the massage crank arm 33 through a sliding sleeve 65. When the knocking motor 61 rotates, the knocking motor 61 drives the knocking shaft 62 to rotate through the belt pulley transmission mechanism, the knocking shaft 62 drives the knocking connecting rod 63 to rotate together, and the massage crank arm 33 and the massage wheel 31 are driven to swing back and forth, so that knocking action is realized. Preferably, as shown in fig. 7, the knocking link 63 is further provided with a knocking oil bushing 64 at the sliding bushing 65 for lubrication.

Further, as shown in fig. 1, the 3D assembly 50 is disposed at the upper end side of the support web 11, the 3D assembly 50 acts on the translation web 42 to drive the translation web 42 to rotate back and forth around the translation drive screw 41 as a rotation center axis, and the translation web 42 drives the translation link 32 of the massage assembly 30 to rotate back and forth through the sliding shaft 46, so as to realize the back and forth rotation of the massage assembly 30. Specifically, as shown in fig. 3, the 3D assembly 50 includes a 3D motor 51 fixed to the right support web 11 in the rack 10, a 3D driving shaft 52 parallel to the translation driving screw 41, and a 3D driving gear 53 fixed to the 3D driving shaft 52, wherein left and right ends of the 3D driving shaft 52 are rotatably supported at upper ends of the left and right support webs 11 through rolling bearings, respectively, a motor shaft of the 3D motor 51 is connected to the 3D driving shaft 52 through a pulley transmission mechanism and a worm gear box 54 in sequence, the translation web 42 is a gear web, a gear peripheral surface 421 is provided on an outer periphery of the translation web 42, and the 3D driving gear 53 is engaged with the gear peripheral surface 421 on the outer periphery of the translation web 42. When the 3D motor 51 rotates, the worm wheel in the worm wheel box 54 is driven to rotate through the belt pulley transmission mechanism, so that the 3D driving shaft 52 is driven to rotate, the 3D driving shaft 52 drives the 3D driving gear 53 to rotate together, the translation web 42 is driven to rotate around the translation driving screw rod 41 in a front-back manner through the meshing of the 3D driving gear 53 and the gear peripheral surface 421 of the periphery of the translation web 42, so that the massage assembly 30 is driven to rotate in a front-back manner through the two sliding shafts 46, the forward movement or the backward movement of the massage assembly 30 is realized, the 3D action is realized, and different massage strengths and depths are provided.

Preferably, the 3D assembly 50 further includes a hall counter 55, the hall counter 55 is fixed to an axial end of the worm in the worm wheel housing 54; when the 3D motor 51 rotates, the number of rotations of the 3D driving shaft 52 can be determined by the hall counter 55 in the process of driving the 3D driving shaft 52 to rotate sequentially through the pulley transmission and the worm gear housing 54. As shown in fig. 5, a 3D limiting code wheel 56 fixed to the right support web 11 is disposed at the right end of the translation driving screw 41, and a front grating position detector and a rear grating position detector are respectively fixed at the front and rear ends of the right translation web 42; when the 3D assembly 50 drives the translation web 42 to rotate forwards to the foremost position, the 3D limit code disc 56 can detect the front grating position detector, and the control system controls the 3D motor 51 to stop running; when the 3D assembly 50 drives the translation web 42 to rotate backward to the final position, the 3D limit code disc 56 can detect the rear grating position detector, and the control system controls the 3D motor 51 to stop operating; in this manner, the forward and rearward limit positions of the translating web 42 and the massage assembly 30 can be precisely controlled.

Further, as shown in fig. 1, 2 and 4, the traveling assembly 20 includes a traveling motor 21 fixed to the left support web 11 of the frame 10, a traveling main shaft 22 rotatably supported by the left and right support webs 11 through a rolling bearing, a traveling gear 23 fixed to the traveling main shaft 22, and a fixed rack rail extending up and down, the traveling main shaft 22 is disposed at the lower end side of the two support webs 11, the fixed rack rail is fixedly connected to the frame of the massage chair, a motor shaft of the traveling motor 21 is connected to the traveling main shaft 22 through a worm gear mechanism 26, and the traveling gear 23 is engaged with the fixed rack rail. When the traveling motor 21 rotates, the traveling main shaft 22 is driven to rotate by the worm gear mechanism 26, the traveling main shaft 22 drives the traveling gear 23 to rotate together, and the traveling gear 23 is meshed with the fixed rack rail to move up and down along the fixed rack rail.

Preferably, as shown in fig. 1 and fig. 2, the walking assembly 20 further includes a walking wheel 24 and a walking auxiliary shaft 25 rotatably supported in the left and right supporting webs 11 through a rolling bearing, the walking auxiliary shaft 25 is disposed at the upper end side of the two supporting webs 11, and the walking wheel 24 is mounted at both left and right ends of the walking main shaft 22 and both left and right ends of the walking auxiliary shaft 25, so as to increase the stability of the massage machine core when moving up and down. One side of each of the two supporting webs 11 is fixedly provided with an upper limiting signal plate and a lower limiting signal plate; when the walking assembly 20 drives the massage movement to move up to the uppermost position integrally, the upper limit signal plate is triggered, and the control system controls the walking motor 21 to stop running; when the walking component 20 drives the massage machine core to integrally move downwards to the lowest position, the lower limit signal plate is triggered, and the control system controls the walking motor 21 to stop running; therefore, the upper and lower walking limit positions of the massage machine core are accurately controlled.

In conclusion, the present invention effectively overcomes various disadvantages of the prior art and has high industrial utilization value.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the utility model. Those skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (10)

1. A massage machine core is characterized in that: including frame (10), install in walking subassembly (20) of frame (10), massage subassembly (30) of relative setting about two sets of, rotationally install in translation subassembly (40) of frame (10) and install in 3D subassembly (50) of frame (10), walking subassembly (20) are used for driving frame (10) and move along upper and lower direction, massage subassembly (30) have massage wheel (31), translation subassembly (40) act on two sets of massage subassemblies (30), are used for driving two sets of massage subassemblies (30) and move along left and right directions backward or in opposite directions, 3D subassembly (50) act on translation subassembly (40), are used for driving translation subassembly (40) and rotate along the fore-and-aft direction.

2. A massage movement according to claim 1, wherein: still include two sets of subassembly (60) of strikeing, massage subassembly (30) still include articulated translation connecting rod (32) and massage crank arm (33), the tip at massage crank arm (33) is installed in massage wheel (31), translation subassembly (40) link to each other with translation connecting rod (32), and every group strikes subassembly (60) and all acts on the massage crank arm (33) of each massage subassembly (30), is used for driving massage crank arm (33) along the fore-and-aft direction swing.

3. A massage movement according to claim 2, wherein: the translation component (40) comprises a translation driving screw rod (41) which is rotatably supported in the frame (10) and extends left and right, a translation web plate (42) which is in rotary fit with the translation driving screw rod (41), a translation motor (43) which is fixed on the frame (10), a left screw rod nut (44) which is fixed in the translation connecting rod (32) of the left massage component (30), and a right screw rod nut (45) which is fixed in the translation connecting rod (32) of the right massage component (30), the translation motor (43) is connected with the translation driving screw rod (41) and drives the translation driving screw rod (41) to rotate, the translation driving screw rod (41) is provided with a left screw rod section (411) in threaded fit with the left screw rod nut (44) and a right screw rod section (412) in threaded fit with the right screw rod nut (45), the thread direction of the left side screw rod section (411) is opposite to that of the right side screw rod section (412).

4. A massage movement according to claim 3, wherein: the two translation webs (42) are arranged oppositely left and right; the translation assembly (40) further comprises a sliding shaft (46) parallel to the translation driving screw rod (41), the left end and the right end of the sliding shaft (46) are respectively fixed to the two translation webs (42), and the translation connecting rod (32) is movably mounted on the sliding shaft (46) through a bearing.

5. A massage movement according to claim 4, wherein: 3D subassembly (50) are including 3D motor (51) that is fixed in frame (10), 3D drive shaft (52) that is on a parallel with translation drive lead screw (41) and 3D drive gear (53) of fixing on 3D drive shaft (52), 3D drive shaft (52) rotationally support in frame (10), 3D motor (51) link to each other with 3D drive shaft (52), drive 3D drive shaft (52) rotate, translation web (42) are gear web, the periphery is equipped with gear global (421), 3D drive gear (53) mesh with gear global (421) of translation web (42) periphery.

6. A massage movement according to claim 3, wherein: the knocking component (60) comprises a knocking motor (61) relatively fixed with the translation web plate (42), a knocking shaft (62) parallel to the translation driving screw rod (41) and a knocking connecting rod (63), the knocking shaft (62) is rotatably supported in the translation web plate (42), the knocking motor (61) is connected with the knocking shaft (62) and drives the knocking shaft (62) to rotate, one end of the knocking connecting rod (63) is in sliding fit with the knocking shaft (62) through a bearing, and the other end of the knocking connecting rod is hinged with the massage crank arm (33).

7. A massage movement according to claim 1, wherein: the walking assembly (20) comprises a walking motor (21) fixed on the rack (10), a walking main shaft (22) rotatably supported in the rack (10), a walking gear (23) fixed on the walking main shaft (22) and a fixed rack rail extending up and down, the walking motor (21) is connected with the walking main shaft (22) and drives the walking main shaft (22) to rotate, and the walking gear (23) is meshed with the fixed rack rail.

8. A massage movement according to claim 7, wherein: walking subassembly (20) still include walking wheel (24) and rotationally support walking auxiliary shaft (25) in frame (10), all install at the both ends of walking main shaft (22) and the both ends of walking auxiliary shaft (25) walking wheel (24).

9. A massage movement according to claim 1, wherein: the frame (10) includes two support webs (11) that relative setting about and connecting plate (12) of fixing between two support webs (11), massage subassembly (30), translation subassembly (40) and 3D subassembly (50) configuration are between two support webs (11).

10. A massage armchair is characterized in that: a massage movement according to any one of claims 1 to 9 is provided in the massage chair.

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