CN108749673B

CN108749673B - Working method of portable high-speed rail and airplane seat with foot massage function

Info

Publication number: CN108749673B
Application number: CN201810301440.9A
Authority: CN
Inventors: 不公告发明人
Original assignee: Individual
Current assignee: Binzhou Kechuang Incubator Co ltd
Priority date: 2016-06-23
Filing date: 2016-06-23
Publication date: 2021-12-10
Anticipated expiration: 2036-06-23
Also published as: CN108422913B; CN108749673A; CN108309767B; CN108422913A; CN108422914A; CN106004579B; CN108309767A; CN106004579A; CN108749674A; CN108482215A

Abstract

The invention relates to a high-speed rail and airplane seat which comprises a seat main body, a massage device, a sleeve, an adjusting screw rod, a telescopic base, a linear guide rod and a height adjusting device, wherein the massage device is positioned at the front lower part of the seat main body, the sleeve is arranged at the inner side of the massage device, the adjusting screw rod is arranged in the sleeve, the telescopic base is positioned right ahead of the seat main body, one end of the telescopic guide rod is arranged in a guide rail on the telescopic base, the other end of the telescopic guide rod is fixedly connected with the lower part of the seat main body, the upper end of the height adjusting device is connected with the lower end of the massage device, and the lower end of the height adjusting device is connected with the telescopic base. The invention can massage the soles of passengers on automobiles, high-speed rails or airplanes, has high massage comfort level and good safety, is convenient to shrink and store, does not occupy other spaces, can adjust the height and the distance of the whole massage device, is convenient for the passengers with different heights and different fat and thin sizes to use, and has wide application range and reasonable and practical design.

Description

Working method of portable high-speed rail and airplane seat with foot massage function

Technical Field

The invention relates to the field of vehicle seats, in particular to a seat for a high-speed rail and an airplane.

Background

With the rapid development of social economy, the improvement of information technology and the gradual convenience of traffic, vehicles such as high-speed rails, automobiles and airplanes become the most vehicles for daily travel of people, and meanwhile, the high-speed rails, the automobiles and the airplanes really bring great rapidness and convenience to people, especially high-speed rail vehicles, because the high-speed rail vehicles have the advantages of high speed, stable operation, large passenger capacity and clean riding environment, the high-speed rail vehicles become the most popular travel tools for modern people, but the seats of the high-speed rail vehicles, the automobiles and the airplanes at present all adopt common single seats or multi-person seats, and the seats have single function; the passengers are easy to cause physical fatigue or leg and foot numbness during long-term running and riding, and the long-term riding is not beneficial to the physical health of people.

The phenomenon that passengers feel sore or numb on feet most easily in the process of riding or riding a bus also sometimes causes cramping of legs and feet, and the occurrence of the above conditions brings certain physical and mental health influence to people; the foot massage can regulate the internal potential of human body, enhance the disease-resistant ability of human body, especially has certain curative effect on some chronic diseases, promote the smooth blood circulation, dredge the obstacle of energy circulation pipeline of human body, promote the normal function of organ part and the coordination among organ systems, promote the balance of internal secretion, relax the nervous system, excrete toxin impurities in the body and maintain health. Strengthening metabolism function and keeping youth activity; but also can stimulate cell activity, prevent aging, recover degenerated organ functions and prevent diseases; therefore, the foot massage plays an important role in the health of people and the medical care in ordinary times, and in view of the situation, the invention provides a convenient automobile, high-speed rail and airplane seat with the foot massage function.

Disclosure of Invention

In order to make up for the defects of the prior art, the invention provides a convenient automobile, high-speed rail and airplane seat with a foot massage function.

The technical problem to be solved by the invention is realized by adopting the following technical scheme.

A portable automobile, high-speed rail and airplane seat with a foot massage function comprises a seat main body, a massage device, a sleeve, an adjusting screw rod, a telescopic base, a linear guide rod and a height adjusting device; the inverted U-shaped storage groove is formed in the lower end of the seat main body, the seat is arranged at the upper end of the seat main body and is of an arc-shaped structure, the armrests are symmetrically arranged on the left side and the right side of the seat respectively, the soft cushion is arranged above the seat, the rear end of the seat main body is provided with the seat rest, round holes are uniformly formed in the seat rest, and the round holes formed in the seat rest are convenient for people to volatilize and discharge sweat generated on the back of the people when the people sit in summer, so that the sitting comfort is improved; the massage device is positioned at the front lower part of the seat main body, the number of the massage devices is two, the inner side of the massage device is provided with a sleeve, an adjusting screw rod is arranged in the sleeve, the sleeve and the adjusting screw rod are connected in a threaded fit mode, and the distance between the massage devices can be adjusted through the adjusting screw rod; the telescopic base is positioned right in front of the chair main body, the left side and the right side of the telescopic base are respectively and symmetrically provided with a guide rail, one end of a telescopic guide rod is arranged in the guide rail on the telescopic base, and the other end of the telescopic guide rod is fixedly connected with the lower part of the chair main body; the upper end of the height adjusting device is connected with the lower end of the massage device, and the lower end of the height adjusting device is connected with the telescopic base; when the massage seat is used, the telescopic base is pulled out from the U-shaped storage groove at the lower end of the seat body, and after people massage, the telescopic base is pushed back into the U-shaped storage groove at the lower end of the seat body to be stored, so that the problem that the massage device occupies space while dust is prevented is solved.

Further, the massage device comprises an outer shell, a sole massage device and a toe massage device; the outer shell is of a foot-type structure, the lower end of the outer shell is provided with an installation layer, the middle of the outer shell is provided with a partition plate layer, the upper end of the outer shell is provided with a foot placing layer, the outer shell installation layer and the foot placing layer are both made of ABS plastic materials, the outer shell partition plate layer is made of flexible rubber materials, the comfortable feeling is increased when the outer shell partition plate made of the flexible rubber materials is in contact with the feet of a human body, the flexibility and the scalability are good, and the distance compensation of a stroke generated when a foot massage device massages the feet of the human body is facilitated; the sole massage devices are respectively and uniformly and symmetrically arranged in the mounting layer at the lower end of the outer shell, and the toe massage devices are positioned right in front of the outer shell.

Further, the height adjusting device comprises an adjusting motor, an electric telescopic rod, a rotating pair, a telescopic connecting rod and a telescopic supporting seat, and the number of the electric telescopic rod, the number of the rotating pair and the number of the telescopic connecting rod are two; the adjusting motor is a double-shaft output speed reducing motor, the adjusting motor is fixed at the central position of the telescopic base, one end of the electric telescopic rod is connected with a main shaft of the adjusting motor, the other end of the electric telescopic rod is connected with the lower end of the telescopic connecting rod, the other end of the telescopic connecting rod is connected with the telescopic supporting seat through a revolute pair, and the telescopic supporting seat is fixed at the lower end of the massage device; rotation through accommodate motor drives electric telescopic handle's rotation, and electric telescopic handle can carry out the telescopic motion about to be convenient for adjust the distance between the massage device, electric telescopic handle and telescopic connecting rod fixed connection, thereby drive telescopic connecting rod and use electric telescopic handle to rotate as rotation center, and then adjusted massage device's height, the different fat thin passengers of different heights of being convenient for use, design reasonable more practical.

Furthermore, the foot massage device comprises a fixed platform, a movable platform, a first branched chain, a second branched chain, an end effector and a driving device; the fixed platform and the movable platform are both disc-shaped structures, and the movable platform is positioned right above the fixed platform; the number of the first branched chain and the second branched chain is two, the first branched chain and the second branched chain are both positioned between the fixed platform and the movable platform, two ends of the first branched chain and two ends of the second branched chain are both connected with the fixed platform and the movable platform respectively, and the horizontal installation angle of the first branched chain and the second branched chain is 90 degrees; the end effector is positioned right above the movable platform; the driving device is positioned between the fixed platform and the movable platform, the driving device is fixed with the upper end surface of the fixed platform, and the sole massaging device is mainly used for wriggling massage on the whole plane of the sole of a human body.

Furthermore, the first support chain comprises a first ear seat, a hook hinge, a first electric push rod, a first ball hinge, a first connecting column and a first vibrating spring; the first lug seat is fixed on the upper end face of the fixed platform, the first lug seat is connected with the lower end of the first electric push rod by a Hooke hinge, the upper end of the first electric push rod is connected with a first ball hinge, the first ball hinge is fixed on the lower end face of the movable platform through a first connecting column, and the first vibration spring is wound on the first electric push rod; the first support chain adopts a 2-UPS parallel mechanism, and the jitter of the first support chain during movement is increased through the first vibrating spring, so that the massage effect of the foot sole massage machine is improved.

Furthermore, the second branched chain comprises a second ear seat, a rotating pin, a second electric push rod, a second ball hinge, a second connecting column and a second vibrating spring; the second lug seat is fixed on the upper end face of the fixed platform, the second lug seat is connected with the lower end of the second electric push rod through a rotating pin, the upper end of the second electric push rod is connected with a second ball hinge, the second ball hinge is fixed on the lower end face of the movable platform through a second connecting column, and a second vibrating spring is wound on the second electric push rod; the rotation pin can rotate in one direction, the second ball hinge can rotate in three directions, the second electric push rod can move up and down, the second branched chain adopts a 2-RPS parallel mechanism mode, and the second vibration spring increases the jitter of the second branched chain during movement, so that the massage effect of the foot sole massager is improved.

Furthermore, the driving device comprises a lifting base, an electric rotary table, a telescopic rod, a fixed disc, a driving spring and a fixed table, wherein the number of the telescopic rod, the number of the fixed disc, the number of the driving spring and the number of the fixed table are four; the lower end of the lifting base is fixed at the central position of the upper end face of the fixed platform, the electric rotary table is installed at the upper end of the lifting base, the telescopic rods are symmetrically arranged at the periphery of the electric rotary table respectively, one end of each telescopic rod is connected with the outer side wall of the electric rotary table, the other end of each telescopic rod is connected with the fixed disc, one end of each driving spring is fixed on the fixed disc, the other end of each driving spring is connected with the fixed table, and the fixed tables are fixed on the outer side walls of the first electric push rod and the second electric push rod respectively; the driving device can perform the functions of up-down lifting, circumferential rotation and circumferential extension, can perform the movement of three freedom directions in total of two translation and one rotation in a space, increases the vibration performance of the whole driving device during movement through the driving spring, improves the massage effect of the invention, can be used as an auxiliary driving source of the sole massage device, can quickly drive the end effector to perform irregular vibration through the driving device, can perform quick vibration massage on soles, has high massage frequency and obvious massage effect, and is more suitable for young groups to use.

Further, the end effector comprises an annular guide rail, a massage ball and a housing; the annular guide rail is closely attached to the upper end face of the movable platform, the annular guide rail is sequentially enlarged from inside to outside along the center of the movable platform, the cross section of the annular guide rail is of a dart disc-shaped structure, an annular clamping groove is formed in the inner side wall of the annular guide rail, the massage balls are uniformly arranged on the annular guide rail, clamping blocks are symmetrically arranged on the outer surface of each massage ball, the clamping blocks are mounted in the annular clamping grooves in the inner side wall of the annular guide rail, the outer cover is located right above the massage balls, the outer cover and the outer side wall of the annular guide rail are connected in a threaded fit mode, concave holes are uniformly formed in the upper end face of the outer cover, and the outer cover is made of an inorganic fiber cotton flexible material; the massage balls can rotate on the annular guide rail circularly under the movement of the first branched chain and the second branched chain or the shaking of the driving device, the contact area of the end effector and the sole of the human body is sufficient, the massage effect is obvious, and the massage comfort level is high.

When the foot massage device works, the four-freedom-degree symmetrical parallel mechanism is formed by the fixed platform, the movable platform, the first branched chain and the second branched chain, the parallel mechanism form of 2-UPS-2-RPS is adopted, the four-freedom-degree symmetrical parallel mechanism can move along an X axis and a Z axis and rotate around the X axis and a Y axis in four freedom-degree directions, the four freedom degrees are independent, the four freedom degrees can work in a coordinated mode, the track of the end actuator moves along a curve in a preset space, namely, the foot massage work is finished, the contact surface with the foot is wide during massage, no dead angle is left in massage, and the massage effect is obvious; meanwhile, the four-degree-of-freedom symmetrical parallel mechanism has the characteristics of relatively simple control, accurate movement position, compact structure and the like, the length of the first branched chain and the second branched chain is changed through the change of the displacement of the first electric push rod and the second electric push rod, and further the change of the position and the posture of the movable platform is realized. The driving device can perform the functions of up-down lifting, circumferential rotation and circumferential extension, can perform the movement of three freedom directions in total of two translation and one rotation in a space, increases the vibration performance of the whole driving device during movement through the driving spring, improves the massage effect of the invention, can be used as an auxiliary driving source of the sole massage device, can quickly drive the end effector to perform irregular vibration through the driving device, can perform quick vibration massage on soles, has high massage frequency and obvious massage effect, and is more suitable for young groups to use. Therefore, the sole massage device can be suitable for young people and middle-aged and elderly people, has wide application range, is comprehensively contacted with the sole, has no dead angle in massage and has obvious massage effect.

Furthermore, the toe massage device comprises a shell cover, a massage actuator, a split hinge, a fixing plate and an angle adjusting mechanism; the toe massage device is characterized in that the outer shell cover is of a fan-shaped columnar shell structure, a U-shaped sleeve groove is formed in the front end face of the outer shell cover, the U-shaped sleeve groove in the front end face of the outer shell cover is installed at the front end of the outer shell foot placing layer, the outer shell cover can move on the outer shell foot placing layer, the toe massage device is convenient to adjust, the massage actuator is located inside the outer shell cover, the lower end of the outer shell cover is connected with the fixed plate through a split hinge, and the angle adjusting mechanism is located above the fixed plate; the toe massage device is mainly used for massaging toes of a human body.

Furthermore, the massage actuator comprises a reciprocating motor, a rotating shaft, a bearing with a seat, a massage roller, a connecting claw and a limiting spring; the bottom end of the reciprocating motor is fixed on the inner side wall of the right side of the outer shell cover, one end of a rotating shaft is connected with a main shaft of the reciprocating motor, the other end of the rotating shaft is fixed on the inner side wall of the left side of the outer shell cover through a bearing with a seat, the number of massage rollers is eight, the massage rollers are sequentially and uniformly fixed on the rotating shaft, the outer side wall of each massage roller is uniformly provided with a convex cylinder, the material of each massage roller is flexible PP engineering plastic, the front end of each connecting claw is provided with a clamping seat, the clamping seat is connected with the massage rollers, the rear end of each connecting claw is provided with a connecting rod, one end of a limiting spring is fixed on the clamping seat of the connecting claw, and the other end of the limiting spring is fixed on the inner side wall of the rear side of the outer shell cover; when massaging the toe, in proper order as to between the clearance of two liang of massage gyro wheels with human toe, the incomplete rotation of pivot is driven in the incomplete just reversal of rotation through reciprocating motor, thereby drive the incomplete reciprocal rotation of massage gyro wheel, and massage gyro wheel and toe surface carry out abundant contact, rolling friction contact through massage gyro wheel and toe surface, the function of massaging the toe has been reached, and be provided with protruding cylinder on the massage gyro wheel, the effect to the toe massage has been increased, spacing spring has not only played the spacing effect when massage gyro wheel rotates, and the whole of massage executor is shaken the nature has been increased, the effectual power of massage is said and the effect has been improved.

Furthermore, the angle adjusting mechanism comprises a limiting clamping strip, a supporting plate and an adjusting hinge; the limiting clamping strips are sequentially and uniformly fixed on the upper end surface of the fixed plate at equal intervals, the supporting plate is of a rectangular flat structure, the lower end of the supporting plate is arranged on the limiting clamping strips, and the upper end of the supporting plate is connected with the outer side wall of the rear side of the shell cover through an adjusting hinge; the position of the movable supporting plate on the limiting clamping strip can drive the outer shell cover to rotate by taking the split hinge as a rotating center, so that the whole angle of the whole toe massage device can be adjusted, the toe can be conveniently placed, the toes can be conveniently massaged in different postures, and the design is more humanized and practical.

Compared with the prior art, the invention has the following advantages:

(1) the invention can massage the soles of passengers on automobiles, high-speed rails or airplanes, has high massage comfort level and good safety, is convenient to shrink and store, does not occupy other spaces, can adjust the height and the distance of the whole massage device, is convenient for the passengers with different heights and different fat and thin sizes to use, and has wide application range and reasonable and practical design.

(2) The sole massage device has two different massage frequencies, can be suitable for young people and middle-aged and elderly people, has wide application range, is in comprehensive contact with soles, has no dead angle in massage, and has obvious massage effect.

(3) The toe massage device can be fully contacted with the surfaces of the toes, adopts a rolling type massage mode, has good massage effect, has adjustable integral angle, is convenient for placing the toes and massaging in different postures, and has more humanized and practical design.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a top view of the present invention;

fig. 3 is a schematic perspective view of the massage device of the present invention;

fig. 4 is a partial cross-sectional view of the massage device of the present invention;

FIG. 5 is a schematic perspective view (from front to back) of the toe massage apparatus of the present invention;

FIG. 6 is a schematic perspective view (from back to front) of the toe massage apparatus of the present invention;

FIG. 7 is a perspective view of the foot massage apparatus of the present invention;

fig. 8 is a perspective view of the foot massage apparatus of the present invention with the outer cover removed.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.

As shown in fig. 1 to 8, a portable vehicle, high-speed rail or airplane seat with foot massage function comprises a seat body 1, a massage device 2, a sleeve 3, an adjusting screw 4, a telescopic base 5, a linear guide rod 6 and a height adjusting device 7; the lower end of the seat main body 1 is provided with an inverted U-shaped storage groove, the upper end of the seat main body 1 is provided with a seat, the seat is of an arc-shaped structure, the left side and the right side of the seat are respectively and symmetrically provided with armrests, a soft cushion is arranged above the seat, the rear end of the seat main body 1 is provided with a seat rest, round holes are uniformly formed in the seat rest, and the round holes formed in the seat rest are convenient for people to volatilize and discharge sweat generated at the back when the people take the seat in summer, so that the comfort of taking the seat is improved; the massage devices 2 are positioned at the front lower part of the seat body 1, the number of the massage devices 2 is two, the sleeves 3 are arranged on the inner sides of the massage devices 2, the adjusting screws 4 are arranged in the sleeves 3, the sleeves 3 and the adjusting screws 4 are connected in a thread fit mode, and the distance between the massage devices 2 can be adjusted through the adjusting screws 4; the telescopic base 5 is positioned right in front of the seat main body 1, guide rails are symmetrically arranged on the left side and the right side of the telescopic base 5 respectively, one end of the telescopic guide rod 6 is installed in the guide rails on the telescopic base 5, and the other end of the telescopic guide rod 6 is fixedly connected with the lower part of the seat main body 1; the upper end of the height adjusting device 7 is connected with the lower end of the massage device 2, and the lower end of the height adjusting device 7 is connected with the telescopic base 5; when the massage chair is used, the telescopic base 5 is pulled out from the U-shaped storage groove at the lower end of the chair body 1, and after people massage, the telescopic base 5 is pushed back into the U-shaped storage groove at the lower end of the chair body 1 to be stored, so that the problem that the massage device 2 occupies space while dust is prevented is solved.

As shown in fig. 3 to 8, the massage device 2 includes an outer casing 21, a sole massage device 22 and a toe massage device 23; the outer shell 21 is of a foot-type structure, an installation layer is arranged at the lower end of the outer shell 21, a partition plate layer is arranged in the middle of the outer shell 21, a foot placing layer is arranged at the upper end of the outer shell 21, water leakage holes are uniformly formed in the left side wall and the right side wall of the foot placing layer, the water leakage holes are convenient for foot soaking water in the water storage barrel 1 to circulate in the massage device 2, the installation layer and the foot placing layer of the outer shell 21 are both made of ABS plastic materials, the partition plate layer of the outer shell 21 is made of flexible rubber materials, the partition plate of the outer shell 21 made of the flexible rubber materials not only increases comfort when being in contact with feet of a human body, but also is flexible and flexible, and distance compensation is convenient for a stroke generated by the foot massage device 22 during foot sole massage movement of the human body; the sole massage devices 22 are respectively and uniformly and symmetrically arranged in the mounting layer at the lower end of the outer shell 21, and the toe massage device 23 is positioned right in front of the outer shell 21.

As shown in fig. 1 and 2, the height adjusting device 7 includes an adjusting motor 71, an electric telescopic rod 72, a rotating pair 73, a telescopic connecting rod 74 and a telescopic supporting seat 75, and the number of the electric telescopic rod 72, the rotating pair 73 and the telescopic connecting rod 74 is two; the adjusting motor 71 is a double-shaft output speed reducing motor, the adjusting motor 71 is fixed at the central position of the telescopic base 5, one end of the electric telescopic rod 72 is connected with the main shaft of the adjusting motor 71, the other end of the electric telescopic rod 72 is connected with the lower end of the telescopic connecting rod 74, the other end of the telescopic connecting rod 74 is connected with the telescopic supporting seat 75 through the revolute pair 73, and the telescopic supporting seat 75 is fixed at the lower end of the massage device 2; rotation through accommodate motor 71 drives electric telescopic handle 72's rotation, and electric telescopic handle 72 can control concertina movement to be convenient for adjust the distance between the massage device 2, electric telescopic handle 72 and flexible connecting rod 74 fixed connection, thereby drive flexible connecting rod 74 and use electric telescopic handle 72 to rotate as the rotation center, and then adjusted massage device 2's height, be convenient for different fat thin passengers of different heights to use, design reasonable practicality more.

As shown in fig. 7 and 8, the sole massage device 22 includes a fixed platform 221, a movable platform 222, a first branch 223, a second branch 224, an end effector 225 and a driving device 226; the fixed platform 221 and the movable platform 222 are both disc-shaped structures, and the movable platform 222 is located right above the fixed platform 221; the number of the first branched chain 223 and the second branched chain 224 is two, the first branched chain 223 and the second branched chain 224 are both positioned between the fixed platform 221 and the movable platform 222, two ends of the first branched chain 223 and the second branched chain 224 are both connected with the fixed platform 221 and the movable platform 222, and the horizontal installation angle of the first branched chain 223 and the second branched chain 224 is 90 degrees; the end effector 225 is positioned right above the movable platform 222; the driving device 226 is located between the fixed platform 221 and the movable platform 222, the driving device 226 is fixed with the upper end surface of the fixed platform 221, and the sole massaging device 22 is mainly used for peristaltic massage on the whole sole of the human body.

As shown in fig. 7 and 8, the first link 223 includes a first ear seat 2231, a hook hinge 2232, a first electric putter 2233, a first ball hinge 2234, a first connecting post 2235, and a first vibration spring 2236; the first ear seat 2231 is fixed on the upper end surface of the fixed platform 221, the first ear seat 2231 is connected with the lower end of the first electric push rod 2233 by a hook hinge 2232, the upper end of the first electric push rod 2233 is connected with the first ball hinge 2234, the first ball hinge 2234 is fixed on the lower end surface of the movable platform 222 by a first connecting column 2235, and the first vibrating spring 2236 is wound around the first electric push rod 2233; the hooke hinge 2232 can rotate in two directions, the first ball hinge 2234 can rotate in three directions, the first electric push rod 2233 can move up and down, the first branch 223 is in a 2-UPS parallel mechanism, and the first vibration spring 2236 increases the jitter of the first branch 223 during movement, so that the massage effect of the sole massager is improved.

As shown in fig. 7 and 8, the second branch 224 includes a second ear seat 2241, a rotation pin 2242, a second electric push rod 2243, a second ball hinge 2244, a second connecting column 2245 and a second vibration spring 2246; the second ear seat 2241 is fixed on the upper end face of the fixed platform 221, the second ear seat 2241 is connected with the lower end of a second electric push rod 2243 through a rotating pin 2242, the upper end of the second electric push rod 2243 is connected with a second ball hinge 2244, the second ball hinge 2244 is fixed on the lower end face of the movable platform 222 through a second connecting column 2245, and a second vibrating spring 2246 is wound on the second electric push rod 2243; the rotation pin 2242 can rotate in one direction, the second ball hinge can rotate in three directions, the second electric push rod can move up and down, the second branched chain 224 adopts a 2-RPS parallel mechanism, and the second vibration spring 2246 is used for increasing the jitter of the second branched chain 224 during the movement, so that the massage effect of the foot sole massage device is improved.

As shown in fig. 7 and 8, the driving device 226 includes a lifting base 2261, an electric rotating table 2262, a telescopic rod 2263, a fixed disk 2264, a driving spring 2265 and a fixed table 2266, wherein the number of the telescopic rod 2263, the fixed disk 2264, the driving spring 2265 and the fixed table 2266 is four; the lower end of the lifting base 2261 is fixed at the center of the upper end face of the fixed platform 221, the electric rotary table 2262 is installed at the upper end of the lifting base 2261, the telescopic rods 2263 are symmetrically arranged at the periphery of the electric rotary table 2262 respectively, one end of each telescopic rod 2263 is connected with the outer side wall of the electric rotary table 2262, the other end of each telescopic rod 2263 is connected with the fixed disk 2264, one end of each driving spring 2266 is fixed on the fixed disk 2264, the other end of each driving spring 226 is connected with the fixed platform 2266, and the fixed platforms 2266 are fixed on the outer side walls of the first electric push rod 2233 and the second electric push rod 2243 respectively; the driving device 226 can perform the functions of up-down lifting, circumferential rotation and circumferential extension, can perform the movement in three freedom directions of two translation and one rotation in the space, and increases the vibration performance of the whole driving device 226 during the movement through the driving spring 2265, thereby improving the massage effect of the invention.

As shown in fig. 7 and 8, the end effector 225 includes an annular guide 2251, a massage ball 2252, and a housing 2253; the annular guide rail 2251 is tightly attached to the upper end surface of the movable platform 222, the annular guide rail 2251 is sequentially enlarged from inside to outside along the center of the movable platform 222, the cross-sectional section of the annular guide rail 2251 is in a boomerang disc-shaped structure, an annular groove is formed in the inner side wall of the annular guide rail 2251, the massage balls 2252 are uniformly arranged on the annular guide rail 2251, clamping blocks are symmetrically arranged on the outer surface of the massage balls 2252, the clamping blocks are mounted in the annular groove formed in the inner side wall of the annular guide rail 2251, the outer cover 2253 is located right above the massage balls 2252, the outer cover 2253 is connected with the outer side wall of the annular guide rail 2251 in a threaded fit manner, concave holes are uniformly formed in the upper end surface of the outer cover 2253, and the outer cover 2253 is made of an inorganic fiber cotton flexible material; the massage ball 2252 can rotate circumferentially on the circular guide 2251 under the movement of the first branch 223 and the second branch 224 or the shaking of the driving device 226, and the end effector 225 has a sufficient contact area with the sole of the human body, so that the massage effect is significant and the massage comfort is high.

As shown in fig. 7 and 8, in operation, the foot massage device 22 forms a four-degree-of-freedom symmetrical parallel mechanism by the fixed platform 221, the movable platform 222, the first branch chain 223 and the second branch chain 224, and adopts a parallel mechanism form of 2-UPS-2-RPS, which can realize movement along the X axis and the Z axis and movement around the X axis and the Y axis in four directions of freedom, and the four degrees of freedom are independent, and can also work in coordination through the four degrees of freedom, so that the track of the end effector 225 moves along a curve in a predetermined space, that is, the foot massage operation is completed, and the contact surface with the foot is wide during massage, no dead angle is left during massage, and the massage effect is obvious; meanwhile, the four-degree-of-freedom symmetrical parallel mechanism has the characteristics of relatively simple control, accurate movement position, compact structure and the like, the length of the first branch chain 223 and the second branch chain 224 is changed through the displacement change of the first electric push rod 2233 and the second electric push rod 2243, and the position and the posture of the movable platform are changed. The driving device 226 can perform the functions of up-down lifting, circumferential rotation and circumferential extension, can perform the movement in three freedom directions of two translation and one rotation in the space, and increases the vibration performance of the whole driving device 226 during the movement through the driving spring 2265, thereby improving the massage effect of the invention. Therefore, the sole massage device 22 is suitable for young people and middle-aged and elderly people, has wide application range, is in full contact with the sole, has no dead angle in massage and has obvious massage effect.

As shown in fig. 5 and 6, the toe massage device 23 includes a housing cover 231, a massage actuator 232, a folio hinge 233, a fixing plate 234, and an angle adjusting mechanism 235; the shell cover 231 is of a fan-shaped columnar shell structure, the front end face of the shell cover 231 is provided with a U-shaped sleeve groove, the U-shaped sleeve groove on the front end face of the shell cover 231 is installed at the front end of the foot placing layer of the shell body 21, the shell cover 231 can move on the foot placing layer of the shell body 21, the adjustment of the toe massage device 23 is facilitated, the massage actuator 232 is located inside the shell cover 231, the lower end of the shell cover 231 is connected with the fixing plate 234 through the split hinge 233, and the angle adjusting mechanism 235 is located above the fixing plate 234; the toe massage device 23 is mainly used for massaging the toes of the human body.

As shown in fig. 5 and 6, the massage actuator 232 includes a reciprocating motor 2321, a rotating shaft 2322, a bearing 2323 with a seat, a massage roller 2324, a connecting claw 2325 and a limiting spring 2326; the bottom end of the reciprocating motor 2321 is fixed on the inner side wall of the right side of the housing cover 231, one end of a rotating shaft 2322 is connected with a main shaft of the reciprocating motor 2321, the other end of the rotating shaft 2322 is fixed on the inner side wall of the left side of the housing cover 231 through a bearing 2323 with a seat, the number of the massage rollers 2324 is eight, the massage rollers 2324 are sequentially and uniformly fixed on the rotating shaft 2322, the outer side wall of each massage roller 2324 is uniformly provided with a convex cylinder, the material of each massage roller 2324 is flexible PP engineering plastic, the front end of each connecting claw 2325 is provided with a clamping seat, the clamping seat is connected with the massage roller 2324, the rear end of each connecting claw 2325 is provided with a connecting rod, one end of a limiting spring 2326 is fixed on the clamping seat of the connecting claw 2325, and the other end of the limiting spring 2326 is fixed on the inner side wall of the rear side of the housing cover 231; when the toes are massaged, the toes of a human body are sequentially arranged between the gaps of every two massage rollers 2324, the incomplete forward and backward rotation of the rotating shaft 2322 is driven through the incomplete forward and backward rotation of the reciprocating motor 2321, so that the incomplete reciprocating rotation of the massage rollers 2324 is driven, the massage rollers 2324 are fully contacted with the surfaces of the toes, the function of massaging the toes is achieved through the rolling friction contact between the massage rollers 2324 and the surfaces of the toes, the convex cylinders are arranged on the massage rollers 2324, the effect of massaging the toes is increased, the limiting spring 2326 not only plays a role in limiting the rotation of the massage rollers 2324, but also increases the integral jitter of the massage actuator 232, and effectively improves the force and the effect of massage.

As shown in fig. 5 and 6, the angle adjustment mechanism 235 includes a limit clip 2351, a support plate 2352 and an adjustment hinge 2353; the limiting clamping strips 2351 are sequentially and uniformly fixed on the upper end surface of the fixed plate 234 at equal intervals, the support plate 2352 is in a rectangular flat plate-shaped structure, the lower end of the support plate 2352 is installed on the limiting clamping strips 2351, and the upper end of the support plate 2352 is connected with the outer side wall of the rear side of the housing cover 231 through the adjusting hinge 2353; the position on the limiting blocking strip 2351 of the movable support plate 2352 can drive the shell cover 231 to rotate around the hinge 233 as the rotation center, so that the whole angle of the whole toe massage device 23 can be adjusted, the toe can be placed conveniently, the massage in different postures can be performed conveniently, and the design is more humanized and practical.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a portable has high-speed railway, aircraft seat's of foot massage function working method which characterized in that: the seat comprises a seat body, a massage device, a sleeve, an adjusting screw, a telescopic base, a linear guide rod and a height adjusting device; the lower end of the seat main body is provided with an inverted U-shaped storage groove, the upper end of the seat main body is provided with a seat, the seat is of an arc-shaped structure, the left side and the right side of the seat are respectively and symmetrically provided with armrests, a soft cushion is arranged above the seat, the rear end of the seat main body is provided with a chair rest, and round holes are uniformly formed in the chair rest; the massage device is positioned at the front lower part of the seat main body, the number of the massage devices is two, the inner side of the massage device is provided with a sleeve, an adjusting screw rod is arranged in the sleeve, and the sleeve and the adjusting screw rod are connected in a thread fit mode; the telescopic base is positioned right in front of the chair main body, the left side and the right side of the telescopic base are respectively and symmetrically provided with a guide rail, one end of a telescopic guide rod is arranged in the guide rail on the telescopic base, and the other end of the telescopic guide rod is fixedly connected with the lower part of the chair main body; the upper end of the height adjusting device is connected with the lower end of the massage device, and the lower end of the height adjusting device is connected with the telescopic base; wherein:

the massage device comprises an outer shell, a sole massage device and a toe massage device; the foot massage type foot massage device comprises an outer shell, a foot placing layer, a mounting layer, a baffle layer, a foot placing layer, a flexible rubber material, a foot massage device and a foot massage device, wherein the outer shell is of a foot-shaped structure, the mounting layer is arranged at the lower end of the outer shell, the baffle layer is arranged in the middle of the outer shell, the foot placing layer is arranged at the upper end of the outer shell, the mounting layer and the foot placing layer are both made of ABS plastic materials, the baffle layer of the outer shell is made of the flexible rubber material, the foot massage devices are respectively and uniformly and symmetrically mounted in the mounting layer at the lower end of the outer shell, and the foot massage device is positioned right in front of the outer shell;

the height adjusting device comprises an adjusting motor, an electric telescopic rod, a rotating pair, a telescopic connecting rod and a telescopic supporting seat, and the number of the electric telescopic rod, the number of the rotating pair and the number of the telescopic connecting rod are two; the adjusting motor is a double-shaft output speed reducing motor, the adjusting motor is fixed at the central position of the telescopic base, one end of the electric telescopic rod is connected with a main shaft of the adjusting motor, the other end of the electric telescopic rod is connected with the lower end of the telescopic connecting rod through a revolute pair, the other end of the telescopic connecting rod is fixed with the telescopic supporting seat, and the telescopic supporting seat is fixed at the lower end of the massage device;

the foot massage device comprises a fixed platform, a movable platform, a first branched chain, a second branched chain, an end effector and a driving device; the fixed platform and the movable platform are both disc-shaped structures, and the movable platform is positioned right above the fixed platform; the number of the first branched chain and the second branched chain is two, the first branched chain and the second branched chain are both positioned between the fixed platform and the movable platform, two ends of the first branched chain and two ends of the second branched chain are both connected with the fixed platform and the movable platform respectively, and the horizontal installation angle of the first branched chain and the second branched chain is 90 degrees; the end effector is positioned right above the movable platform; the driving device is positioned between the fixed platform and the movable platform and is fixed with the upper end surface of the fixed platform;

the toe massage device comprises a shell cover, a massage actuator, a split hinge, a fixing plate and an angle adjusting mechanism; the massage actuator is positioned in the outer shell cover, the lower end of the outer shell cover is connected with the fixed plate through a split hinge, and the angle adjusting mechanism is positioned above the fixed plate;

the first support chain comprises a first ear seat, a hook hinge, a first electric push rod, a first ball hinge, a first connecting column and a first vibrating spring; the first lug seat is fixed on the upper end face of the fixed platform, the first lug seat is connected with the lower end of the first electric push rod by a Hooke hinge, the upper end of the first electric push rod is connected with a first ball hinge, the first ball hinge is fixed on the lower end face of the movable platform through a first connecting column, and the first vibration spring is wound on the first electric push rod; the first support chain adopts a UPS parallel mechanism, and the jitter of the first support chain during movement is increased through the first vibrating spring;

the second branched chain comprises a second ear seat, a rotating pin, a second electric push rod, a second ball hinge, a second connecting column and a second vibrating spring; the second lug seat is fixed on the upper end face of the fixed platform, the second lug seat is connected with the lower end of the second electric push rod through a rotating pin, the upper end of the second electric push rod is connected with a second ball hinge, the second ball hinge is fixed on the lower end face of the movable platform through a second connecting column, and a second vibrating spring is wound on the second electric push rod; the second branch chain can rotate in one direction through the rotating pin, can rotate in three directions through the second ball hinge, can move up and down through the second electric push rod, adopts a form of a-RPS parallel mechanism, and increases jitter of the second branch chain during movement through the second vibrating spring;

the driving device comprises a lifting base, an electric rotary table, a telescopic rod, a fixed disc, a driving spring and a fixed table, wherein the number of the telescopic rod, the number of the fixed disc, the number of the driving spring and the number of the fixed table are four; the lower end of the lifting base is fixed at the central position of the upper end face of the fixed platform, the electric rotary table is installed at the upper end of the lifting base, the telescopic rods are symmetrically arranged at the periphery of the electric rotary table respectively, one end of each telescopic rod is connected with the outer side wall of the electric rotary table, the other end of each telescopic rod is connected with the fixed disc, one end of each driving spring is fixed on the fixed disc, the other end of each driving spring is connected with the fixed table, and the fixed tables are fixed on the outer side walls of the first electric push rod and the second electric push rod respectively; the driving device can perform the functions of up-down lifting, circumferential rotation and circumferential extension, can perform the movement in three freedom directions of two translation and one rotation in space, increases the vibration performance of the whole driving device during movement through the driving spring, improves the massage effect of the invention, is used as an auxiliary driving source of the sole massage device, can quickly drive the end effector to perform irregular vibration through the driving device, and can perform quick vibration massage on the sole;

the end effector comprises an annular guide rail, a massage ball and an outer cover; the annular guide rail is closely attached to the upper end face of the movable platform, the annular guide rail is sequentially enlarged from inside to outside along the center of the movable platform, the cross section of the annular guide rail is of a dart disc-shaped structure, an annular clamping groove is formed in the inner side wall of the annular guide rail, the massage balls are uniformly arranged on the annular guide rail, clamping blocks are symmetrically arranged on the outer surface of each massage ball, the clamping blocks are mounted in the annular clamping grooves in the inner side wall of the annular guide rail, the outer cover is located right above the massage balls, the outer cover and the outer side wall of the annular guide rail are connected in a threaded fit mode, concave holes are uniformly formed in the upper end face of the outer cover, and the outer cover is made of an inorganic fiber cotton flexible material; the massage balls can realize circumferential rotation on the annular guide rail under the motion of the first branched chain and the second branched chain or the shaking of the driving device, and the contact area of the end effector and the sole of the human body is sufficient;

when the massage chair is used, the telescopic base is pulled out of the U-shaped storage groove at the lower end of the chair main body, and after people massage, the telescopic base is pushed back into the U-shaped storage groove at the lower end of the chair main body to be stored;

the angle adjustment mechanism includes: the limiting clamping strip, the supporting plate and the adjusting hinge are arranged on the base; the limiting clamps are sequentially and uniformly fixed on the upper end surface of the fixed plate at equal intervals, the supporting plate is of a rectangular flat structure, the lower end of the supporting plate is arranged on the limiting clamp strip, and the upper end of the supporting plate is connected with the outer side wall of the rear side of the shell cover through an adjusting hinge; the position of the support plate on the limiting clamping strip can be moved to drive the outer shell cover to rotate by taking the split hinge as a rotating center, so that the whole angle of the whole toe massage device can be adjusted, and the toes can be placed conveniently and massaged in different postures;

the working method comprises the following steps: when the foot massage device works, the four-freedom-degree symmetrical parallel mechanism is formed by the fixed platform, the movable platform, the first branched chain and the second branched chain, the parallel mechanism form of the 2-UPS-2-RPS is adopted, the four-freedom-degree symmetrical parallel mechanism can move along an X axis and a Z axis and rotate around the X axis and a Y axis in four freedom directions, the four freedom degrees are independent, and the four freedom degrees can also work in a coordinated mode, so that the track of the end actuator moves along a curve in a preset space, and the foot massage work is finished.