CN112972236A - Multifunctional combined massage machine core - Google Patents

Abstract

The invention provides a multifunctional combined massage machine core, comprising: a frame which moves towards the height direction of the user and is arranged on the backrest frame of the massage chair; the massage executing part comprises an executing support, a massage arm and a knocking driving device, the executing support is arranged on the rack in a swinging mode, the massage arm comprises a main arm arranged on the executing support in a sliding mode in the width direction of a user, a supporting arm arranged on the main arm in a swinging mode and a massage head arranged on the supporting arm, the knocking driving device is arranged on the executing support and is in transmission connection with the supporting arm, and a swinging guide rod mechanism is formed between the knocking driving device and the supporting arm to enable the supporting arm to achieve reciprocating swinging motion relative to the main arm; a multi-dimensional drive system for moving the massage arm relative to the user in at least three spatial dimensions. The invention has compact structure and high integration level, realizes various massage manipulations which can combine knocking massage actions, and greatly improves the massage comfort of users.

Description

Multifunctional combined massage machine core

Technical Field

The invention relates to the technical field of massage appliances, in particular to a multifunctional combined massage machine core.

Background

The prior patent discloses a massage device, which is provided with a driving part for enabling a massage head to move towards the side direction of a human body, a driving part for enabling the massage head to move along the width direction of the human body and a driving part for enabling the massage head to move along the up-and-down direction of the human body, can realize various massage actions such as kneading, finger pressing, scraping and the like, but is lack of the function of knocking the human body, can not lead a user to be fully relaxed, and has poor massage experience.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, the present invention provides a multifunctional combined massage machine core, which has a compact structure and high integration level, and can realize a plurality of massage techniques combined with a knocking massage action, thereby greatly improving the massage comfort of a user.

In order to solve the above technical problem, the present invention provides a multifunctional combined massage machine core, comprising:

a frame which moves towards the height direction of the user and is arranged on the backrest frame of the massage chair;

the massage executing part comprises an executing support, a massage arm and a knocking driving device, the executing support is arranged on the rack in a swinging mode, the massage arm comprises a main arm arranged on the executing support in a sliding mode in the width direction of a user, a supporting arm arranged on the main arm in a swinging mode and a massage head arranged on the supporting arm, the knocking driving device is arranged on the executing support and is in transmission connection with the supporting arm, and a swinging guide rod mechanism is formed between the knocking driving device and the supporting arm to enable the supporting arm to achieve reciprocating swinging motion relative to the main arm;

a multi-dimensional drive system for moving the massage arm relative to the user in at least three spatial dimensions.

Preferably, the support arm comprises a support arm main body hinged to the main arm, a sliding groove formed in the support arm main body, and a sliding block arranged in the sliding groove in a sliding manner; the knocking driving device comprises a knocking mounting frame arranged on the execution support, a knocking power mechanism arranged on an eccentric rotating shaft of the knocking mounting frame in a rotating mode and connected with the eccentric rotating shaft in a transmission mode, the eccentric rotating shaft comprises a central shaft section and an eccentric shaft section, a central shaft section fixed shaft is rotated to the knocking mounting frame, and the eccentric shaft section rotates to penetrate through the sliding block.

Preferably, the knocking mounting frame comprises a fixed support and a movable support which are detachably connected, the fixed support is arranged on the executing support, and a bearing used for supporting the central shaft section is clamped between the movable support and the fixed support.

Preferably, the executing bracket comprises two bracket side plates which are symmetrically arranged and a plurality of guide sliding shafts which connect the two bracket side plates; the main arm is provided with a plurality of sleeving holes allowing the guide sliding shafts to penetrate through, and the sleeving holes correspond to the guide sliding shafts one to one.

Preferably, a sliding sleeve is arranged in the sleeve installation hole and is in sliding fit with the guide sliding shaft.

Preferably, the multidimensional driving system comprises a transverse driving device, the transverse driving device comprises a screw rod which is rotatably arranged in the executing support in a penetrating mode and a transverse power mechanism which drives the screw rod fixed shaft to rotate, screw threads of the screw rod are arranged in the main arm in a penetrating mode, and two ends of the screw rod are rotatably arranged on the rack.

Preferably, the screw rod is provided with a first thread section and a second thread section which have opposite thread directions; the number of the massage arms is two, wherein the main arm of one massage arm is in threaded fit with the first threaded section, and the main arm of the other massage arm is in threaded fit with the second threaded section.

Preferably, the multidimensional driving system comprises a radial driving device, the radial driving device comprises a swing driving shaft rotatably arranged on the frame, a swing power mechanism driving the swing driving shaft to rotate around a fixed shaft, a driving gear fixedly sleeved on the swing driving shaft, and a driven rack integrally formed on the execution support, the driven rack is meshed with the driving gear, the driven rack is arc-shaped, and the corresponding circle center coincides with the swing center line of the execution support.

Preferably, the multidimensional driving system comprises a walking driving device, and the walking driving device comprises a walking driving shaft rotatably arranged on the frame, a walking power mechanism driving the walking driving shaft to rotate around a fixed shaft, and a walking wheel fixedly sleeved on the walking driving shaft.

Preferably, the frame comprises two frame side plates and a middle connecting plate for connecting the two frame side plates, and an avoiding notch for the massage arm to move is formed in the middle connecting plate.

As described above, the multifunctional combined massage machine core of the invention has the following beneficial effects: in the present invention, the multi-dimensional drive system may move the massage arm relative to the user in at least three spatial dimensions: the multidimensional driving system can enable the rack to move towards the height direction of a user, so that the massage head of the massage arm moves towards the height direction of the user; the multidimensional driving system can lead the executing bracket to swing on the machine frame, thus leading the massage head of the massage arm to move towards the direction close to or far away from the user; the multi-dimensional drive system is capable of moving the massage arm in a user-width direction, thereby moving the massage head of the massage arm in the user-width direction. More importantly: the knocking driving device is arranged on the execution support and is in transmission connection with the support arm, and a swinging guide rod mechanism is formed between the knocking driving device and the support arm so that the support arm can realize reciprocating swinging motion relative to the main arm, namely, the knocking massage action of the massage head on a user can be realized. Therefore, the multifunctional combined massage machine core can enable the massage head of the massage arm to move up and down, left and right, far and close, reciprocating swing and other various movements relative to a user, so that various massage methods of the multifunctional combined massage machine core combined with knocking massage actions are realized, and the massage comfort of the user is greatly improved. In addition, the multifunctional combined massage machine core has compact structure and high integration level.

Drawings

Fig. 1 is a schematic view of a multifunctional combined massage movement of the present invention;

fig. 2 is a schematic view of a massage executing part of the multifunctional combined massage machine core;

fig. 3 shows an exploded view of a massage executing part of the multifunctional combined massage machine core;

FIG. 4 is an enlarged view of portion A of FIG. 3;

fig. 5 shows a schematic view of an eccentric rotary shaft of a tapping drive.

Description of the element reference numerals

1 machine frame

11 side plate of rack

12 intermediate connector tile

121 avoiding notch

2 executing support

21 side plate of bracket

22 guide sliding shaft

3 massage arm

31 main arm

32 support arm

321 arm body

322 chute

323 slide block

33 massage head

34 sliding sleeve

4 knocking driving device

41 knocking mounting rack

411 fixed support

412 movable support

413 bearing

42 eccentric rotation shaft

421 central shaft section

422 eccentric shaft section

43 knocking power mechanism

5 transverse drive

51 screw mandrel

52 transverse power mechanism

6 radial driving device

61 swing drive shaft

62 swing power mechanism

63 drive gear

64 driven rack

7 traveling driving device

71 walking driving shaft

72 walking power mechanism

73 road wheel

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, ratios, sizes, and the like shown in the drawings are only used for matching the disclosure of the present disclosure, and are not used for limiting the conditions that the present disclosure can be implemented, so that the present disclosure is not limited to the technical essence, and any structural modifications, ratio changes, or size adjustments should still fall within the scope of the present disclosure without affecting the efficacy and the achievable purpose of the present disclosure. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.

In fig. 1, for convenience of description, the X-axis direction is defined as a user width direction, the Y-axis direction is defined as a user front-rear direction, and the Z-axis direction is defined as a user height direction.

As shown in fig. 1, 2 and 3, the present invention provides a multifunctional combined massage machine core, comprising:

a frame 1 which moves towards the height direction of the user and is arranged on the backrest frame of the massage chair;

the massage device comprises a massage executing part (the massage executing part is used for executing massage action on a user), the massage executing part comprises an executing support 2, a massage arm 3 and a knocking driving device 4, the executing support 2 is arranged on the machine frame 1 in a swinging mode, the massage arm 3 comprises a main arm 31 arranged on the executing support 2 in a sliding mode towards the width direction of the user, a support arm 32 arranged on the main arm 31 in a swinging mode and a massage head 33 (the massage head 33 usually adopts a roller structure) arranged on the support arm 32, the knocking driving device 4 is arranged on the executing support 2 and is in transmission connection with the support arm 32, and a swinging guide rod mechanism is formed between the knocking driving device 4 and the support arm 32 so that the support arm;

a multi-dimensional drive system for moving the massage arm 3 in at least three spatial dimensions relative to the user.

In the present invention, the multi-dimensional drive system can move the massage arm 3 relative to the user in at least three spatial dimensions (spatial dimensions include toward the X-axis, toward the Y-axis, toward the Z-axis, about the X-axis, about the Y-axis, and about the Z-axis): the multidimensional drive system can move the frame 1 towards the height direction of the user, thereby moving the massage heads 33 of the massage arms 3 towards the height direction of the user; the multidimensional driving system can lead the execution bracket 2 to swing on the frame 1, thereby leading the massage head 33 of the massage arm 3 to move towards the direction close to or far away from the user; the multi-dimensional drive system can move the massage arm 3 in the user width direction, thereby moving the massage head 33 of the massage arm 3 in the user width direction. More importantly: the knocking driving device 4 is arranged on the executing bracket 2 and is in transmission connection with the supporting arm 32, and a swinging guide rod mechanism is formed between the knocking driving device 4 and the supporting arm 32 so as to enable the supporting arm 32 to realize reciprocating swinging motion relative to the main arm 31, namely, knocking massage action of the massage head 33 on a user can be realized. Therefore, the multifunctional combined massage machine core of the invention can make the massage head 33 of the massage arm 3 move up and down, left and right, far and near, and reciprocating swing motion and the like relative to the user, thereby realizing various massage methods of the multifunctional combined massage machine core combined with knocking massage action and greatly improving the massage comfort of the user. In addition, the multifunctional combined massage machine core has compact structure and high integration level.

The multifunctional combined massage machine core can specifically realize the following massage actions for users:

kneading: firstly, two adjacent massage arms 3 slide back and forth in the width direction of the user and the sliding directions are opposite, so that the massage heads 33 of the two massage arms 3 are opened and closed to clamp or release the user; secondly, two adjacent massage arms 3 slide back and forth in the width direction of the user and in opposite sliding directions, and the massage arms 3 move up and down in the height direction of the user; thirdly, two adjacent massage arms 3 slide back and forth in the width direction of the user and the sliding directions are opposite, the massage arms 3 move up and down in the height direction of the user, and the massage heads 33 of the two massage arms 3 are caused to perform a 'circle-drawing' massage action, that is, the massage head 33 of one massage arm 3 moves in a clockwise direction, and the massage head 33 of the other massage arm 3 moves in a counterclockwise direction;

finger pressing: the execution bracket 2 swings relative to the frame 1, so that the massage head 33 of the massage arm 3 is pressed against the user;

scraping: the massage arm 3 slides back and forth in the width direction of the user or the massage arm 3 moves up and down in the height direction of the user, so that the massage head 33 of the massage arm 3 slides on the user while pressing against the user;

knocking: the arm 32 is rapidly reciprocated relative to the main arm 31, so that the massage head 33 of the massage arm 3 continuously hits the user.

The four massage actions can be implemented independently or in combination.

As shown in fig. 2, 3 and 4, in order to form a swing guide bar mechanism between the knocking driver 4 and the arm 32, the arm 32 includes an arm main body 321 hinged to the main arm 31, a sliding slot 322 opened in the arm main body 321, and a sliding block 323 slidably disposed in the sliding slot 322; the knocking driving device 4 comprises a knocking mounting frame 41 arranged on the execution support 2, a knocking power mechanism 43 rotatably arranged on an eccentric rotating shaft 42 of the knocking mounting frame 41 and in transmission connection with the eccentric rotating shaft 42, the eccentric rotating shaft 42 comprises a central shaft section 421 and an eccentric shaft section 422, the central shaft section 421 is axially fixed and rotates on the knocking mounting frame 41, and the eccentric shaft section 422 rotates to penetrate through the sliding block 323. When the eccentric rotary shaft 42 rotates rapidly, the central shaft section 421 performs the fixed shaft rotation, and the eccentric shaft section 422 performs the eccentric rotation. Because the sliding block 323 is rotatably sleeved on the eccentric shaft section 422 and is slidably disposed in the sliding groove 322, the arm main body 321 performs reciprocating motion, specifically, rapid and small-amplitude swinging motion, relative to the main arm 31, thereby generating a knocking massage effect for a user. Specific description of the swing link mechanism: the arm main body 321 corresponds to a "guide bar" and the eccentric rotary shaft 42 corresponds to a "crank", so that the arm main body 321, the slider 323, and the eccentric rotary shaft 42 together constitute a swing guide bar mechanism. Further, the sliding groove 322 extends linearly, and one end of the sliding groove 322 faces the hinge of the arm main body 321 and the main arm 31.

As an embodiment of the knocking power mechanism 43: the knocking power mechanism 43 includes a knocking motor and a knocking transmission assembly (e.g., a belt-pulley transmission assembly), and the knocking motor is in transmission connection with the eccentric rotating shaft 42 through the knocking transmission assembly.

As shown in fig. 5, in order to improve the knocking massage effect, the eccentric rotating shaft 42 is sequentially divided into a first shaft section, a second shaft section, a third shaft section, a fourth shaft section and a fifth shaft section along the length direction thereof, the third shaft section is a central shaft section 421, the second shaft section and the fourth shaft section are both eccentric shaft sections 422, and the first shaft section and the fifth shaft section are rotatably disposed on the actuating support 2. The central lines of the first shaft section, the third shaft section and the fifth shaft section are mutually overlapped, the central line of the second shaft section is parallel to the central line of the third shaft section, and the central line of the fourth shaft section is parallel to the central line of the third shaft section. Further, the center line of the second shaft section and the center line of the fourth shaft section are parallel to each other, so that the massage arm 3 provided in the second shaft section and the massage arm 3 provided in the fourth shaft section can alternately hit the user.

In order to facilitate the assembly of the eccentric rotating shaft 42 to the striking mount 41, the striking mount 41 includes a fixed bracket 411 and a movable bracket 412 detachably connected to each other, the fixed bracket 411 is disposed on the actuating bracket 2, and a bearing 413 for supporting the central shaft section 421 is interposed between the movable bracket 412 and the fixed bracket 411.

In order to simplify the structure of the actuating support 2, the actuating support 2 comprises two support side plates 21 which are symmetrically arranged and a plurality of guide sliding shafts 22 which connect the two support side plates 21; the main arm 31 is provided with a plurality of engaging holes for allowing the sliding guide shafts 22 to pass through, and the engaging holes correspond to the sliding guide shafts 22 one by one.

As shown in fig. 4, the slide guide shaft 22 may be formed of an optical axis in order to reduce the sliding resistance of the slide guide shaft 22 to the main arm 31. In order to further reduce the sliding resistance of the sliding guide shaft 22 to the main arm 31, a sliding sleeve 34 is disposed in the sleeve hole, and the sliding sleeve 34 is slidably engaged with the sliding guide shaft 22.

In order to improve the compactness of the massage performing part, the striking mounting bracket 41 may be provided at the middle of the two bracket side plates 21. When the number of the above-described massage arms 3 is two, one of the massage arms 3 is positioned between one of the support side plates 21 and the knock mounting bracket 41, and the other massage arm 3 is positioned between the other support side plate 21 and the knock mounting bracket 41.

In order to make the massage arm 3 slide in the width direction of the user, the multi-dimensional driving system includes a transverse driving device 5, the transverse driving device 5 includes a screw rod 51 rotatably inserted into the executing bracket 2 and a transverse power mechanism 52 for driving the screw rod 51 to rotate in a fixed axis manner, the screw rod 51 is threadedly inserted into the main arm 31, and both ends of the screw rod 51 are rotatably disposed on the frame 1. When the screw rod 51 rotates, the main arm 31 slides along the length direction of the sliding guide shaft 22 due to the threaded fit relationship between the main arm 31 and the screw rod 51 and the sliding fit relationship between the main arm 31 and the actuating support 2. Further, the transverse power mechanism 52 includes a transverse motor and a transverse transmission assembly (e.g., a belt pulley transmission assembly), the transverse motor is disposed on the frame 1, and the transverse motor is in transmission connection with one end of the screw rod 51 through the transverse transmission assembly.

As shown in fig. 2 and 3, in order to open and close two adjacent massage arms 3, the screw rod 51 has a first thread section and a second thread section with opposite thread directions; the number of the massage arms 3 is two, wherein the main arm 31 of one massage arm 3 is in threaded fit with the first threaded section, and the main arm 31 of the other massage arm 3 is in threaded fit with the second threaded section. When the screw 51 is rotated, the two massage arms 3 slide back to back or toward each other, thereby performing a kneading massage action on the user.

In order to enable the executing support 2 to swing within a certain angle range relative to the rack 1, the multidimensional driving system comprises a radial driving device 6, the radial driving device 6 comprises a swing driving shaft 61 rotatably arranged on the rack 1, a swing power mechanism 62 driving the swing driving shaft 61 to rotate in a fixed shaft mode, a driving gear 63 fixedly sleeved on the swing driving shaft 61, and a driven rack 64 integrally formed on the executing support 2, the driven rack 64 is meshed with the driving gear 63, and the driven rack 64 is arc-shaped, and the corresponding circle center coincides with the swing central line of the executing support 2. Further, the number of the driving gears 63 and the driven racks 64 is two and corresponds to each other, and the two driven racks 64 are symmetrically arranged on the two opposite sides of the actuating support 2 and are not staggered with each other, so that the synchronous rotation of the two opposite sides of the actuating support 2 can be ensured.

The swing power mechanism 62 comprises a swing motor, a swing transmission assembly (such as a belt wheel type transmission assembly) and a swing gearbox, the swing motor and the swing gearbox are both fixed on the frame 1, the swing motor is connected with the swing gearbox through the swing transmission assembly, and the swing driving shaft 61 is connected with the swing gearbox.

In order to move the massage arm 3 in the height direction of the user, the multi-dimensional driving system includes a walking driving device 7, and the walking driving device 7 includes a walking driving shaft 71 rotatably installed on the frame 1, a walking power mechanism 72 for driving the walking driving shaft 71 to rotate in a fixed axis manner, and a walking wheel 73 fixedly installed on the walking driving shaft 71. The walking power mechanism 72 includes a walking motor and a walking gearbox, and the walking motor drives the walking drive shaft 71 to rotate after changing speed through the walking gearbox.

Furthermore, the rack-shaped track is arranged on the massage armchair leaning frame and extends from the top of the massage armchair leaning frame to the bottom of the massage armchair leaning frame. The traveling wheels 73 are in a gear structure and engaged with the rack-shaped rails, and the frame 1 moves in the extending direction of the rack-shaped rails by the traveling power mechanism 72, thereby realizing the up-and-down movement of the massage arms 3 of the massage executing part toward the height direction of the user.

In order to improve the compactness of the multifunctional combined massage machine core, the machine frame 1 comprises two machine frame side plates 11 and a middle connecting plate 12 for connecting the two machine frame side plates 11, and an avoiding notch 121 for the massage arm 3 to move is arranged on the middle connecting plate 12. The avoidance gap 121 is provided to avoid the interference of the movement between the massage arm 3 and the frame 1.

In conclusion, the multifunctional combined massage machine core has the advantages of compact structure and high integration level, realizes various massage methods capable of combining knocking massage actions, and greatly improves the massage comfort of users. Therefore, the invention effectively overcomes various defects in 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 invention. Any person skilled in the art can modify or change the above-mentioned 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 multifunctional combined massage machine core is characterized by comprising:

a frame (1) which moves towards the height direction of the user and is arranged on the massage armchair leaning frame;

the massage executing part comprises an executing support (2), a massage arm (3) and a knocking driving device (4), the executing support (2) is arranged on the rack (1) in a swinging mode, the massage arm (3) comprises a main arm (31) which is arranged on the executing support (2) in a sliding mode towards the width direction of a user, a support arm (32) which is arranged on the main arm (31) in a swinging mode and a massage head (33) which is arranged on the support arm (32), the knocking driving device (4) is arranged on the executing support (2) and is connected with the support arm (32) in a transmission mode, and a swinging guide rod mechanism is formed between the knocking driving device (4) and the support arm (32) so that the support arm (32) can swing back and forth relative to the;

a multi-dimensional drive system for moving the massage arm (3) in at least three spatial dimensions relative to the user.

2. The multifunctional combined massage movement of claim 1, wherein: the support arm (32) comprises a support arm main body (321) hinged to the main arm (31), a sliding groove (322) arranged on the support arm main body (321) and a sliding block (323) arranged on the sliding groove (322) in a sliding manner; knocking driving device (4) including locating knocking mounting bracket (41) of carrying out support (2), rotate and set up in knocking eccentric rotating shaft (42) of mounting bracket (41) and knocking power unit (43) of being connected with eccentric rotating shaft (42) transmission, eccentric rotating shaft (42) include central shaft section (421) and eccentric shaft section (422), central shaft section (421) are fixed the axle and are rotated in knocking mounting bracket (41), eccentric shaft section (422) rotate and wear to locate slider (323).

3. The multifunctional combined massage movement of claim 2, wherein: the knocking mounting frame (41) comprises a fixed support (411) and a movable support (412) which are detachably connected, the fixed support (411) is arranged on the execution support (2), and a bearing (413) used for supporting the central shaft section (421) is arranged between the movable support (412) and the fixed support (411) in a clamping mode.

4. The multifunctional combined massage movement of claim 1, wherein: the executing bracket (2) comprises two bracket side plates (21) which are symmetrically arranged and a plurality of guide sliding shafts (22) which are connected with the two bracket side plates (21); the main arm (31) is provided with a plurality of sleeving holes allowing the sliding guide shafts (22) to penetrate through, and the sleeving holes correspond to the sliding guide shafts (22) one to one.

5. The multifunctional combined massage movement of claim 4, wherein: a sliding sleeve (34) is arranged in the sleeving hole, and the sliding sleeve (34) is in sliding fit with the sliding guide shaft (22).

6. The multifunctional combined massage movement of claim 1, wherein: the multi-dimensional driving system comprises a transverse driving device (5), the transverse driving device (5) comprises a screw rod (51) which is rotatably arranged in the execution support (2) in a penetrating mode and a transverse power mechanism (52) which drives the screw rod (51) to rotate in a fixed axis mode, the screw rod (51) is arranged in the main arm (31) in a penetrating mode through threads, and two ends of the screw rod (51) are rotatably arranged on the rack (1).

7. The multifunctional combined massage movement of claim 6, wherein: the screw rod (51) is provided with a first thread section and a second thread section with opposite thread directions; the number of the massage arms (3) is two, wherein the main arm (31) of one massage arm (3) is in threaded fit with the first threaded section, and the main arm (31) of the other massage arm (3) is in threaded fit with the second threaded section.

8. The multifunctional combined massage movement of claim 1, wherein: the multidimensional driving system comprises a radial driving device (6), the radial driving device (6) comprises a swing driving shaft (61) rotatably arranged on the rack (1), a swing power mechanism (62) driving the swing driving shaft (61) to rotate in a fixed shaft mode, a driving gear (63) fixedly sleeved on the swing driving shaft (61) and a driven rack (64) integrally formed on the execution support (2), the driven rack (64) is meshed with the driving gear (63), the driven rack (64) is arc-shaped, and the corresponding circle center coincides with the swing center line of the execution support (2).

9. The multifunctional combined massage movement of claim 1, wherein: the multi-dimensional driving system comprises a walking driving device (7), wherein the walking driving device (7) comprises a walking driving shaft (71) rotatably arranged on the rack (1), a walking power mechanism (72) driving the walking driving shaft (71) to rotate in a fixed shaft mode, and a walking wheel (73) fixedly sleeved on the walking driving shaft (71).

10. The multifunctional combined massage movement of claim 1, wherein: the machine frame (1) comprises two machine frame side plates (11) and a middle connecting plate (12) connected with the two machine frame side plates (11), and an avoiding notch (121) for the massage arm (3) to move is formed in the middle connecting plate (12).

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