CN112617377A - Mechanical arm and hair washing machine - Google Patents

Abstract

The invention relates to the technical field of hair washing machines, in particular to a mechanical arm and a hair washing machine. The arm includes first actuating mechanism, clockwork spring subassembly, link assembly and finger subassembly, first actuating mechanism with clockwork spring subassembly drive is connected, clockwork spring subassembly still with link assembly connects, first actuating mechanism is suitable for through clockwork spring subassembly drive link assembly rotates, link assembly with finger the subassembly is connected, and link assembly is suitable for the drive finger the subassembly motion. According to the invention, the spring assembly is driven by the first driving mechanism, the spring assembly drives the connecting rod assembly connected with the spring assembly to rotate so as to press the head of the user by the finger assembly, and the sizes of the head of the user are different aiming at different users, so that the buffering when the first driving mechanism drives the connecting rod assembly and the finger assembly to press the head can be realized by the spring assembly, thereby preventing the finger assembly from excessively pressing the head of the user, and improving the use comfort of the user.

Description

Mechanical arm and hair washing machine

Technical Field

The invention relates to the technical field of hair washing machines, in particular to a mechanical arm and a hair washing machine.

Background

Among the prior art, when the actuating mechanism of machine of washing hair pressed to user's head at the actuating mechanism arm, because actuating mechanism pushed down the distance of mechanical arm unanimously at every turn, after user's head was pressed to finger subassembly that links to each other with the arm, because actuating mechanism has not rotated to predetermineeing the position, still can continue to drive the arm and push down, probably excessive oppression is carried out to user's head like this, influences user experience.

Disclosure of Invention

The invention solves the problem of how to ensure the comfort of the mechanical arm in the hair washing process and ensure the cleaning and massaging effects.

In order to solve the above problems, the present invention provides a mechanical arm for a hair washing machine, wherein the mechanical arm comprises a first driving mechanism, a spring assembly, a connecting rod assembly and a finger assembly, the first driving mechanism is in driving connection with the spring assembly, the spring assembly is further connected with the connecting rod assembly, the first driving mechanism is suitable for driving the connecting rod assembly to rotate through the spring assembly, the connecting rod assembly is connected with the finger assembly, and the connecting rod assembly is suitable for driving the finger assembly to move.

Optionally, the clockwork spring subassembly is including rotating connecting portion and clockwork spring, the center one end of clockwork spring with first actuating mechanism's output key-type connection, the circumference one end of clockwork spring with rotate connecting portion and connect, first actuating mechanism is suitable for to pass through the clockwork spring drives it rotates connecting portion, rotate connecting portion with link assembly drive is connected, it is suitable for the drive to rotate connecting portion link assembly rotates.

Optionally, the rotation connecting portion includes an accommodating portion, at least a portion of the spring is accommodated in the accommodating portion, a clamping groove is formed in a side wall of the accommodating portion, a clamping edge is arranged at one circumferential end of the spring, and the clamping edge is clamped in the clamping groove.

Optionally, still include pivot connecting portion, pivot connecting portion with the connection can be dismantled to the center one end of clockwork spring, first actuating mechanism's output with pivot connecting portion key-type connection.

Optionally, the first driving mechanism further comprises a first gear assembly, the first driving mechanism is in driving connection with the spring, the first driving mechanism is suitable for driving the rotating connecting portion to rotate through the spring, the rotating connecting portion is in driving connection with the first gear assembly, and the first gear assembly is in driving connection with the connecting rod assembly.

Optionally, first gear assembly includes third pivot, fifth gear, sixth gear, the fifth gear with rotate connecting portion key-type connection, the fifth gear with sixth gear drive is connected, the fifth gear is suitable for the drive sixth gear rotates, the sixth gear with third pivot key-type connection, the sixth gear with the third pivot is with the axle center, the third pivot with link assembly key-type connection.

Optionally, the connecting rod assemblies include two groups, the two groups of connecting rod assemblies are respectively symmetrically arranged, and the first driving mechanism is connected with the two groups of connecting rod assemblies.

Optionally, the connecting rod assembly further comprises a second driving mechanism, the connecting rod assembly comprises a first connecting rod and a second connecting rod portion, the second connecting rod portion is connected with the first connecting rod and the finger assembly respectively, the second driving mechanism is in driving connection with the second connecting rod portion, the second driving mechanism is suitable for driving the second connecting rod portion to rotate around the first connecting rod, and the second connecting rod portion is suitable for driving the finger assembly to move.

Optionally, the second connecting rod portion includes a second connecting rod, a third connecting rod and a fourth connecting rod, two ends of the fourth connecting rod are respectively connected with the second connecting rod and the first connecting rod in a hinged manner, two ends of the third connecting rod are respectively connected with the second connecting rod and the first connecting rod in a hinged manner, the second connecting rod is connected with the finger assembly in a rotating manner, and the third connecting rod is parallel to and equal to the fourth connecting rod.

Compared with the prior art, the mechanical arm has the beneficial effects that:

through first actuating mechanism drive clockwork spring subassembly, clockwork spring subassembly drives the link assembly that links to each other rather than rotating to realize pointing the pressing of subassembly to the user head, and, to different users, the size of user's head type is all inequality, can realize through clockwork spring subassembly that first actuating mechanism drive link assembly presses the buffering when head with pointing the subassembly, thereby prevent to point the excessive pressing of subassembly to the user head, improve the travelling comfort that the user used.

The invention also provides an automatic hair washing machine which comprises any one of the mechanical arms, wherein the two groups of mechanical arms are symmetrically arranged.

Compared with the prior art, the automatic hair washing machine provided by the invention has the advantages that: can wash user's left half head and right half head respectively through two sets of arms, the symmetrical structure in this embodiment is the same with other beneficial effects that above-mentioned unilateral structure had, no longer gives details here.

Drawings

FIG. 1 is a schematic diagram of the overall structure of one embodiment of a robotic arm of the present invention;

FIG. 2 is a schematic view of a robot arm according to an embodiment of the present invention;

FIG. 3 is a schematic structural view of one embodiment of a spring assembly of the present invention;

FIG. 4 is a schematic structural view of another embodiment of a power spring assembly of the present invention;

FIG. 5 is a schematic diagram of an exploded view of one embodiment of a power spring assembly of the present invention;

FIG. 6 is an enlarged view of a portion of the present invention at C of FIG. 5;

FIG. 7 is a schematic structural diagram illustrating an embodiment of a second driving mechanism of a robotic arm according to the present invention;

FIG. 8 is a schematic structural diagram of a finger assembly in an embodiment of the invention;

FIG. 9 is a schematic view of a mounting structure of a third driving mechanism on a second mounting seat according to an embodiment of the present invention;

FIG. 10 is a schematic structural view of a third drive mechanism and linkage assembly in an embodiment of the present invention;

FIG. 11 is an enlarged view of the structure at A in FIG. 10 according to the present invention;

FIG. 12 is a schematic view of a connection structure of the connection assembly and the swing arm according to an embodiment of the present invention;

FIG. 13 is a schematic view of an installation structure of the massage part in the embodiment of the present invention;

FIG. 14 is an enlarged view of the structure at B in FIG. 13 according to the present invention;

fig. 15 is a schematic view of a connection structure of the swing arm and the massage part in the embodiment of the present invention.

Description of reference numerals:

20-a spring assembly; 201-a rotation connection; 2011-card slot; 2012-a locus of containment; 202-a spring; 2021-card edge; 3-a linkage assembly; 30-a second drive mechanism; 301-a second motor; 302-a second gear assembly; 3021-a first gear; 3022-a first shaft; 3023-a second gear; 3024-a second shaft; 3025-third gear; 3026-fourth gear; 31-a first link; 32-a second link portion; 321-a second link; 3211-first stage; 3212-second segment; 322-third link; 323-a fourth link; 40-a first drive mechanism; 401 — a first gear assembly; 4011-a third axis of rotation; 4012-fifth gear; 4013-sixth gear; 402-a shaft connection; 6-a finger assembly; 61-a first mount; 62-a massage part; 66-connecting column; 661-guiding holes; 71-a second mount; 711-guide post; 712-a resilient connection; 714-strip-shaped holes; 72-a third drive mechanism; 721-a third electric machine; 722-an eccentric connection; 723-fifth link; 73-a connecting assembly; 731-guide block; 732-a first connector; 733 — second connector; 74-swing arm; 741-an insert shaft; 75-connecting frame.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the coordinate system XYZ provided herein, the X axis represents the right direction in the forward direction, the X axis represents the left direction in the reverse direction, the Y axis represents the front direction, the Y axis represents the rear direction in the reverse direction, the Z axis represents the upper direction in the forward direction, and the Z axis represents the lower direction in the reverse direction. Also, it is noted that the terms "first," "second," and the like in the description and claims of the present invention and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.

As shown in fig. 1 to 5, a mechanical arm for a hair washing machine comprises a first driving mechanism 40, a spring assembly 20, a connecting rod assembly 3 and a finger assembly 6, wherein the first driving mechanism 40 is in driving connection with the spring assembly 20, the spring assembly 20 is further connected with the connecting rod assembly 3, the first driving mechanism 40 is suitable for driving the connecting rod assembly 3 to rotate through the spring assembly 20, the connecting rod assembly 3 is connected with the finger assembly 6, and the connecting rod assembly 3 is suitable for driving the finger assembly 6 to move.

The first driving mechanism 40 can drive the spring assembly 20 to rotate, the spring assembly 20 can include a spring 202, the spring 202 has elasticity, the spring 202 can store elastic potential energy after rotating, the spring 202 with the elastic potential energy can drive the connecting rod assembly 3 to rotate, the first driving mechanism 40 can drive the spring 202 to contract or relax when rotating forwards, and the first driving mechanism 40 can drive the spring 202 to relax or contract when rotating backwards, so that the connecting rod assembly 3 and the finger assembly 6 can be close to or far away from the head of the user; the clockwork spring 202 can be in a roll shape, when a user needs to wash the head, the first driving mechanism 40 can drive the clockwork spring 202 to shrink, the shrunk clockwork spring 202 can drive the connecting rod assembly 3 to rotate, so that the finger assembly 6 connected with the connecting rod assembly 3 is attached to the head of the user, when the head of the user is large, the head of the user can eject the finger assembly 6 and the connecting rod assembly 3 outwards relative to the user, at the moment, the state of the clockwork spring 202 is more shrunk compared with the user clockwork spring 202 with a small head shape, the head washing massage aiming at different users can be realized through the self shrinkage of the clockwork spring 202, the clockwork spring 202 is provided with elasticity due to the shrinkage, the connecting rod assembly 3 can drive the finger assembly 6 to be attached to the head of the user, the problem that. Meanwhile, the clockwork spring 202 can elastically buffer the head of the user, so that the problem that the user feels pain and is injured or experiences poor performance due to the fact that the finger assembly 6 excessively oppresses the head of the user after the finger assembly 6 contacts the head of the user because the driving end of the fourth drive is not rotated to the set position when the connecting rod assembly 3 is prevented from rotating through the first driving mechanism 40 is solved. In addition, the linkage assembly 3 is indirectly driven to rotate by the first driving mechanism 40 driving the spring assembly 20, so that the first driving mechanism 40 is adjusted, and the rotation number of the driving end of the first driving mechanism 40 is ensured to be within the maximum range of the contraction of the spring 202.

The link assembly 3 has a first link 31 and a second link 32, the moving direction of the first link 31 may be the Z-axis direction in fig. 3, and when the first link 31 moves to the negative Z-axis direction, the first link 31 drives the second link 32 and the finger assembly 6 to press the head of the user; when the first link 31 moves in the positive direction of the Z-axis, the first link 31 drives the second link portion 32 and the finger assembly 6 to move away from the head of the user. The moving direction of the second connecting rod part 32 may be the direction of the X axis in fig. 3, and when the second connecting rod part 32 moves along the positive direction of the X axis, the second connecting rod part 32 may drive the finger assembly 6 to fit the head of the user, and slide from the left ear of the user to the right ear of the user or slide from the right ear of the user to the left ear of the user; when the second link portion 32 moves along the negative X-axis direction, the second link portion 32 may drive the finger assembly 6 to slide from the right ear of the user to the left ear of the user or from the left ear of the user to the right ear of the user. The spring 202 can be contracted or relaxed, centered along the Y axis in fig. 3, to achieve the approach or the distancing of the connecting-rod assembly 3 towards the user's head.

The benefit that sets up like this lies in, through first actuating mechanism 40 drive clockwork spring assembly 20, clockwork spring assembly 20 drives the link assembly 3 that links to each other and rotates to realize pointing the pressing of subassembly 6 to user's head, and, to different users, the size of user's head type is all inequality, can realize first actuating mechanism 40 drive link assembly 3 and the buffering when pointing subassembly 6 and press the head through clockwork spring assembly 20, thereby prevent to point the excessive pressing of subassembly 6 to user's head, improve the travelling comfort that the user used.

As shown in fig. 5, the spring assembly 20 includes a rotation connection portion 201 and a spring 202, a center end of the spring 202 is connected to an output end of the first driving mechanism 40, a circumferential end of the spring 202 is connected to the rotation connection portion 201, the first driving mechanism 40 is adapted to drive the rotation connection portion 201 to rotate through the spring 202, the rotation connection portion 201 is in driving connection with the connecting rod assembly 3, and the rotation connection portion 201 is adapted to drive the connecting rod assembly 3 to rotate.

The rotation connecting portion 201 may be box-shaped, the spiral power spring 202 is installed in the box-shaped rotation connecting portion 201, one circumferential end of the spiral power spring 202 may be fixedly connected to the rotation connecting portion 201, the spiral power spring may be fixed to the rotation connecting portion 201 in a welding or bolt connection manner, and one end of the center of the spiral power spring 202 may be connected to the output end key of the first driving mechanism 40. When the output end of the first driving mechanism 40 rotates, one end of the center of the spring 202 can rotate along with the output end of the first driving mechanism 40, the spring 202 can be changed from a normal state to a contracted state, elastic potential energy can be stored in the spring 202 in the contracted state, when the elastic potential energy stored in the spring 202 is large enough, one end of the periphery of the spring 202 can drive the rotating connecting part 201 to rotate through self elastic force, the rotating connecting part 201 can drive the connecting rod assembly 3 to rotate after rotating, so that the connecting rod assembly 3 can press the head of a user, and the finger assembly 6 connected with the connecting rod assembly 3 can fit the head of the user.

When the people of different head types washes hair, to the great people of head, when first actuating mechanism 40 pushes down through clockwork spring 202 drive link assembly 3, because the number of turns of output pivoted of first actuating mechanism 40 and turned angle all keep unanimous at every turn, it is too big to lead to the fact finger subassembly 6 to oppress user's head, thereby influence the comfortable pole that the user washed hair, drive clockwork spring 202 through first actuating mechanism 40 and drive link assembly 3 and rotate the back to the position, clockwork spring 202 can also provide certain elasticity surplus, can ensure that finger subassembly 6 presses the dynamics of user's head, can also reduce finger subassembly 6 user's head and produce great oppression and influence user's experience of washing hair. For persons with smaller heads, when the first driving mechanism 40 drives the connecting rod assembly 3 to press down through the spring 202, the finger assembly 6 may just fit the head of the user because the number of turns and the angle of rotation of the output end of the first driving mechanism 40 are consistent every time, or the spring 202 contracts slightly, so that the cleaning and massaging effects can be achieved. The degree of contraction of the clockwork spring 202 when the small-head user uses the hair washer is smaller than the degree of contraction of the clockwork spring 202 when the large-head user uses the hair washer. The larger the head shape of the user is, when the hair washing machine is used, the larger the degree of contraction of the spiral spring 202 is when the large-head user washes the hair, because the number of turns and the rotation angle of the output end of the first driving mechanism 40 are kept consistent each time; the smaller the user's head shape, the more relaxed the spring 202 is relative and the less the spring 202 contracts.

As shown in fig. 5 and 6, the rotation connecting portion 201 includes a receiving portion 2012, the spring 202 is at least partially received in the receiving portion 2012, a slot 2011 is formed on a side wall of the receiving portion 2012, a locking edge 2021 is disposed at one circumferential end of the spring 202, and the locking edge 2021 is locked in the slot 2011.

The clockwork spring 202 can be in a roll-shaped structure, the clockwork spring 202 in the roll-shaped structure can be installed in the accommodating portion 2012, a clamping groove 2011 is formed in the side wall of the accommodating portion 2012, a clamping edge 2021 of the clockwork spring 202 is clamped in the clamping groove 2011, when the clockwork spring 202 rotates along one end of the center of the clockwork spring 202 driven by the driving end of the first driving mechanism 40, when the clockwork spring 202 contracts to a certain degree, the clamping edge 2021 of one end of the circumferential direction of the clockwork spring 202 can drive the rotation connecting portion 201 to rotate through the clamping groove 2011, a rotating shaft can be arranged at the. When carrying out the installation of clockwork spring 202, can be connected the center one end and the pivot of clockwork spring 202 earlier, go into draw-in groove 2011 with the card limit 2021 of clockwork spring 202 circumference again in, convenient to detach and change, when clockwork spring 202 uses for a long time, thereby clockwork spring 202 probably because ageing causes elasticity to reduce or lose elasticity, can realize the quick replacement of clockwork spring 202 through draw-in groove 2011.

As shown in fig. 5, the mechanical arm further includes a rotating shaft connecting portion 402, the rotating shaft connecting portion 402 is detachably connected to one end of the center of the spring 202, and the output end of the first driving mechanism 40 is connected to the rotating shaft connecting portion 402.

Spacing hole can be seted up to the axial of pivot connecting portion 402, spacing hole can with the spacing cooperation of the output of first actuating mechanism 40 to this can drive pivot connecting portion 402 through first actuating mechanism 40 and rotate, the circumference of pivot connecting portion 402 can set up threaded hole, can set up the through-hole on the clockwork spring 202, the screw is suitable for to pass through-hole and threaded hole threaded connection, with this fixed of the central one end of realization clockwork spring 202. The contact area between one end of the center of the spring 202 and the rotating shaft connecting part 402 can be increased through the rotating shaft connecting part 402, so that when the spring 202 is directly connected with the output end of the first driving mechanism 40, the thin output end of the first driving mechanism 40 can cause the breakage of one end part of the center of the spring 202, the contact area between the spring 202 and the rotating shaft connecting part 402 can be increased, the stress can be effectively shared, and the damage to the spring 202 can be avoided.

As shown in fig. 1 to 5, the first driving mechanism 40 further includes a first gear assembly 401, the first driving mechanism 40 is drivingly connected to the spring 202, the first driving mechanism 40 is adapted to drive the rotational connection portion 201 to rotate through the spring 202, the rotational connection portion 201 is drivingly connected to the first gear assembly 401, and the first gear assembly 401 is drivingly connected to the link assembly 3.

The first gear assembly 401 may include a driving tooth and a driven tooth, the driving tooth may be in key connection with the rotation connecting portion 201, the driven tooth is in key connection with the link assembly 3, the driving tooth and the driven tooth are engaged with each other, when the driving end of the first driving mechanism 40 rotates forwards, the driving tooth may be driven to rotate by driving the rotation connecting portion 201 connected thereto, the driving tooth rotates to drive the driven tooth engaged therewith to rotate, so as to press the link assembly 3 to the head of the user or keep away from the head of the user; when the driving end of the first driving mechanism 40 rotates reversely, the driving connecting portion 201 connected to the driving end can be driven to rotate, and the driving teeth rotate to drive the driven teeth engaged with the driving teeth to rotate, so as to drive the connecting rod assembly 3 to be away from or pressed towards the head of the user. The driven teeth can be a plurality of driven gears which are meshed with each other, so that the first driving mechanism 40 is decelerated, and the danger caused by the fact that the driving end rotates too fast when the first driving mechanism 40 rotates, and the finger assembly 6 is driven to hit the head of a user by the driving connecting rod assembly 3 is prevented. The first driving mechanism 40 drives the first gear assembly 401 to rotate through rotating the connecting portion 201, so that the connecting rod assembly 3 slowly approaches to or leaves away from the head of a user, and the use safety of the user is guaranteed.

As shown in fig. 5, the first gear assembly 401 includes a third rotating shaft 4011, a fifth gear 4012 and a sixth gear 4013, the fifth gear 4012 is connected to the rotary connecting portion 201 through a key, the fifth gear 4012 is in transmission connection with the sixth gear 4013, the fifth gear 4012 is suitable for driving the sixth gear 4013 to rotate, the sixth gear 4013 is connected to the third rotating shaft 4011 through a key, the sixth gear 4013 is coaxial with the third rotating shaft 4011, and the third rotating shaft 4011 is connected to the connecting rod assembly 3 through a key.

Both ends of third pivot 4011 are connected with two link assembly 3 keys respectively, third pivot 4011 is suitable for and drives two pairs of link assembly 3 simultaneously and rotates, sixth gear 4013 is coaxial with third pivot 4011, and connect with third pivot 4011 key, third pivot 4011 is the same with sixth gear 4013 rotation angular velocity, when first actuating mechanism 40 drive pivot connecting portion 402 changes the rotation, it rotates together to rotate connecting portion 201 can drive fifth gear 4012 rather than the key-type connection, fifth gear 4012 meshes with sixth gear 4013, thereby can realize being close to or keeping away from of two pairs of link assembly 3 for user's head through the corotation reversal of first actuating mechanism 40 drive rotation connecting portion 201. And can realize the speed reduction to first actuating mechanism 40 through third pivot 4011, fifth gear 4012 and sixth gear 4013, prevent that first actuating mechanism 40 from directly driving link assembly 3 through clockwork spring 202 and rotate, cause the finger subassembly 6 that links to each other with link assembly 3 at user's head too fast friction to can't reach good massage cleaning performance, cause user's use discomfort.

As shown in fig. 1 to 5, the connecting rod assemblies 3 include two groups, the two groups of connecting rod assemblies 3 are respectively symmetrically disposed, and the first driving mechanism 40 is connected to the two groups of connecting rod assemblies 3.

Stability during operation can be ensured through two sets of link assembly 3 that the symmetry set up, when only carrying out finger assembly 6's drive through a set of link assembly 3, because link assembly 3's thickness is thinner, probably produce the connecting rod when the motion of the drive finger assembly 6 laminating user head, link assembly 3 probably causes it to buckle to the thinner one side of self, and the connecting rod after buckling probably produces the unable accurate user head that laminates, causes and washes hair massage effect not good. The finger assembly 6 is driven and fixed by the connecting rod assemblies 3 which are symmetrically arranged, so that the condition that bending is possibly caused can be effectively avoided, the running reliability of the hair washing machine is guaranteed, the hair washing and massaging effects of the hair washing machine can be guaranteed after the hair washing machine is used for a long time, and the first driving mechanism 40 drives the two connecting rod assemblies 3 to rotate simultaneously, so that the volume and the energy are reduced, and the first driving mechanism 40 drives the multiple connecting rod assemblies 3 to move.

As shown in fig. 7, the mechanical arm further includes a second driving mechanism 30, the link assembly 3 includes a first link 31 and a second link portion 32, the second link portion 32 is respectively connected to the first link 31 and the finger assembly 6, the second driving mechanism 30 is in driving connection with the second link portion 32, the second driving mechanism 30 is adapted to drive the second link portion 32 to rotate around the first link 31, and the second link portion 32 is adapted to drive the finger assembly 6 to move.

When the finger assembly 6 is pressed on the head of the user, the second driving mechanism 30 can drive the second connecting rod portion 32 connected with the second driving mechanism to move, so that the finger assembly 6 can slide left and right on the head of the user, and the head of the user can be massaged and cleaned. The movement direction of the finger assembly 6 can slide to the top of the head of the user along the left ear of the user and then slide to the left ear from the top of the head of the user; or the head part of the user slides along the right ear of the user and then slides from the head part of the user to the right ear. Drive second connecting rod portion 32 through second actuating mechanism 30 and rotate to control finger subassembly 6 and control and sideslip at user's head, second actuating mechanism 30 can rotate clockwise or anticlockwise rotate, thereby drive finger subassembly 6 through second connecting rod portion 32 and control and sideslip, thereby carry out comprehensive massage's effect to user's head when reaching the shampoo.

As shown in fig. 3, the second link portion 32 includes a second link 321, a third link 322 and a fourth link 323, two ends of the fourth link 323 are respectively hinged to the second link 321 and the first link 31, two ends of the third link 322 are respectively hinged to the second link 321 and the first link 31, the second link 321 is rotatably connected to the finger assembly 6, and the third link 322 is parallel to and equal to the fourth link 323.

The second connecting rod 321 can rotate relative to the first connecting rod 31 through the third connecting rod 322 and the fourth connecting rod 323, any point on the second connecting rod 321 is an arc relative to the movement track of the first connecting rod 31, when the third connecting rod 322 rotates around the hinged position of the third connecting rod 322 and the first connecting rod 31, the second connecting rod 321 connected with the third connecting rod can be driven to rotate, two ends of the fourth connecting rod 323 are respectively hinged with the first connecting rod 31 and the second connecting rod 321, and therefore when the second connecting rod 321 rotates, the finger assembly 6 can be prevented from falling down when only the third connecting rod 322 or the fourth connecting rod 323 is respectively hinged with the first connecting rod 31 and the second connecting rod 321. Moreover, a parallelogram structure is formed among the first connecting rod 31, the second connecting rod 321, the third connecting rod 322 and the fourth connecting rod 323, a connecting line of the hinged position of the third connecting rod 322 and the fourth connecting rod 323 with the second connecting rod 321 respectively and a connecting line of the hinged position of the third connecting rod 322 and the fourth connecting rod 323 with the first connecting rod 31 respectively are always parallel, so that the moving direction of the finger assembly 6 can be ensured, the finger assembly 6 can be attached to the head of a user to slide, the stability of the second connecting rod part 32 in the operation of driving the finger assembly 6 can be ensured through the arrangement of the parallelogram structure, the mechanical structure strength is enhanced, and the reliability in the operation of machinery is ensured.

As shown in fig. 4, the second link 321 includes a first segment 3211 and a second segment 3212, the first segment 3211 and the second segment 3212 form a preset included angle, the first segment 3211 is connected to the third link 322 and the fourth link 323, respectively, and the second segment 3212 is connected to the finger assembly 6.

The preset included angle between the first segment 3211 and the second segment 3212 may be between 30 ° and 150 °, preferably, the first segment 3211 and the second segment 3212 may be perpendicular to each other, and when the third link 322 rotates around the third link and the first link 31, the second link 321 connected to the third link is driven to slide left and right, so that the finger assembly 6 connected to the second link 321 slides on the head of the user, the finger assembly 6 fits the curve of the head of the user, the finger assembly 6 can slide along the surface of the head of the user from the left ear to the right ear of the user, and then slide along the surface of the scalp from the right ear of the user to the left ear of the user, so that the finger assembly 6 rotates around the head of the user in a reciprocating manner. Through the first segment 3211 and the second segment 3212 that mutually perpendicular set up can make finger subassembly 6 rethread second connecting rod 321 drive its when sliding for finger subassembly 6 can laminate the user's head all the time and slide, avoids when finger subassembly 6 slides to user's top of the head portion, finger subassembly 6 can't laminate the user's head completely, thereby causes the condition of the unable clean or unable massage of washing.

As shown in fig. 7, the second driving mechanism 30 is in driving connection with the second link portion 32, the second driving mechanism 30 is adapted to drive the second link portion 32 to rotate around the first link 31, the second driving mechanism 30 includes a second motor 301 and a second gear assembly 302, the second motor 301 is in driving connection with the second gear assembly 302, the second motor 301 is adapted to drive the second gear assembly 302 to rotate, the second gear assembly 302 is in driving connection with the third link 322 or the fourth link 323, the second gear assembly 302 includes a first gear 3021, a first rotating shaft 3022 and a second gear 3023, the second motor 301 is mounted on the first link 31, the rotating shaft of the second motor 301 is in key connection with the first gear 3021, the first gear 3021 is in driving connection with the second gear 3023, the first gear 3021 is adapted to drive the second gear 3023 to rotate, the second gear 3023 is keyed to the first shaft 3022, the second gear 3023 is coaxial with the first shaft 3022, and the first shaft 3022 is keyed to the two third links 322.

In an embodiment of the present invention, the second gear assembly 302 is in transmission connection with the third link 322, when the second motor 301 drives the second gear assembly 302 to rotate, the second gear assembly 302 can drive one end of the third link 322 connected thereto to rotate, at this time, the third link 322 can rotate relative to the first link 31, and the other end of the third link 322 can drive the second link 321 to rotate around the first link 31 with the third link 322 as a radius. The second gear assembly 302 includes a first gear 3021, a first rotation shaft 3022, and a second gear 3023, a rotation shaft of the second motor 301 is connected to the first gear 3021 in a key manner, the first gear 3021 and the second gear 3023 are engaged with each other, the second gear 3023 is connected to the first rotation shaft 3022 in a key manner, when the first gear 3021 rotates via the second gear 3023 driven by the second motor 301, the first rotation shaft 3022 is driven to rotate, two ends of the first rotation shaft 3022 may be connected to the two third links 322 in a key manner, and the first rotation shaft 3022 may drive the two third links 322 to rotate together during rotation, so as to achieve the purpose that the two third links 322 may be driven simultaneously via the first rotation shaft 3022. And the second motor 301 is installed on the first link 31, the second motor 301 moves along with the first link 31, and after the first link 31 is pressed in place, the second motor 301 on the first link 31 can drive the third link 322 to rotate, so as to respectively drive the second link 321 and the fourth link 323 to move together, so as to realize the left-right sideslip movement of the finger assembly 6 on the head of the user, and realize the massage on the head of the user.

As shown in fig. 7, the second gear assembly 302 further includes a second rotating shaft 3024, a third gear 3025, and a fourth gear 3026, the first gear 3021 is engaged with the third gear 3025, the fourth gear 3026 is engaged with the second gear 3023, the third gear 3025 and the fourth gear 3026 are respectively keyed with the second rotating shaft 3024, and the third gear 3025, the fourth gear 3026, and the second rotating shaft 3024 are coaxial.

The two ends of the second rotating shaft 3024 are respectively rotatably connected with the two first connecting rods 31, the third gear 3025 and the fourth gear 3026 are respectively connected with the second rotating shaft 3024, the third gear 3025 and the fourth gear 3026 are coaxial with the second rotating shaft 3024, the angular velocities of the rotation of the second rotating shaft 3024, the third gear 3025 and the fourth gear 3026 are the same, the third gear 3025 is engaged with the first gear 3021, the second motor 301 drives the third gear 3025 to rotate through the first gear 3021, the third gear 3025 drives the second rotating shaft 3024 to rotate when rotating, the fourth gear 3026 on the second rotating shaft 3024 is engaged with the second gear 3023, the fourth gear 3026 can drive the second gear 3023 to rotate, the second connecting rod part 32 can drive the finger assembly 6 to the left and right of the user's head by the forward rotation and reverse rotation of the second motor 301, and the deceleration of the second motor 301 can be realized by the second rotating shaft 3024, the third gear 3025 and the fourth gear 3026, the second motor 301 is prevented from directly driving the third link 322 or the fourth link 323 to rotate through the first gear 3021 and the second gear 3023, which may cause the finger assembly 6 to rub on the head of the user too fast to achieve a good massage and cleaning effect, and may cause discomfort to the user.

In another embodiment of the present invention, the second gear assembly 302 is in transmission connection with the fourth link 323, when the second motor 301 drives the second gear assembly 302 to rotate, the second gear assembly 302 can drive one end of the fourth link 323 connected thereto to rotate, at this time, the fourth link 323 can rotate relative to the first link 31, and the other end of the fourth link 323 can drive the second link 321 to rotate around the first link 31 with the fourth link 323 as a radius. The second gear assembly 302 includes a first gear 3021, a first rotation shaft 3022, and a second gear 3023, a rotation shaft of the second motor 301 is keyed with the first gear 3021, the first gear 3021 and the second gear 3023 are engaged with each other, the second gear 3023 is keyed with the first rotation shaft 3022, when the first gear 3021 rotates through the second gear 3023 driven by the second motor 301, the first rotation shaft 3022 is driven to rotate, two ends of the first rotation shaft 3022 may be respectively keyed with two fourth links 323, and the first rotation shaft 3022 may drive the two fourth links 323 to rotate together when rotating, so as to achieve the purpose that the two fourth links 323 may be driven simultaneously through the first rotation shaft 3022. And the second motor 301 is installed on the first link 31, the second motor 301 moves along with the first link 31, and after the first link 31 is pressed in place, the second motor 301 on the first link 31 can drive the fourth link 323 to rotate, so as to respectively drive the second link 321 and the third link 322 to move together, so as to realize the lateral sliding movement of the finger assembly 6 on the head of the user, and realize the massage on the head of the user.

As shown in fig. 8 to 10, the embodiment of the present invention provides a finger assembly 6, including a third driving mechanism 72, a connecting assembly 73, a swing arm 74, a first mounting seat 61, and a massage part 62; the third driving mechanism 72 is in driving connection with the connecting assembly 73, one end of the swing arm 74 is rotatably connected with the connecting assembly 73, the other end of the swing arm 74 is connected with the massage part 62, and the massage part 62 is rotatably connected with the first mounting seat 61; the third driving mechanism 72 is configured to drive the connecting assembly 73 to reciprocate linearly, and the connecting assembly 73 is configured to drive the massage portion 62 to rotate through the swing arm 74.

Third actuating mechanism 72 can be electric putter, linear step motor or telescopic cylinder, third actuating mechanism 72's output can with coupling assembling 73 bolted connection, joint or welding, third actuating mechanism 72 promotes coupling assembling 73 straight reciprocating motion. A first jack is formed in the connecting assembly 73, a second jack is formed in the swing arm 74, a first rotating shaft penetrates through the first jack and the second jack, and the swing arm 74 can rotate relative to the connecting assembly 73. A third jack is formed in the massage part 62, and the other end of the swing arm 74 is inserted into the third jack. The massage part 62 comprises a connecting column 66, a second mounting hole is formed in the first mounting seat 61, and the connecting column 66 penetrates through the second mounting hole to realize the rotation connection of the massage part 62 and the first mounting seat 61.

In the process of operating the third driving mechanism 72, the third driving mechanism 72 drives the connecting assembly 73 to move along the positive direction of the Y axis, the connecting assembly 73 drives one end of the swing arm 74 to move along the positive direction of the Y axis, under the limiting action of the first mounting seat 61, one end of the swing arm 74 rotates around the axis of the first rotating shaft, the other end of the swing arm 74 drives the massage part 62 to rotate around the connecting column 66 in a counterclockwise direction, then the driving mechanism drives the connecting component 73 to move along the negative direction of the Y axis, the connecting component 73 drives one end of the swing arm 74 to move along the negative direction of the Y axis, under the limiting action of the first mounting seat 61, one end of the swing arm 74 rotates around the axis of the first rotating shaft, the other end of the swing arm 74 drives the massage part 62 to rotate around the connecting column 66 in a clockwise direction. The above steps are repeated in a circulating way to realize the reciprocating rotation of the massage part 62.

This has the advantage that the third driving mechanism 72 and the connecting component 73 are in driving connection, so that the third driving mechanism 72 can drive the connecting component 73 to reciprocate linearly, the connecting component 73 can drive the swing arm 74 to reciprocate linearly, the other end of the swing arm 74 is connected with the massage part 62, the massage part 62 and the first mounting seat 61 are in rotating connection, so that the swing arm 74 can drive the massage part 62 to reciprocate, so that the massage part 62 can rub the hair of the user back and forth, the hair tangled after wet water is cleaned integrally, and the cleaning effect on the hair of the user is enhanced.

As shown in fig. 9 and 10, the third driving mechanism 72 includes a third motor 721, an eccentric connecting member 722 and a fifth connecting rod 723, the third motor 721 is connected to the eccentric connecting member 722 in a driving manner, one end of the fifth connecting rod 723 is connected to the eccentric connecting member 722, the other end of the fifth connecting rod 723 is connected to the connecting member 73, the third motor 721 is configured to drive the eccentric connecting member 722 to rotate, the eccentric connecting member 722 is configured to drive one end of the fifth connecting rod 723 to perform an eccentric motion, and the other end of the fifth connecting rod 723 is configured to drive the connecting member 73 to perform a linear reciprocating motion.

The third motor 721 may be a dc motor, an asynchronous motor or a synchronous motor, and a rotation shaft of the third motor 721 may be connected to the eccentric connector 722 by a key, a pin or a screw. The eccentric connecting piece 722 can be an eccentric sleeve, an eccentric bearing or a connecting rod, a first connecting hole and a second connecting hole are formed in the eccentric connecting piece 722, a key groove is formed in the first connecting hole, the rotating shaft of the third motor 721 is connected with the first connecting hole in a key mode, a third connecting hole is formed in one end of the fifth connecting rod 723, a first connecting shaft is inserted into the second connecting hole and the third connecting hole, and the axis of the first connecting shaft is parallel to the axis of the rotating shaft of the third motor 721 and is located on the same straight line.

In an embodiment, a fourth connection hole is formed in the connection assembly 73, a fifth connection hole is formed in the other end of the fifth link 723, and a second connection shaft is inserted into the fourth connection hole and the fifth connection hole. In another embodiment, the finger assembly 6 further includes a connecting frame 75, the connecting frame 75 is welded or screwed with the connecting assembly 73, and the fourth connecting hole is opened on the connecting frame 75.

In the operation process of the third motor 721, the rotating shaft of the third motor 721 drives the eccentric connecting member 722 to rotate, the eccentric connecting member 722 drives one end of the fifth connecting rod 723 to make eccentric motion relative to the rotating shaft of the third motor 721, and the other end of the fifth connecting rod 723 drives the connecting member 73 to make linear reciprocating motion along the Y-axis direction. For example, in the process of one rotation of the eccentric connecting member 722, the eccentric connecting member 722 rotates 90 ° first, the relative distance between one end of the fifth link 723 close to the connecting member 73 and the rotating shaft of the third motor 721 is gradually increased, and the fifth link 723 pushes the connecting member 73 forward; the eccentric connecting piece 722 continues to rotate by 90 degrees, the relative distance between one end of the fifth connecting rod 723 close to the connecting component 73 and the rotating shaft of the third motor 721 is gradually shortened, and the eccentric connecting piece 722 drives the fifth connecting rod 723 to return to the original position; the eccentric connecting piece 722 rotates 90 degrees continuously, the relative distance between one end of the fifth connecting rod 723 close to the connecting component 73 and the rotating shaft of the third motor 721 is longer, and the fifth connecting rod 723 pulls the connecting component 73 backwards; then, the connecting element 722 continues to rotate by 90 °, the relative distance between the end of the fifth connecting rod 723 close to the connecting element 73 and the rotating shaft of the third motor 721 gradually becomes shorter, and the eccentric connecting element 722 drives the fifth connecting rod 723 back to the original position.

This has the advantage that, during operation of the third motor 721, the third motor 721 only has to be rotated in one direction, through the driving connection between the third motor 721 and the eccentric connecting piece 722, the third motor 721 can drive the eccentric connecting piece 722 to rotate, one end of the fifth connecting rod 723 is connected with the eccentric connecting piece 722, so that the eccentric connecting piece 722 can drive one end of the fifth connecting rod 723 to do eccentric motion, the other end of the fifth connecting rod 723 is connected with the connecting component 73, so that the other end of the fifth connecting rod 723 can drive the connecting component 73 to reciprocate linearly, therefore, the connecting assembly 73 can reciprocate linearly, the torque generated by the rotation direction switching of the rotating shaft of the third motor 721 is avoided, and the operation of the third motor 721 is more stable.

As shown in fig. 9 to 12, the finger assembly 6 further includes a guide post 711 and a second mounting seat 71, the guide post 711 is connected to the second mounting seat 71, a through hole is formed on the connecting assembly 73, the guide post 711 is inserted into the through hole, and the connecting assembly 73 is adapted to perform a reciprocating linear motion along the guide post 711.

The guide column 711 is in key connection, clamping connection, welding connection or threaded connection with the second mounting seat 71; the through hole is disposed along the axial direction of the guide post 711, and the connecting assembly 73 can slide relative to the guide post 711. The guide posts 711 are disposed along the Y-axis direction. During the operation of the third driving mechanism 72, the third driving mechanism 72 drives the connecting assembly 73 to move along the axial direction of the guide post 711.

This arrangement has the advantage that the guide post 711 is mounted by the connection of the guide post 711 to the second mounting block 71; through the through hole formed in the connecting assembly 73, the guide column 711 is arranged in the through hole in a penetrating manner, so that the guide of the connecting assembly 73 is realized; under the guiding action of the guide column 711, the connecting assembly 73 can move along the axial direction of the guide column 711, so that the linear reciprocating motion of the connecting assembly 73 is realized; in addition, the guide posts 711 limit the displacement of the connecting assembly 73, so that the connecting assembly 73 is more stable during movement.

As shown in fig. 8 to 11, a strip-shaped hole 714 is formed in the second mounting seat 71, a length direction of the strip-shaped hole 714 is the same as a direction of an axial line of the guide post 711, the connecting assembly 73 includes a guide slider 731, the guide slider 731 is disposed in the strip-shaped hole 714 in a penetrating manner, and the guide slider 731 can slide along the strip-shaped hole 714; the first mounting seat 61 and the third driving mechanism 72 are respectively mounted on opposite sides of the second mounting seat 71.

In one embodiment, the bar-shaped hole 714 is located on the upper side of the guide post 711, the outer wall of the guide slider 731 is attached to the inner wall of the bar-shaped hole 714, and the bar-shaped hole 714 is disposed along the Y-axis direction. The guide blocks 731 can slide in the bar holes 714. The guide slider 731 may be drivingly connected to the third driving mechanism 72. The third driving mechanism 72 is mounted on the second mounting seat 71, and the third driving mechanism 72 is connected with the second mounting seat 71 through bolts, in a clamping manner or in a welding manner. In another embodiment, a mounting bracket is disposed on the second mounting seat 71, and the third driving mechanism 72 is mounted on the mounting bracket. The first mounting seat 61 can be screwed, clamped or welded with the second mounting seat 71.

Therefore, the first mounting seat 61 and the third driving mechanism 72 are respectively mounted on two opposite sides of the second mounting seat 71, so that the first mounting seat 61 and the third driving mechanism 72 are mounted, the guide slider 731 is arranged in the strip-shaped hole 714 in a penetrating manner, the guide slider 731 can slide along the strip-shaped hole 714, so that the third driving mechanism 72 can drive the connecting assembly 73 to move through the guide slider 731, and the guide slider 731 and the guide post 711 have the same guiding direction by the fact that the length direction of the strip-shaped hole 714 is the same as the axial lead direction of the guide post 711, so that the strip-shaped hole 714 is prevented from interfering with the movement of the guide slider 731.

As shown in fig. 10 to 12, the connecting assembly 73 includes a first connector 732 and a second connector 733, the first connector 732 is drivingly connected to the third driving mechanism 72, the second connector 733 is pinned to the swing arm 74, the first connector 732 and the second connector 733 are pinned to the guide post 711, respectively, and the second connector 733 is rotatable relative to the guide post 711.

The first connector 732 may be keyed, screwed, or pinned to the drive end of the third drive mechanism 72. In an embodiment, the first connector 732 includes a first limiting plate and a second limiting plate, the second connector 733 is located between the first limiting plate and the second limiting plate, and two end surfaces of the second connector 733 in the axial direction of the guide post 711 are respectively attached to the first limiting plate and the second limiting plate. First guiding holes are formed in the first limiting plate and the second limiting plate, second guiding holes are formed in the second connecting piece 733, and the guide posts 711 are arranged in the first guiding holes and the second guiding holes in a penetrating mode so that the first connecting piece 732 and the second connecting piece 733 are connected with the guide posts 711 through pins. The first connector 732 and the second connector 733 are both slidable in the axial direction of the guide post 711, and the second connector 733 is rotatable about the axial line of the guide post 711. Therefore, the second connector 733 is located in the first limiting plate and the second limiting plate, so that the first limiting plate and the second limiting plate can limit the displacement of the second connector 733 in the radial direction of the guide post 711, and the movement process of the second connector 733 is more stable. The second connector 733 includes a first connecting plate and a second connecting plate, the swing arm 74 is located between the first connecting plate and the second connecting plate, a first connecting hole is formed in the first connecting plate and the second connecting plate, a second connecting hole is formed in the swing arm 74, a rotating shaft penetrates through the first connecting hole and the second connecting hole, and the swing arm 74 can rotate around the axial lead of the rotating shaft. Thus, by the swing arm 74 being located between the first and second connection plates, the first and second connection plates can define the position of the swing arm 74 on the one hand, and the connection between the swing arm 74 and the second connection member on the other hand is reinforced.

This arrangement has the advantage that the first connector 732 is in driving connection with the third driving mechanism 72, so that the third driving mechanism 72 can drive the first connector 732 to reciprocate linearly, and the first connector 732 and the second connector are in pin connection with the guide post 711, so that on one hand, the first connector 732 can drive the second connector 733 to move along the guide post 711, and on the other hand, the second connector 733 can rotate relative to the guide post 711, so as to prevent the first connector 732 from interfering with the rotation of the second connector 733, and the swing arm 74 is in pin connection with the swing arm 74 through the second connector 733, so that the swing connection between the second connector 733 and the swing arm 74 is achieved.

As shown in fig. 13 and 15, the massage part 62 further includes a connection column 66, a third through hole is formed in the first mounting seat 61, the connection column 66 is inserted into the third through hole, the swing arm 74 is connected to the connection column 66, and the swing arm 74 is adapted to drive the connection column 66 to rotate.

In an embodiment, the first mounting seat 61 includes a first mounting seat body and a cover plate, the third through hole is opened on the first mounting seat body, a spacing hole is opened on the cover plate, the connecting column 66 is penetrated and arranged in the spacing hole and the third through hole, the spacing hole and the third through hole are coaxial, and the cover plate is in bolt fastening connection or screw connection with the first mounting seat body. Therefore, the cover plate is provided with the limiting hole, the connecting column 66 penetrates through the limiting hole and the third through hole at the same time, the limiting hole can limit the connecting column 66, and the connecting column 66 is prevented from shaking. The connecting column 66 is further provided with an annular protruding structure, and the annular protruding structure is attached to the first mounting seat 61, so that the connecting column 66 is clamped on the first mounting seat 61, and the connecting column 66 is prevented from slipping off the first mounting seat 61. The swing arm 74 is scalable linking arm or elastic arm, the one end of swing arm 74 is provided with the helicitic texture, set up threaded hole on the lateral wall of spliced pole 66, swing arm 74 with spliced pole 66 threaded connection. In the process that coupling assembling 73 moved, coupling assembling 73 drives swing arm 74's one end is along Y axle direction linear reciprocating motion, swing arm 74's one end is relative coupling assembling 73 rotates, swing arm 74's the other end drives spliced pole 66 rotates.

The advantage of setting up like this is that, through the spliced pole 66 wears to locate in the third through-hole, make the spliced pole 66 can rotate relatively first mount pad 61, realized the spliced pole 66 with the rotation of first mount pad 61 is connected, through swing arm 74 with the spliced pole 66 is connected, makes swing arm 74 can drive spliced pole 66 rotates, thereby has realized the rotation of massage portion 62.

As shown in fig. 15, a guide hole 661 is formed in a side wall of the connection column 66, the guide hole 661 is disposed along a radial direction of the connection column 66, the swing arm 74 includes an insertion shaft 741, the insertion shaft 741 is inserted into the guide hole 661, and the insertion shaft 741 can slide along the guide hole 661.

The guiding hole 661 runs through in spliced pole 66, swing arm 74 includes the connector, the connector with coupling assembling 73 pin joint, insert axle 741 with connector threaded connection or welding coupling assembling 73 moves the in-process, coupling assembling 73 drives the one end straight reciprocating motion of swing arm 74, the one end of swing arm 74 is wound the axle center of spliced pole 66 rotates, insert axle 741 is in slide in the guiding hole 661 and take out or stretch into, and drive spliced pole 66 rotates.

In another embodiment, the length of the swing arm 74 can be adjusted in a telescopic manner, the swing arm 74 comprises a first connecting pipe and a second connecting pipe, a through hole is formed in the first connecting pipe, the through hole penetrates through the body of the first connecting pipe along the axial lead of the first connecting pipe, the second connecting pipe is arranged in the through hole in a penetrating manner, the second connecting pipe can slide relative to the first connecting pipe, and in the process that the swing arm 74 drives the connecting column 66 to rotate, the second connecting pipe can slide relative to the first connecting pipe to adapt to the change of the relative distance between the swing arm 74 and the connecting column 66. In other embodiments, the swing arm 74 can also be a spring or a telescopic rod.

The advantage of this arrangement is that, in the process that the swing arm 74 drives the connecting column 66 to rotate, the insertion shaft 741 penetrates through the guide hole 661, the guide hole 661 is arranged along the radial direction of the connecting column 66, so that the insertion shaft 741 can slide along the guide hole 661, and the insertion shaft 741 can adapt to the change of the relative distance between the swing arm 74 and the connecting column 66, thereby preventing the connecting column 66 from interfering with the movement of the swing arm 74.

As shown in fig. 13 and 14, the first mounting seat 61 is coupled to the shaft hole of the guide post 711, and the first mounting seat 61 is rotatable with respect to the guide post 711.

The first mounting seat 61 is provided with a connecting hole, the guide column 711 is arranged in the connecting hole in a penetrating manner, the first mounting seat 61 can rotate around the axis of the guide column 711, and the massage part 62 rotates along with the first mounting seat 61. In one embodiment, there are two first mounting seats 61 and two guide posts 711, two first mounting seats 61 are respectively located at two ends of the second mounting seat 71, and two first mounting seats 61 are respectively pinned to the guide posts 711.

In one embodiment, an elastic connection part 712 is disposed between the first mounting seat 61 and the second mounting seat 71, one end of the elastic connection part 712 is in contact with the first mounting seat 61 and has a certain elastic acting force, the other end of the elastic connection part 712 is in contact with the second mounting seat 71 and has a certain elastic acting force, and the elastic connection part 712 may be a spring plate or a torsion spring. The elastic connection part 712 may define a rotation angle of the first mounting seat 61 during the rotation of the first mounting seat 61, and the elastic connection part 712 resets the first mounting seat 61 when the force on the first mounting seat 61 is removed.

In another embodiment, the first mounting seat 61 is provided with a limiting groove, the second mounting seat 71 is provided with a limiting hole, one end of the elastic connecting member 712 is inserted into the limiting hole, and the other end of the elastic connecting member 712 is inserted into the limiting groove. Through the two ends of the elastic connecting piece 712 are respectively inserted into the limiting hole and the limiting groove, the elastic connecting piece 712 can be limited by the limiting hole and the limiting groove, and the elastic connecting piece 712 is prevented from slipping off from the first mounting seat 61 and the second mounting seat 71.

This arrangement has an advantage that the first mounting seat 61 can rotate relative to the guide post 711 by the pin connection of the first mounting seat 61 and the guide post 711, and when the massage part 62 acts on the human body, the first mounting seat 61 can rotate adaptively to make the massage part 62 fit to the part to be massaged.

As shown in fig. 8 to 10, the finger assembly 6 further includes a connecting frame 75, the connecting assembly 73, the swing arms 74, the first mounting seat 61 and the massage portion 62 are respectively provided in plurality, the third driving mechanism 72 is in driving connection with the connecting frame 75, the third driving mechanism 72 is adapted to drive the connecting frame 75 to perform linear reciprocating motion, all the connecting assemblies 73 are respectively connected with the connecting frame 75, the connecting assembly 73 is at least in rotational connection with two of the swing arms 74, and the swing arms 74 are respectively used for driving the massage portion 62 to rotate.

In an embodiment, there are two coupling assembling 73 and first mount pad 61, there are four swing arms 74 and massage portion 62, two coupling assembling 73 sets up relatively and is located respectively the both ends of second mount pad 71, two coupling assembling 73 respectively with link 75 screwed connection or welding, every coupling assembling 73 respectively with two swing arms 74 are articulated, every swing arm 74 respectively with massage portion 62 is connected, every first mount pad 61 respectively with two massage portion 62 rotates to be connected, and two massage portion 62 sets up relatively and is located the both ends of first mount pad 61. In the process that third actuating mechanism 72 operated, third actuating mechanism 72 drove link 75 straight reciprocating motion, link 75 drives all coupling assembling 73 straight reciprocating motion, every coupling assembling 73 drives two respectively swing arm 74 rotates, all swing arm 74 drives respectively massage portion 62 rotates.

In another embodiment, the connecting frame 75 is provided with a protruding structure protruding from the upper end surface of the second mounting seat 71, and the third driving mechanism 72 is connected to the protruding structure. Therefore, the connecting frame 75 is provided with the protruding structure, so that a certain gap is formed between the protruding structure and the second mounting seat 71, on one hand, the third driving mechanism 72 can be conveniently connected with the connecting frame 75, and on the other hand, the second mounting seat 71 can be prevented from interfering with the driving of the third driving mechanism 72.

This arrangement has the advantage that, by virtue of the arrangement of the connecting frame 75, the connecting frame 75 is in driving connection with the third drive mechanism 72; make third actuating mechanism 72 can drive link 75 straight reciprocating motion, through all coupling assembling 73 respectively with link 75 connects, makes link 75 can drive all coupling assembling 73 straight reciprocating motion, through coupling assembling 73 at least with two swing arm 74 rotates and connects, makes coupling assembling 73 can drive at least two swing arm 74 rotates, thereby makes third actuating mechanism 72 can drive a plurality ofly simultaneously massage portion 62 synchronous operation, has improved on the one hand all massage portion 62 synchronism, on the other hand, has avoided the setting of a plurality of third actuating mechanism 72 to can the energy saving and make the space utilization more compact.

As shown in fig. 1, an embodiment of the present invention provides a hair washing machine, which includes any one of the above mechanical arms, where the mechanical arms include two groups, and the two groups of mechanical arms are symmetrically arranged.

The hair washing machine comprises two groups of mechanical arms which are bilaterally symmetrical, when the user uses the hair washing machine, the two groups of mechanical arms can respectively clean the left half head and the right half head of the user, and the symmetrical structure in the embodiment has the same beneficial effects as the one-side structure, and is not repeated.

Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.

Claims (10)

1. The utility model provides a mechanical arm for the machine of washing hair, characterized in that, including first actuating mechanism (40), clockwork spring subassembly (20), link assembly (3) and finger subassembly (6), first actuating mechanism (40) with clockwork spring subassembly (20) drive is connected, clockwork spring subassembly (20) still with link assembly (3) are connected, first actuating mechanism (40) are suitable for through clockwork spring subassembly (20) drive link assembly (3) rotate, link assembly (3) with finger subassembly (6) are connected, link assembly (3) are suitable for the drive finger subassembly (6) motion.

2. The mechanical arm according to claim 1, wherein the clockwork spring assembly (20) comprises a rotational connection portion (201) and a clockwork spring (202), one end of the center of the clockwork spring (202) is connected with the output end key of the first driving mechanism (40), one end of the circumferential direction of the clockwork spring (202) is connected with the rotational connection portion (201), the first driving mechanism (40) is suitable for driving the rotational connection portion (201) to rotate through the clockwork spring (202), the rotational connection portion (201) is in driving connection with the connecting rod assembly (3), and the rotational connection portion (201) is suitable for driving the connecting rod assembly (3) to rotate.

3. The mechanical arm of claim 2, wherein the rotation connecting portion (201) comprises a containing portion (2012), the spring (202) is at least partially contained in the containing portion (2012), a clamping groove (2011) is formed in a side wall of the containing portion (2012), a clamping edge (2021) is arranged at one circumferential end of the spring (202), and the clamping edge (2021) is clamped in the clamping groove (2011).

4. A mechanical arm as claimed in claim 2, further comprising a rotating shaft connecting part (402), wherein the rotating shaft connecting part (402) is detachably connected with one end of the center of the spring (202), and the output end of the first driving mechanism (40) is connected with the rotating shaft connecting part (402) in a key mode.

5. The mechanical arm according to claim 2, wherein the first drive mechanism (40) further comprises a first gear assembly (401), the first drive mechanism (40) being in driving connection with the spring (202), the first drive mechanism (40) being adapted to rotate the rotational connection (201) via the spring (202), the rotational connection (201) being in driving connection with the first gear assembly (401), the first gear assembly (401) being in driving connection with the linkage assembly (3).

6. The mechanical arm of claim 5, wherein the first gear assembly (401) comprises a third rotating shaft (4011), a fifth gear (4012) and a sixth gear (4013), the fifth gear (4012) is in key connection with the rotating connecting part (201), the fifth gear (4012) is in transmission connection with the sixth gear (4013), the fifth gear (4012) is suitable for driving the sixth gear (4013) to rotate, the sixth gear (4013) is in key connection with the third rotating shaft (4011), the sixth gear (4013) is coaxial with the third rotating shaft (4011), and the third rotating shaft (4011) is in key connection with the connecting rod assembly (3).

7. The mechanical arm according to claim 6, wherein the connecting rod assemblies (3) comprise two groups, the two groups of connecting rod assemblies (3) are respectively arranged symmetrically, and the first driving mechanism (40) is connected with the two groups of connecting rod assemblies (3).

8. The mechanical arm according to claim 1, further comprising a second driving mechanism (30), wherein the link assembly (3) comprises a first link (31) and a second link portion (32), the second link portion (32) is connected to the first link (31) and the finger assembly (6), respectively, the second driving mechanism (30) is connected to the second link portion (32), the second driving mechanism (30) is adapted to drive the second link portion (32) to rotate around the first link (31), and the second link portion (32) is adapted to drive the finger assembly (6) to move.

9. The mechanical arm according to claim 8, wherein the second link portion (32) comprises a second link (321), a third link (322) and a fourth link (323), two ends of the fourth link (323) are respectively and hingedly connected with the second link (321) and the first link (31), two ends of the third link (322) are respectively and hingedly connected with the second link (321) and the first link (31), the second link (321) is rotatably connected with the finger assembly (6), and the third link (322) and the fourth link (323) are parallel and equal.

10. A hair washing machine comprising the robot arms of any one of claims 1 to 9, said robot arms comprising two sets of said robot arms, said two sets of said robot arms being symmetrically arranged.

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