CN112826201A - 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 mechanical arm comprises a connecting rod assembly, a first driving mechanism, a second driving mechanism and a finger assembly, 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 first driving mechanism is in driving connection with the first connecting rod, the second driving mechanism is in driving connection with the second connecting rod portion, the first driving mechanism is suitable for driving the first connecting rod to rotate, 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. The first connecting rod is driven to rotate by the first driving mechanism, so that the second connecting rod part and the finger assembly connected with the first connecting rod part are controlled to press towards the head of a user or move away from the head of the user; drive second connecting rod portion through second actuating mechanism and rotate to control finger subassembly and control and sideslip about user's head, and can cooperate to wash by water and reach the effect of automatic shampoo.

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 arm of machine of washing hair was washd and was massaged user's head in control massage finger, the arm can't ensure to move in-process massage finger and laminate user's head constantly, and when the arm control massage finger moved in the different positions of user's head, the removal process of arm was unstable, probably caused to wash the massage effect not good.

Disclosure of Invention

The invention solves the problem of how to ensure the stability 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 robot arm for a hair washing machine, wherein the robot arm includes a link assembly, a first driving mechanism, a second driving mechanism and a finger assembly, the link assembly includes a first link and a second link, the second link is respectively connected to the first link and the finger assembly, the first driving mechanism is in driving connection with the first link, the second driving mechanism is in driving connection with the second link, the first driving mechanism is adapted to drive the first link to rotate, the second driving mechanism is adapted to drive the second link to rotate around the first link, and the second link is adapted to drive 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.

Optionally, the finger assembly includes a housing and at least two sets of elastic members, the elastic members are disposed on the housing, and the elastic members are respectively abutted to two end faces of the second connecting rod in the width direction.

Optionally, the first connecting rod and the second connecting rod portion include two sets, the two sets of the first connecting rod and the second connecting rod portion are symmetrically arranged respectively, the first driving mechanism is suitable for driving the two sets of the first connecting rod to rotate simultaneously, and the second driving mechanism is suitable for driving the two sets of the second connecting rod portion to rotate around the first connecting rod simultaneously.

Optionally, the second driving mechanism includes a second motor and a second gear assembly, the second motor is in driving connection with the second gear assembly, the second motor is suitable for driving the second gear assembly to rotate, the second gear assembly is in driving connection with the third connecting rod or the fourth connecting rod, the second gear assembly includes a first gear, a first rotating shaft and a second gear, the second motor is installed on the first connecting rod, a rotating shaft of the second motor is in key connection with the first gear, the first gear is in driving connection with the second gear, the first gear is suitable for driving the second gear to rotate, the second gear is in key connection with the first rotating shaft, the second gear is in coaxial with the first rotating shaft, and the first rotating shaft is in key connection with two third connecting rods.

Optionally, the second gear assembly further includes a second rotating shaft, a third gear and a fourth gear, the first gear is engaged with the third gear, the fourth gear is engaged with the second gear, the third gear and the fourth gear are respectively connected with the second rotating shaft key, and the third gear, the fourth gear and the second rotating shaft are coaxial.

Optionally, the first driving mechanism includes a first motor and a first gear assembly, the first motor is in driving connection with the first gear assembly, the first motor is suitable for driving the first gear assembly to rotate, and the first gear assembly is in transmission connection with the first connecting rod.

Optionally, the first gear assembly includes a first bevel gear, a second bevel gear, and a first rotating shaft, the rotating shaft of the first motor is connected to the first bevel gear, the first bevel gear is in transmission connection with the second bevel gear, the first bevel gear is adapted to drive the second bevel gear to rotate, the second bevel gear is connected to the first rotating shaft, the second bevel gear is coaxial with the first rotating shaft, and the first rotating shaft is connected to the two first connecting rod keys.

Optionally, the second connecting rod includes a first section and a second section, the first section with the second section is a preset included angle setting, the first section respectively with the third connecting rod with the fourth connecting rod is connected, the second section with the finger subassembly is connected.

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

the first driving mechanism drives the first connecting rod to rotate, so that the second connecting rod part and the finger assembly connected with the first connecting rod part are controlled to press towards the head of a user or to be far away from the head of the user; drive second connecting rod portion through second actuating mechanism and rotate to control and point the subassembly and control and sideslip about user's head, second actuating mechanism can clockwise rotation or anticlockwise rotation, thereby drive and point the subassembly through second connecting rod portion and sideslip about, thereby reach the effect of carrying out comprehensive massage to user's head when washing hair, and can cooperate to wash by water and reach the automatic effect of washing hair.

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 view of another embodiment of a robotic arm of the present invention;

FIG. 4 is an enlarged view of a portion of the present invention at C of FIG. 3;

FIG. 5 is a schematic structural diagram illustrating an embodiment of a second driving mechanism of a robotic arm according to the present invention;

FIG. 6 is a schematic structural diagram illustrating an embodiment of a first driving mechanism of a robotic arm according to the present invention;

FIG. 7 is a schematic structural diagram of a finger assembly in an embodiment of the invention;

FIG. 8 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. 9 is a schematic structural view of a third drive mechanism and linkage assembly in an embodiment of the present invention;

FIG. 10 is an enlarged view of the structure at A in FIG. 9 according to the present invention;

FIG. 11 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. 12 is a schematic view of an installation structure of the massage part in the embodiment of the present invention;

FIG. 13 is an enlarged view of the structure at B in FIG. 12 according to the present invention;

fig. 14 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:

10-a first drive mechanism; 101-a first motor; 102-a first gear assembly; 1021-a first bevel gear; 1022 — a second bevel gear; 1023-a third axis of rotation; 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; 6-a finger assembly; 60-a housing; 61-a first mount; 62-a massage part; 66-connecting column; 661-guiding holes; 69-an elastic member; 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 the description of the present invention, it should be noted that terms such as "upper", "lower", "front", "rear", "left", "right", and the like in the embodiments indicate orientation words, and are only for convenience of description of the present invention, and do not indicate or imply that the device referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and such orientation terms do not constitute limitations of the present invention.

The terms "first", "second", "third", "fourth", "fifth" and "sixth", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first," "second," "third," "fourth," "fifth," and "sixth" may explicitly or implicitly include at least one such feature.

In the description of the present invention, it should be noted that, unless otherwise specifically stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or a rotatable connection; may be a mechanical connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

Also, in the drawings, the Z-axis represents a vertical, i.e., up-down position, and a positive direction of the Z-axis (i.e., an arrow direction of the Z-axis) represents up, and a negative direction of the Z-axis (i.e., a direction opposite to the positive direction of the Z-axis) represents down; in the drawings, the X-axis represents a horizontal direction and is designated as a left-right position, and a positive direction of the X-axis (i.e., an arrow direction of the X-axis) represents a right side and a negative direction of the X-axis (i.e., a direction opposite to the positive direction of the X-axis) represents a left side; in the drawings, the Y-axis indicates the front-rear position, and the positive direction of the Y-axis (i.e., the arrow direction of the Y-axis) indicates the rear side, and the negative direction of the Y-axis (i.e., the direction opposite to the positive direction of the Y-axis) indicates the front side; it should also be noted that the foregoing Z-axis, Y-axis, and X-axis representations are merely intended to facilitate the description of the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.

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

As shown in fig. 1 to 5, a robot arm is used for a hair washing machine, and the robot arm includes a link assembly 3, a first driving mechanism 10, a second driving mechanism 30 and a finger assembly 6, 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 first driving mechanism 10 is in driving connection with the first link 31, the second driving mechanism 30 is in driving connection with the second link portion 32, the first driving mechanism 10 is adapted to drive the first link 31 to rotate, 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.

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 first link 31 is driven by the first driving mechanism 10, the first link 31 is respectively connected with the second link portion 32 and the motor, and the motor can drive one end of the first link 31 to rotate through forward rotation and reverse rotation of the motor, so as to drive the second link portion 32 connected with the first link 31 and the finger assembly 6 to do pressing or leaving movement relative to the head of the user. 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. Accomplish finger subassembly 6 through above-mentioned mode and sideslip and massage about user's head to drive first connecting rod 31 through first actuating mechanism 10 and push down, make second connecting rod portion 32 drive finger subassembly 6 and press user's head, and provide certain pressure to user's head, can remove the bits effectively and relieve itching when carrying out the massage washing that sideslips like this, and can also play massage effect.

The advantage of this arrangement is that the first driving mechanism 10 drives the first link 31 to rotate, so as to control the second link portion 32 and the finger assembly 6 connected thereto to press towards or move away from the head of the user, when the first driving mechanism 10 rotates clockwise, the first link 31 can drive the second link portion 32 and the finger assembly 6 to press towards the head of the user, and when the first driving mechanism 10 rotates reversely, the first link 31 can drive the second link portion 32 and the finger assembly 6 to move away from the head of the user; drive second connecting rod portion 32 through second actuating mechanism 30 and rotate to control finger subassembly 6 and control and sideslip about 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 the effect of comprehensive massage to user's head when reaching the shampoo, and can cooperate to wash by water and reach the effect of automatic shampoo.

As shown in fig. 1 to 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.

Second connecting rod 321 can rotate relative to first connecting rod 31 through third connecting rod 322 and fourth connecting rod 323, and the motion trail of arbitrary point on second connecting rod 321 for first connecting rod 31 is the arc, and when third connecting rod 322 rotated around its articulated department with first connecting rod 31, can drive the second connecting rod 321 who links to each other and rotate, and the both ends of fourth connecting rod 323 are articulated with first connecting rod 31 and second connecting rod 321 respectively, can ensure when second connecting rod 321 rotated, avoid only third connecting rod 322 or fourth connecting rod 323 articulated with first connecting rod 31 and second connecting rod 321 respectively, and finger subassembly 6 is the risk of dropping downwards. 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. 1 to 5, the finger assembly 6 includes a housing 60 and at least two sets of elastic members 69, the elastic members 69 are disposed on the housing 60, and the elastic members 69 respectively abut against both end surfaces of the second link 321 in the width direction.

Second connecting rod 321 can rotate with finger subassembly 6 and be connected, can be provided with the pivot on the finger subassembly 6, can seted up the trompil on the second connecting rod 321, the trompil is worn to locate by the pivot on the finger subassembly 6, finger subassembly 6 can rotate for second connecting rod 321 through the pivot to realize that second connecting rod 321 drives finger subassembly 6 when massaging the user head, make finger subassembly 6 can laminate user's scalp motion all the time, with the head curve that adapts to the user. The width direction of second connecting rod 321 is the direction when second connecting rod 321 rotates through the pivot, all is provided with elastic component 69 in the both sides of second connecting rod 321 rotation direction, can set up flutedly on the finger subassembly 6, and second connecting rod 321 is arranged in the recess, and two elastic component 69 respectively with recess and one of them end butt of second connecting rod 321, when finger subassembly 6 rotated for second connecting rod 321, elastic component 69 can provide the elastic force that resets for finger subassembly 6. And when the finger assembly 6 moves on the head of the user, the finger assembly 6 rotates relative to the second connecting rod 321, and at this time, a certain elastic force can be provided for the finger assembly 6 through the elastic member 69, so that the finger assembly 6 can also generate a certain pressure on the head of the user, and the hair washing and massaging effects are ensured.

As shown in fig. 1 to 5, the first link 31 and the second link 32 include two sets, the two sets of the first link 31 and the second link 32 are symmetrically disposed, the first driving mechanism 10 is adapted to simultaneously drive the two sets of the first link 31 to rotate, and the second driving mechanism 30 is adapted to simultaneously drive the two sets of the second link 32 to rotate around the first link 31.

Stability in operation can be ensured through two sets of first connecting rod 31 and second connecting rod portion 32 that the symmetry set up, only when carrying out the drive of finger subassembly 6 through a set of first connecting rod 31 and second connecting rod portion 32, because the thickness of first connecting rod 31, second connecting rod 321, third connecting rod 322 and fourth connecting rod 323 is thinner, probably produce the connecting rod when drive finger subassembly 6 laminating user's head motion, first connecting rod 31, second connecting rod 321, third connecting rod 322 and fourth connecting rod 323 probably cause it to buckle to the thinner side of self, the connecting rod after the bending probably produces and can't accurately laminate user's head, cause and wash the hair massage effect not good. The finger assembly 6 is driven and fixed by the two groups of first connecting rods 31, the second connecting rods 321, the third connecting rods 322 and the fourth connecting rods 323 which are symmetrically arranged, so that the condition that the finger assembly 6 is bent 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 two groups of first connecting rods 31 are driven to rotate simultaneously by the first driving mechanism 10, so that the volume is reduced, the energy is saved, and one driving mechanism drives the plurality of groups of connecting rods to move; similarly, the second driving mechanism 30 drives the two sets of second connecting rod portions 32 to rotate around the first connecting rod 31 at the same time, which helps to reduce the volume and save energy, and realizes that one driving mechanism drives multiple sets of connecting rods to move.

As shown in fig. 5, 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 transmission connection with the third link 322 or the fourth link 323, the second gear assembly 302 includes a first gear 3021, a first rotation 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 keyed with the first gear 3021, the first gear 3021 is in transmission connection with the second gear 3023, the first gear 3021 is adapted to rotate the second gear 3023, 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.

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. 5, 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.

As shown in fig. 6, the first driving mechanism 10 includes a first motor 101 and a first gear assembly 102, the first motor 101 is in driving connection with the first gear assembly 102, the first motor 101 is adapted to drive the first gear assembly 102 to rotate, and the first gear assembly 102 is in driving connection with the first link 31.

The first gear assembly 102 may include a driving tooth and a driven tooth, the driving tooth may be connected to the first motor 101, the driven tooth may be mounted on the first link 31, the driving tooth and the driven tooth rotate in opposite directions, and when the rotating shaft of the first motor 101 rotates forward, the first link 31 may be driven by the driving tooth and the driven tooth to press toward the head of the user or move away from the head of the user; when the rotation shaft of the first motor 101 is reversely rotated, the first link 31 may be driven away from or pressed toward the head of the user by the driving and driven teeth. The driven teeth can be multiple, and a plurality of driven gears are meshed with each other, so that the first motor 101 is decelerated, and the first motor 101 is prevented from being rotated due to the fact that the rotating speed of the rotating shaft is too high, and therefore the first connecting rod 31 is driven to rotate rapidly to hit the head of a user, and danger can be caused. The first motor 101 drives the first gear assembly 102 to rotate, so that the first connecting rod 31 connected with the first gear assembly 102 slowly contacts the head of a user, and the use safety of the user is guaranteed.

As shown in fig. 6, the first gear assembly 102 includes a first bevel gear 1021, a second bevel gear 1022, and a third rotating shaft 1023, wherein the rotating shaft of the first motor 101 is connected with the first bevel gear 1021, the first bevel gear 1021 is in transmission connection with the second bevel gear 1022, the first bevel gear 1021 is adapted to drive the second bevel gear 1022 to rotate, the second bevel gear 1022 is connected with the third rotating shaft 1023 in a spline, the second bevel gear 1022 is coaxial with the third rotating shaft 1023, and the third rotating shaft 1023 is connected with two first connecting rods 31 in a spline.

The first bevel gear 1021 and the second bevel gear 1022 can be arranged in a mutually perpendicular mode, the first bevel gear 1021 and the second bevel gear 1022 are meshed with each other, the moving direction is changed through the first bevel gear 1021 and the second bevel gear 1022 which are meshed with each other, and therefore the first motor 101 can be arranged perpendicular to the third rotating shaft 1023, the space utilization is facilitated, and the size of the first driving mechanism 10 is reduced. Meanwhile, through connecting second bevel gear 1022 with third pivot 1023 key-type, the pivot rotation of first motor 101 can drive the first bevel gear 1021 rotation rather than the key-type, first bevel gear 1021 can drive second bevel gear 1022 and rotate, can drive third pivot 1023 when second bevel gear 1022 rotates and rotate, the both ends of third pivot 1023 respectively with two first connecting rod 31 key-type connection to this realizes driving two first connecting rods 31 simultaneously through first motor 101 and rotates, in order to ensure the stationarity when first connecting rod 31 rotates, reliability when having strengthened the transmission, the dynamics when guarantee first connecting rod 31 drives second connecting rod portion 32 and presses user's head, in order to realize better massage effect and cleaning performance.

As shown in fig. 3, 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 to 9, 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. 8 and 9, 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. 8 to 11, 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 in 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. 7 to 10, 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. 9 to 11, 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. 12 and 14, 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. 14, 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. 12 and 13, 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. 7 to 9, 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 further 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. A mechanical arm for a hair washing machine is characterized by comprising a connecting rod assembly (3), a first driving mechanism (10), a second driving mechanism (30) and a finger assembly (6), the connecting rod assembly (3) comprises a first connecting rod (31) and a second connecting rod part (32), the second connecting rod part (32) is respectively connected with the first connecting rod (31) and the finger component (6), the first driving mechanism (10) is in driving connection with the first connecting rod (31), the second driving mechanism (30) is in driving connection with the second connecting rod part (32), the first driving mechanism (10) is suitable for driving the first connecting rod (31) to rotate, the second driving mechanism (30) is suitable for driving the second connecting rod part (32) to rotate around the first connecting rod (31), the second connecting rod part (32) is suitable for driving the finger component (6) to move.

2. The mechanical arm according to claim 1, 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.

3. The mechanical arm according to claim 2, wherein the finger assembly (6) comprises a housing (60) and at least two groups of elastic members (69), the elastic members (69) are arranged on the housing (60), and the elastic members (69) are respectively abutted with two end faces in the width direction of the second connecting rod (321).

4. The mechanical arm as claimed in claim 2, wherein the first link (31) and the second link (32) comprise two sets, the two sets of the first link (31) and the second link (32) are symmetrically arranged, the first driving mechanism (10) is adapted to simultaneously drive the two sets of the first link (31) to rotate, and the second driving mechanism (30) is adapted to simultaneously drive the two sets of the second link (32) to rotate around the first link (31).

5. A robot arm according to claim 4, characterized in that the second driving mechanism (30) comprises 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 rotate the second gear assembly (302), the second gear assembly (302) is in driving connection with the third link (322) or the fourth link (323), the second gear assembly (302) comprises 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 keyed 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 rotate the second gear (3023), the second gear (3023) is connected with the first rotating shaft (3022) in a key mode, the second gear (3023) is coaxial with the first rotating shaft (3022), and the first rotating shaft (3022) is connected with the two third connecting rods (322) in a key mode.

6. A robot arm as claimed in claim 5, characterized in that the second gear assembly (302) further comprises a second rotation shaft (3024), a third gear (3025) and a fourth gear (3026), the first gear (3021) meshing with the third gear (3025), the fourth gear (3026) meshing with the second gear (3023), the third gear (3025) and the fourth gear (3026) being keyed to the second rotation shaft (3024), respectively, the third gear (3025), the fourth gear (3026) and the second rotation shaft (3024) being coaxial.

7. The robot arm according to claim 5, characterized in that said first driving mechanism (10) comprises a first motor (101) and a first gear assembly (102), said first motor (101) being drivingly connected to said first gear assembly (102), said first motor (101) being adapted to rotate said first gear assembly (102), said first gear assembly (102) being drivingly connected to said first link (31).

8. The mechanical arm according to claim 7, wherein the first gear assembly (102) comprises a first bevel gear (1021), a second bevel gear (1022) and a third rotating shaft (1023), wherein the rotating shaft of the first motor (101) is keyed with the first bevel gear (1021), the first bevel gear (1021) is in transmission connection with the second bevel gear (1022), the first bevel gear (1021) is suitable for driving the second bevel gear (1022) to rotate, the second bevel gear (1022) is keyed with the third rotating shaft (1023), the second bevel gear (1022) is coaxial with the third rotating shaft (1023), and the third rotating shaft (1023) is keyed with two first connecting rods (31).

9. The mechanical arm according to claim 2, wherein the second link (321) comprises a first segment (3211) and a second segment (3212), the first segment (3211) and the second segment (3212) are arranged at a predetermined 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).

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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