CN211356622U - Automatic foot massage robot that charges - Google Patents
Automatic foot massage robot that charges Download PDFInfo
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- CN211356622U CN211356622U CN201921145106.5U CN201921145106U CN211356622U CN 211356622 U CN211356622 U CN 211356622U CN 201921145106 U CN201921145106 U CN 201921145106U CN 211356622 U CN211356622 U CN 211356622U
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Abstract
The utility model discloses an automatic foot massage robot that charges, include: the charging device comprises a charging seat, a first body, a charging module and a positioning module, wherein the charging module and the positioning module are arranged on the first body; the massage host comprises a second body, a main control module, a power module, an automatic walking module, a foot massage module and a positioning detection module, wherein the main control module, the power module, the automatic walking module, the positioning detection module and the foot massage module are arranged on the second body and used for receiving the positioning signals, the power module, the automatic walking module, the positioning detection module and the foot massage module are all electrically connected with the main control module, when the electric quantity of the power module is lower than a preset value, the main control module controls the automatic walking module to walk to the power module or to be close to the charging module according to the positioning signals received by the positioning detection module, and the charging. Can realize automatic charging, remove the trouble of artifical manual charging from, when guaranteeing that the user uses foot massage once more at an interval, foot massage robot has sufficient electric quantity to carry out the massage function.
Description
Technical Field
The utility model relates to a massage robot especially relates to an automatic foot massage robot who charges.
Background
At present, the existing foot massage products on the market can be divided into the following two types according to the power supply type, one type is provided with a rechargeable battery and is powered by the rechargeable battery, and the other type is connected with the mains supply in a plug and socket matching mode and is directly powered by the mains supply. For the foot massage product powered by the mains supply, the foot massage product can be used only by being plugged in the power supply all the time during use and is limited by the position of the power socket when in use. Obviously, the foot massage device with the rechargeable battery is more convenient to use. However, such a foot massage product with a rechargeable battery also has the following disadvantages: because the power consumption is great, therefore need often charge, once forget to charge, will lead to foot massage product to use.
SUMMERY OF THE UTILITY MODEL
The utility model provides an automatic foot massage robot that charges, it has overcome the unable automatic problem that charges of prior art foot massage product.
The utility model provides a technical scheme that its technical problem adopted is: an automatically charging foot massage robot comprising:
the charging seat comprises a first body, a charging module arranged on the first body and a positioning module capable of transmitting a positioning signal outwards, wherein the positioning module is electrically connected with the charging module;
the massage host comprises a second body, a main control module, a power module, an automatic walking module, a foot massage module and a positioning detection module, wherein the main control module, the power module, the automatic walking module, the positioning detection module and the foot massage module are arranged on the second body and used for receiving the positioning signals, the power module, the automatic walking module, the positioning detection module and the foot massage module are all electrically connected with the main control module, when the electric quantity of the power module is lower than a preset value, the main control module controls the automatic walking module to walk to the power module or to be close to the charging module according to the positioning signals received by the positioning detection module, and the charging.
Furthermore, the massage host machine further comprises a storage control module which is electrically connected with the main control module to send a storage signal to the main control module, so that the main control module controls the automatic walking module to walk to the power supply module to contact or approach the charging module according to the positioning signal received by the positioning detection module.
Further, the automatic walking module comprises a walking machine core and an obstacle avoidance module capable of transmitting and receiving signals outwards, the walking machine core comprises a walking motor, a motor control circuit and a walking wheel driven by the walking motor, the motor control circuit is electrically connected with the walking motor and the main control module, and the obstacle avoidance module is electrically connected with the main control module.
Furthermore, the number of the walking movement is a plurality, and the walking movement is divided into a left group and a right group, and each group comprises at least one walking movement; the number of the obstacle avoidance modules is a plurality, and the obstacle avoidance modules are infrared obstacle avoidance modules, ultrasonic obstacle avoidance modules, radio frequency obstacle avoidance modules or laser obstacle avoidance modules.
Furthermore, the positioning module is an infrared positioning module, an ultrasonic positioning module, a radio frequency positioning module or a laser positioning module, and the positioning detection module is adapted to the positioning module.
Furthermore, the charging module is electrically connected with a first charging contact, the power supply module is electrically connected with a second charging contact, and when the first charging contact is in contact with the second charging contact, the charging module charges the power supply module.
Furthermore, the charging module comprises a first charging control circuit and a power input/output circuit, wherein the first charging control circuit is electrically connected with the power input/output circuit to control whether the power input/output circuit is started to charge or not; the input of the power input and output circuit is connected with the power adapter, and the output of the power input and output circuit is connected with the positioning module and the first charging contact.
Furthermore, the power module comprises a rechargeable battery, a voltage conversion circuit and a second charging control circuit, wherein the input of the second charging control circuit is connected with the second charging contact, the output of the charging control circuit is connected with the rechargeable battery, and the output of the rechargeable battery is connected with the foot massage module and is connected with the input of the main control module through the voltage conversion circuit.
Furthermore, the charging module is electrically connected with a power switch circuit and a working state indicating circuit; the main control module is electrically connected with a control panel and a display module.
Furthermore, the foot massage module comprises one or more of a massage machine core and a pneumatic massage mechanism; the heating module is electrically connected with the main control module.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. the automatic charging is realized, the trouble of manual charging is avoided, and the foot massage robot has enough electric quantity to execute the massage function when a user uses the foot massage again at intervals.
2. After the use is accomplished, can get back to the charging seat position automatically, realize accomodating automatically to the trouble that the user accomodate is removed from.
3. The arrangement of the positioning module, the positioning detection module and the automatic walking module ensures that the foot massage robot has a good automatic walking function and ensures that a walking path is accurate and error-free.
The present invention will be described in further detail with reference to the accompanying drawings and examples; however, the present invention is not limited to the embodiment, and the automatic charging foot massaging robot is provided.
Drawings
Fig. 1 is a schematic structural diagram of a charging seat of the present invention;
fig. 2 is an exploded schematic view of the massage main unit of the present invention;
fig. 3 is a top view of the massage main unit of the present invention;
fig. 4 is a bottom view of the massage main unit of the present invention;
FIG. 5 is a functional block diagram of the present invention;
fig. 6 is a schematic diagram of a circuit structure of the main control module of the present invention;
fig. 7 is a schematic circuit diagram of a display module according to the present invention;
fig. 8 is a schematic circuit structure diagram of the control panel of the present invention;
fig. 9 is a schematic circuit diagram of a second charge control circuit according to the present invention;
fig. 10 is a schematic circuit diagram of a first voltage conversion circuit according to the present invention;
fig. 11 is a schematic circuit diagram of a second voltage conversion circuit according to the present invention;
fig. 12 is a schematic circuit structure diagram of the first infrared positioning detection module of the present invention;
fig. 13 is a schematic circuit structure diagram of a second infrared positioning detection module of the present invention;
fig. 14 is a schematic circuit structure diagram of a third infrared positioning detection module of the present invention;
fig. 15 is a schematic circuit diagram of the left motor driving circuit of the present invention;
fig. 16 is a schematic circuit diagram of the left motor rotation speed detection circuit of the present invention;
fig. 17 is a schematic circuit diagram of a right motor driving circuit according to the present invention;
fig. 18 is a schematic circuit diagram of a right motor rotation speed detection circuit according to the present invention;
fig. 19 is a schematic circuit structure diagram of the left infrared obstacle avoidance module of the present invention;
fig. 20 is a schematic circuit diagram of the right infrared obstacle avoidance module of the present invention;
fig. 21 is a schematic circuit structure diagram of the massage motor driving circuit of the present invention;
fig. 22 is a schematic circuit diagram of a massage air pump driving circuit according to the present invention;
fig. 23 is a schematic circuit diagram of the heating module of the present invention;
fig. 24 is a schematic circuit diagram of the solenoid valve driving circuit according to the present invention;
fig. 25 is a schematic circuit diagram of a first charge control circuit according to the present invention;
fig. 26 is a schematic circuit diagram of an operation status indicating circuit according to the present invention;
fig. 27 is a schematic circuit diagram of the power switch circuit of the present invention;
fig. 28 is a schematic circuit diagram of the power input/output circuit according to the present invention;
fig. 29 is a schematic circuit diagram of one set of infrared positioning modules according to the present invention;
fig. 30 is a schematic circuit diagram of another set of infrared positioning modules according to the present invention.
Detailed Description
In an embodiment, please refer to fig. 1 to 30, the present invention provides an automatic charging foot massaging robot, including:
the charging stand 10 comprises a first body 11, a charging module 12 arranged on the first body 11, and a positioning module capable of transmitting a positioning signal to the outside, wherein the positioning module is electrically connected with the charging module 12;
massage host computer, including second body 20 to and set up in main control module 90, power module 40, the automatic walking module of this second body 20, foot massage module 30, be used for receiving locating signal's location detection module, power module 40, the automatic walking module, location detection module, foot massage module 30 all are connected with main control module 90 electricity, and when power module 40's electric quantity was less than the default, main control module 90 controlled the automatic walking module according to the locating signal control that the location detection module received and walked to power module 40 contact or be close to charging module 12, made charging module 12 charge for power module 40.
In this embodiment, the massage host further includes a storage control module electrically connected to the main control module 90 to send a storage signal to the main control module 90, so that the main control module 90 controls the automatic walking module to walk to the power module 40 or close to the charging module 12 according to the positioning signal received by the positioning detection module.
In this embodiment, the automatic walking module includes walking core, the obstacle avoidance module that can externally transmit and receive signal, and the walking core includes walking motor, motor control circuit and the walking wheel by walking motor drive, and motor control circuit is connected with walking motor, main control module 90 electricity, keeps away the obstacle module with main control module 90 electricity is connected. The number of the walking machine cores is a plurality of, and the walking machine cores are divided into a left group and a right group, and each group comprises two walking machine cores. The left running mechanism is referred to as a left running movement 60, the right running mechanism is referred to as a right running movement 60 ', accordingly, components of the left running movement 60 are referred to as a left motor control circuit 61, a left running motor 62 and a left running wheel, respectively, and components of the right running movement 60' are referred to as a right motor control circuit 61 ', a right running motor 62' and a right running wheel, respectively. The left motor control circuit 61 comprises a left motor driving circuit and a left motor rotating speed detection circuit which are electrically connected with the main control module 90, and the right motor control circuit 61' comprises a right motor driving circuit and a right motor rotating speed detection circuit which are electrically connected with the main control module 90.
In this embodiment, the obstacle avoidance module is an infrared obstacle avoidance module, but is not limited thereto, and in other embodiments, the obstacle avoidance module is an ultrasonic obstacle avoidance module, a radio frequency obstacle avoidance module, or a laser obstacle avoidance module. The number of the infrared obstacle avoidance modules is divided into a left group and a right group, which are called as a left infrared obstacle avoidance module 70 and a right infrared obstacle avoidance module 70'.
In this embodiment, the positioning module is an infrared positioning module 13, but is not limited thereto, and in other embodiments, the positioning module is an ultrasonic positioning module, a radio frequency positioning module, or a laser positioning module. The positioning detection module is adapted to the positioning module, that is, in this embodiment, the positioning detection module is an infrared positioning detection module 80.
In this embodiment, the charging module 12 is electrically connected to a first charging contact 123, the power module 40 is electrically connected to a second charging contact 43, and when the first charging contact 123 contacts with the second charging contact 43, the charging module 12 charges the power module 40. The charging module 12 is further connected to a DC charging connector, and the user can select to charge with the first charging contact 123 or directly charge with the DC charging connector. In other embodiments, the charging module and the power module adopt a wireless charging mode, that is, when the power module enters a charging range of the charging module, the charging module can charge the power module.
In this embodiment, the charging module 12 includes a first charging control circuit 121 and a power input/output circuit 122, where the first charging control circuit 121 is electrically connected to the power input/output circuit 122 to control whether the power input/output circuit 122 starts charging; the input of the power input/output circuit 122 is connected to the power adapter 14, and the output of the power input/output circuit 122 is connected to the positioning module (i.e., the infrared positioning module 12), the first charging contact 123, and the DC charging connector. The power module 40 includes a rechargeable battery 41, a voltage conversion circuit, and a second charging control circuit 42, wherein the input of the second charging control circuit 42 is connected to the second charging contact 43, the output of the charging control circuit is connected to the rechargeable battery 41, the output of the rechargeable battery 41 is connected to the foot massage module 30, and the input of the main control module 90 is connected through the voltage conversion circuit. The rechargeable battery 41 is specifically a 12V lithium battery pack.
In this embodiment, the charging module 12 is electrically connected to a power switch circuit and a working state indicating circuit; the main control module 90 is electrically connected to a control panel 110 and a display module 120, the control panel 110 is provided with a power key, a mode switching key, a heating switch, a storage control key, and the like, and the display module 120 is an LED indication module, but not limited thereto, and is disposed on the control panel 110. The storage control key and the storage control module are not limited thereto, and in other embodiments, the storage control module is a storage timing module that sends a storage signal to the main control module 90 when the timing time is reached.
In this embodiment, the foot massage module 30 includes a massage core and a pneumatic massage mechanism, wherein the massage core may be any one of a vibration massage core, a kneading massage core, a beating massage core and a scraping massage core, and the foot massage module 30 may include a plurality of massage cores, which may be any one or a combination of a vibration massage core, a kneading massage core, a beating massage core and a scraping massage core. The massage movement comprises a massage motor 32, a massage head driven by the massage motor 32, and a massage motor driving circuit 31 connected with the massage motor 32 and the main control module 90. The pneumatic massage mechanism comprises a massage air pump 34, an electromagnetic valve 35, a massage air pump driving circuit 33 connected with the massage air pump 34 and the main control module 90, an electromagnetic valve driving circuit 35 connected with the electromagnetic valve 35 and the main control module 90, and a massage air bag, wherein the massage air pump 34 is connected with the massage air bag through the electromagnetic valve 35 and an air pipe. The utility model discloses still include heating module 100, this heating module 100 with main control module 90 electricity is connected. The heating module 100 may implement a hot compress effect on the foot, and improve a massage effect of the foot massage module 20.
In this embodiment, the second body 20 includes an upper cover 21 and a lower cover 22, which are connected up and down, the main control module 90 and the circuits connected thereto are integrated on a control main board 50, and the control main board 50, the rechargeable battery 41, the heating module 100, the massage motor 32 and the massage head of the massage movement, the massage air pump 34 and the massage air bag of the pneumatic massage mechanism are disposed in a cavity enclosed between the upper cover 21 and the lower cover 22. The hardware main bodies of the left traveling machine core 60 and the right traveling mechanism are arranged on the lower cover 22, and the left infrared obstacle avoidance module 70, the right infrared obstacle avoidance module, the infrared detection module and the second charging contact 43 are also arranged on the lower cover 22.
The utility model discloses an automatic foot massage robot that charges, its main control module 90 adopt the model to be HR8P 506's main control chip U100, as shown in FIG. 6, this main control chip U100 internal integration 32 ARM Cortex-M0CPU kernels. The circuit structure of the LED indication module is shown in fig. 7: L100-L105 are control panel indicating LEDs, and include power switch, mode control, heating switch, and other functional indications. The circuit structure of the control panel is shown in fig. 8: K100-K105 are control panel keys, including power switch, mode control, heating switch, etc. The second charge control circuit 42 is configured as shown in fig. 9, and adopts a charge control chip U201 with a model number of CN3703, and the charge control chip U201 is a charging management chip for 3 lithium batteries. In fig. 9, the CON200 is a charging input interface for connecting the first charging contact 123 and the DC charging connector, and the user can select to charge with the charging contact or directly charge with the DC connector; the battery BAT200, namely the rechargeable battery 41, is formed by connecting 3 sections of 3.7V lithium batteries in series, and the standard voltage is 11.1V, so that a power source is provided for the product.
The voltage conversion circuit includes a first voltage conversion circuit 44 and a second voltage conversion circuit 45, the first voltage conversion circuit 44 is as shown in fig. 10: the chip U200 is a core chip for voltage conversion, and converts 11.1V voltage of the battery into 5V voltage to supply power for the left walking motor 62 'and the right walking motor 62'; the 12 th pin of the chip U200 is a voltage conversion enabling pin and is connected with the 1 st pin of the main control chip U100, when the main control chip U100 outputs a high level, the power supply output of the walking motor is started, and when the main control chip U100 outputs a low level, the power supply output of the walking motor is stopped. The second voltage conversion circuit 45 is shown in fig. 11: the chip U202 is a voltage conversion chip for supplying power to the main control chip U1005V, and converts the voltage of the battery 11.1V into the voltage of 5V; a 4 th pin of the chip U202 is a voltage conversion enabling pin and is connected with a 3 rd pin of the main control chip U100, when the main control chip U100 outputs a high level, power supply output is started, and when the main control chip U100 outputs a low level, the power supply output is closed; the chip U203 is a voltage conversion chip, converts the voltage of the battery 11.1V into the voltage of 5V, and supplies power to the main control chip U100 when the chip U202 is closed.
The number of the infrared positioning detection modules 80 is three, but not limited to, the three infrared positioning detection modules 80 are sequentially called as a first infrared positioning detection module, a second infrared positioning detection module, and a third infrared positioning detection module, as shown in fig. 12-14, the three infrared positioning detection modules 80 are all infrared receiving sensors for receiving infrared light emitted by the infrared positioning module 13 of the charging stand 10 during positioning, determining the position of the charging stand 10, and when one infrared receiving tube receives infrared light, it indicates that the direction is directly opposite to the charging stand 10, and the main control module 90 controls the automatic walking module to perform corresponding actions.
The left-hand traveling motor drive circuit is shown in fig. 15: the chip U301 is a left walking motor driving chip, the CON301 interface is connected with the left walking motor 62, the 1 st pin and the 2 nd pin of the chip U301 are respectively connected with the 17 th pin and the 18 th pin of the main control chip U100, and corresponding high and low levels are output through the control logic of the main control chip U100 to realize the forward and reverse rotation of the left walking motor 62. The speed detection circuit of the left walking motor 62 is shown in fig. 16: the IR301 is a motor rotating speed detection optical code disc used for detecting the current rotating speed of the left motor, and the main control chip U100 calculates the rotating speed of the motor through the pulse number of the optical code disc, so that constant speed or uniform motion is realized. The right traveling motor drive circuit is shown in fig. 17: the chip U300 is a right walking motor driving chip, the CON300 interface is connected with the right walking motor 62 ', the 1 st pin and the 2 nd pin of the chip U300 are respectively connected with the 25 th pin and the 26 th pin of the main control chip U100, and corresponding high and low levels are output through the control logic of the main control chip U100 to realize the forward and reverse rotation of the right walking motor 62'. The right traveling motor speed detection circuit is shown in fig. 18: the IR300 is a motor rotating speed detection optical code disc used for detecting the rotating speed of the current right walking motor, and the main control chip U100 calculates the rotating speed of the motor through the pulse number of the optical code disc, so that constant speed or uniform motion is realized.
The left infrared obstacle avoidance module 70 is shown in fig. 19: l300 is an infrared emitting diode and emits infrared light to the space; the IR302 is an infrared receiving sensor, when an object exists at the front part, infrared light of the infrared emitting diode L300 is reflected to the IR302 by the object, the IR302 feeds back signals to the main control chip U100, and the main control chip U100 performs calculation and identification to perform obstacle avoidance processing. The right infrared obstacle avoidance module 70' is as shown in fig. 20: l301 is an infrared emitting diode and emits infrared light to the space; the IR303 is an infrared receiving sensor, when an object exists at the front side, infrared light of the infrared emitting diode L301 is reflected to the infrared receiving sensor IR303 by the object, the infrared receiving sensor IR303 feeds back signals to the main control chip U100, and the main control chip U100 performs calculation and identification to perform obstacle avoidance processing.
The massage motor driving circuit 31 is shown in fig. 21: the chip U400 is a driving chip of the massage motor 32, the CON400 interface is connected with the massage motor 32, the 1 st pin and the 2 nd pin of the chip U400 are respectively connected with the 10 th pin and the 11 th pin of the main control chip U100, and corresponding high and low levels are output through the control logic of the main control chip U100 to realize the forward and reverse rotation of the massage motor 32, so that different massage modes are realized. As shown in fig. 22, the massage air pump driving circuit 33 is a circuit in which Q400 is an air pump control MOS transistor, a CON401 interface is connected to the massage air pump 34, a control electrode of Q400 is connected to the 5 th pin of the main control chip U100, and the main control chip U100 controls the level of the 5 th pin to switch the massage air pump 34, thereby implementing different pressing modes.
As shown in fig. 23, in the heating module 100, Q401 is a heating control MOS tube, a CON402 interface is a heating component, the heating component may be a heating component such as a microphone, a heater strip, or a PTC, a control electrode of Q401 is connected to a 4 th pin of the main control chip U100, and the main control chip U100 controls a level of the 4 th pin to implement a heating switch.
The circuit structure of the solenoid valve driving circuit 35 is shown in fig. 24: q402 is the solenoid valve control MOS pipe, CON403 interface connection solenoid valve 36, and the control electrode of Q402 connects the 8 th foot of main control chip U100, and main control chip U100 realizes the switch of solenoid valve through the level height of control 8 th foot to realize different press the mode.
The first charge control circuit 121 is shown in fig. 25: the chip U501 is a core control chip of the cradle 10. The working state indicating circuit is shown in fig. 26: l501 and L502 are working state indicator lamps; the power switching circuit is shown in fig. 27: k500 is a power switch key. The power input/output circuit 122 is shown in fig. 25: the CON500 interface is an input interface of the power adapter 14, the chip U500 is a voltage conversion chip, and the input direct current voltage is converted into 5V voltage; the CON501 interface is a charging contact interface of the charging stand 10, is externally connected with a first charging contact 123 formed by a charging spring, and when a second charging contact 43 on the massage host contacts with the first charging contact 123, realizes charging of the rechargeable battery 41 of the massage host; q500 is a charging output control MOS tube, and the chip U501 controls the charging enable by controlling the level of the 13 th pin.
The infrared positioning modules 13 include two sets, one set of infrared positioning modules is shown in fig. 29, and the other set of infrared positioning modules is shown in fig. 30: L503-L508 are infrared emitting diodes, and emit infrared signals to the space during operation, and when the infrared receiving sensor of the infrared detection module on the massage host receives the infrared signals and needs to be charged, the main control module 90 controls the automatic walking module to walk towards the infrared light emitting direction, so as to realize automatic positioning.
The utility model discloses an automatic foot massage robot that charges, its automatic theory of operation who charges as follows: in the power-on state, the main control module 90 detects the electric quantity of the rechargeable battery 41, and if the electric quantity of the rechargeable battery 41 is lower than the preset value, the main control module 90 controls the automatic walking module to walk to the second charging contact 43 to contact with the first charging contact 123 on the charging dock 10 according to the infrared signal received by the infrared positioning detection module 80, so that the charging module 12 of the charging dock 10 charges the rechargeable battery 41. If the user presses the storage button, the main control module 90 receives the storage signal and controls the automatic walking module to walk to the second charging contact 43 to contact with the first charging contact 123 on the charging seat 10 according to the infrared signal received by the infrared positioning detection module 80, so that the massage host automatically returns to the charging seat 10, and meanwhile, the charging module 12 of the charging seat 10 charges the rechargeable battery 41 until the massage host is fully charged.
The utility model discloses an automatic foot massage robot that charges, it can realize automatic charging, removes artifical manual charging from to when guaranteeing that user interval a period reuse foot massage, foot massage robot has sufficient electric quantity to carry out the massage function. The utility model discloses after using the completion, can get back to charging seat 10 positions automatically, realize accomodating automatically to remove the trouble that the user accomodate from.
The above embodiments are only used to further explain the present invention, but the present invention is not limited to the embodiments, and all the technical matters of the present invention do not fall into the protection scope of the present invention for any simple modification, equivalent change and modification of the above embodiments.
Claims (10)
1. The utility model provides an automatic foot massage robot that charges which characterized in that: the method comprises the following steps:
the charging seat comprises a first body, a charging module arranged on the first body and a positioning module capable of transmitting a positioning signal outwards, wherein the positioning module is electrically connected with the charging module;
the massage host comprises a second body, a main control module, a power module, an automatic walking module, a foot massage module and a positioning detection module, wherein the main control module, the power module, the automatic walking module, the positioning detection module and the foot massage module are arranged on the second body and used for receiving the positioning signals, the power module, the automatic walking module, the positioning detection module and the foot massage module are all electrically connected with the main control module, when the electric quantity of the power module is lower than a preset value, the main control module controls the automatic walking module to walk to the power module or to be close to the charging module according to the positioning signals received by the positioning detection module, and the charging.
2. The automatically charged foot massaging robot of claim 1, wherein: the massage host machine further comprises a storage control module which is electrically connected with the main control module to send a storage signal to the main control module, so that the main control module controls the automatic walking module to walk to the power supply module to contact or be close to the charging module according to the positioning signal received by the positioning detection module.
3. The automatically charged foot massaging robot of claim 1, wherein: the automatic walking module comprises a walking machine core and an obstacle avoidance module capable of transmitting and receiving signals externally, the walking machine core comprises a walking motor, a motor control circuit and a walking wheel driven by the walking motor, the motor control circuit is electrically connected with the walking motor and the main control module, and the obstacle avoidance module is electrically connected with the main control module.
4. The automatically charged foot massaging robot of claim 3, wherein: the number of the walking machine cores is a plurality of, and the walking machine cores are divided into a left group and a right group, and each group comprises at least one walking machine core; the number of the obstacle avoidance modules is a plurality, and the obstacle avoidance modules are infrared obstacle avoidance modules, ultrasonic obstacle avoidance modules, radio frequency obstacle avoidance modules or laser obstacle avoidance modules.
5. The automatically charged foot massaging robot of claim 1, wherein: the positioning module is an infrared positioning module, an ultrasonic positioning module, a radio frequency positioning module or a laser positioning module, and the positioning detection module is matched with the positioning module.
6. The automatically charged foot massaging robot of claim 1, wherein: the charging module is electrically connected with a first charging contact, the power supply module is electrically connected with a second charging contact, and when the first charging contact is in contact with the second charging contact, the charging module charges the power supply module.
7. The automatically charged foot massaging robot of claim 6, wherein: the charging module comprises a first charging control circuit and a power input/output circuit, wherein the first charging control circuit is electrically connected with the power input/output circuit so as to control the power input/output circuit to start charging or not; the input of the power input and output circuit is connected with the power adapter, and the output of the power input and output circuit is connected with the positioning module and the first charging contact.
8. The automatically charged foot massaging robot of claim 6, wherein: the power module comprises a rechargeable battery, a voltage conversion circuit and a second charging control circuit, wherein the input of the second charging control circuit is connected with the second charging contact, the output of the charging control circuit is connected with the rechargeable battery, and the output of the rechargeable battery is connected with the foot massage module and is connected with the input of the main control module through the voltage conversion circuit.
9. The automatically charged foot massaging robot of claim 1, wherein: the charging module is electrically connected with a power switch circuit and a working state indicating circuit; the main control module is electrically connected with a control panel and a display module.
10. The automatically charged foot massaging robot of claim 1, wherein: the foot massage module comprises one or more of a massage machine core and a pneumatic massage mechanism; the heating module is electrically connected with the main control module.
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| CN201921145106.5U CN211356622U (en) | 2019-07-19 | 2019-07-19 | Automatic foot massage robot that charges |
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| CN201921145106.5U CN211356622U (en) | 2019-07-19 | 2019-07-19 | Automatic foot massage robot that charges |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111249123A (en) * | 2019-07-19 | 2020-06-09 | 佳木子(厦门)科技有限公司 | Automatic-charging foot massage robot and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111249123A (en) * | 2019-07-19 | 2020-06-09 | 佳木子(厦门)科技有限公司 | Automatic-charging foot massage robot and control method thereof |
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