CN215689662U - Intelligent head massaging arm - Google Patents

Abstract

The utility model belongs to the technical field of massage instruments, and provides an intelligent head massage arm which comprises a fixed support, wherein a rotary arm and a first driving mechanism for driving the rotary arm to rotate are arranged on the fixed support, the first driving mechanism is installed on the fixed support, a second driving mechanism is arranged in the rotary arm and used for driving the rotary arm to rotate, a gripper mechanism is movably connected to the rotary arm, a detection mechanism for detecting massage pressure is arranged in the gripper mechanism, a third driving mechanism is arranged in the rotary arm and used for adjusting the massage range of the gripper mechanism, and the third driving mechanism is in transmission connection with the gripper mechanism. The intelligent head massaging arm is convenient for changing the massaging position of the gripper mechanism on the head; the massage force of the gripper mechanism is convenient to control; the massage range of the hand grip mechanism is convenient to expand.

Description

Intelligent head massaging arm

Technical Field

The utility model relates to the technical field of massage instruments, in particular to an intelligent head massage arm.

Background

The massager is a new generation health care equipment developed according to physics, bionics, bioelectricity, traditional Chinese medicine and years of clinical practice.

The existing head massager performs massage in a handheld mode, and the position of the massage needs to be manually changed in the massage process, so that the head massage arm can be transported. However, the existing head massage arms cannot flexibly change the massage position and accurately control the massage strength. Accordingly, there is a need for improvements to existing head massaging arms.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the intelligent head massaging arm provided by the utility model is convenient for changing the massaging position of the gripper mechanism on the head; the massage force of the gripper mechanism is convenient to control; the massage range of the hand grip mechanism is convenient to expand.

In order to solve the technical problems, the utility model provides the following technical scheme:

intelligence head massage arm, including the fixed bolster, be equipped with rotatory arm on the fixed bolster and be used for driving rotatory arm pivoted first actuating mechanism, first actuating mechanism installs on the fixed bolster, be provided with second actuating mechanism in the rotatory arm, second actuating mechanism is used for driving rotatory arm and rotates, swing joint has tongs mechanism on the rotatory arm, be provided with the detection mechanism who is used for carrying out massage pressure detection in the tongs mechanism, be provided with third actuating mechanism in the rotatory arm, third actuating mechanism is used for adjusting the massage scope of tongs mechanism, third actuating mechanism is connected with tongs mechanism transmission, first actuating mechanism, second actuating mechanism, third actuating mechanism, detection mechanism and tongs mechanism all are connected with the controller electricity.

Further, first actuating mechanism includes first motor, and first motor is installed on the fixed bolster, and the output shaft and the rotatory arm drive of first motor are connected, rotate on the output shaft of first motor and be provided with spacing dish, and spacing dish is installed on the fixed bolster, is provided with two limit switch on the spacing dish, and coaxial coupling has the switch to bump the feeler lever on the output shaft of first motor, and the switch touches the lever and is located spacing dish and arrange in between two limit switch, and first motor is connected with the controller electricity, and two limit switch are connected with the controller electricity.

Furthermore, the rotating arm comprises an upper supporting arm and a lower supporting arm, an upper protective shell is fixedly mounted on the upper supporting arm, a lower protective shell is fixedly mounted on the lower supporting arm, the upper protective shell is fixedly connected with the lower protective shell, the upper protective shell is in driving connection with an output shaft of the first motor, and the lower protective shell is in driving connection with an output shaft of the first motor; the second driving mechanism comprises a fixed shaft and a first driving shaft, two ends of the fixed shaft are respectively connected with the upper supporting arm and the lower supporting arm in a rotating manner, a central base is fixedly arranged on the fixed shaft, a second motor is fixedly arranged on the central base, a first helical gear is coaxially connected on an output shaft of the second motor, a second helical gear is coaxially connected on the first driving shaft, the first helical gear is meshed with the second helical gear, the central area of the first driving shaft is rotatably connected with the central base, first arc-shaped grooves are respectively arranged at the positions of the upper supporting arm and the lower supporting arm, which correspond to the first driving shaft, one side wall of each first arc-shaped groove is provided with an arc-shaped rack, the end part of the first driving shaft extends into the first arc-shaped groove, the end part of the first driving shaft is coaxially connected with a driving gear, the driving gear is meshed with the arc-shaped racks, a first PCB is arranged on the first driving shaft, and is used for detecting the rotating angle of the first driving shaft, the first PCB and the second motor are both electrically connected with the controller.

Furthermore, an upper panel is installed on the upper supporting arm, and a lower panel is installed on the lower supporting arm.

Furthermore, the third driving mechanism comprises a third motor and a second driving shaft, the third motor is mounted on the lower supporting arm, an output shaft of the third motor is coaxially connected with a third bevel gear, the second driving shaft is coaxially connected with a fourth bevel gear, the third bevel gear is meshed with the fourth bevel gear, the positions of the upper supporting arm and the lower supporting arm corresponding to the second driving shaft are both provided with a second arc-shaped groove, the end part of the second driving shaft penetrates through the second arc-shaped groove and extends to the upper part of the second arc-shaped groove, the second driving shaft is rotatably connected with a first linkage rod, one end of the first linkage rod, which is far away from the second driving shaft, is rotatably connected with a second linkage rod, the second driving shaft is mounted with a second PCB, the second PCB is used for detecting the rotation angle of the second driving shaft, and the second PCB is electrically connected with the controller; the third arc-shaped groove is formed in the positions, corresponding to the gripper mechanism, of the upper supporting arm and the lower supporting arm, connecting sheets are connected to the two sides of the gripper mechanism, the connecting sheets are arranged in the third arc-shaped groove and slide along the third arc-shaped groove, the second linkage rod is connected with the connecting sheets in a rotating mode, the third motor is electrically connected with the controller, a supporting plate is fixedly mounted between the upper supporting arm and the lower supporting arm, and the supporting plate corresponds to the gripper mechanism.

Furthermore, the gripper mechanism comprises two support frames and two gripper units, the two support frames correspond to the two gripper units one by one respectively, the two support frames are rotatably connected, two ends of the connecting piece are rotatably connected with the two support frames respectively, and the top end of the connecting piece is rotatably connected with the second linkage rod; a first spring group and a second spring group are arranged between the two support frames, two ends of the first spring group are respectively arranged above the two support frames, two ends of the second spring group are respectively arranged below the two support frames, the first spring group and the second spring group are correspondingly arranged, and the elasticity of the first spring group is greater than that of the second spring group; a supporting plate is fixedly installed on the supporting frame, a plurality of screw rods are fixedly installed in the edge area of the gripper unit, counter bores are formed in the positions, corresponding to the screw rods, of the supporting plate, through holes are formed in the bottoms of the counter bores, the top ends of the screw rods penetrate through the through holes and extend into the counter bores, extension springs are arranged in the counter bores, the extension springs are sleeved on the screw rods, nuts are connected to the top ends of the screw rods in a threaded mode, one ends of the extension springs are fixedly connected with the bottoms of the counter bores, and the other ends of the extension springs are fixedly connected with the nuts; and cover plates are fixedly arranged on the two support frames.

Furthermore, the gripper unit comprises a shell, a lifting part and a fourth driving mechanism for driving the lifting part to lift are arranged in the shell, the fourth driving mechanism is fixedly connected with the shell, a plurality of connecting rod assemblies are arranged around the lifting part, one ends of the connecting rod assemblies are movably connected with the lifting part, silica gel fingers are arranged at the other ends of the connecting rod assemblies, a plurality of supporting parts are fixedly arranged on the shell, the supporting parts correspond to the connecting rod assemblies one to one, and the supporting parts are movably connected with the connecting rod assemblies; the fourth driving mechanism comprises a fourth motor, the fourth motor is fixedly connected with the shell through a mounting frame, an output shaft of the fourth motor is connected with an eccentric wheel, the eccentric wheel is rotatably connected with a transmission rod, and one end, far away from the eccentric wheel, of the transmission rod is rotatably connected with the lifting component; the lifting component comprises a lifting column, the top end of the lifting column is rotationally connected with the transmission rod, a plurality of bumps are fixedly arranged on the lifting column, the bumps correspond to the connecting rod assemblies one by one, and the bumps are rotationally connected with the connecting rod assemblies; the connecting rod assembly comprises a push rod and a rotating rod, the push rod is connected with the protruding block in a rotating mode, the push rod is connected with the rotating rod in a rotating mode, the middle area of the rotating rod is connected with the supporting part in a rotating mode, the silica gel fingers are fixedly installed at the bottom end of the rotating rod, the supporting part is a supporting block, and the supporting block is connected with the rotating rod in a rotating mode.

Furthermore, the detection mechanism comprises a pressure sensor and a top block, the pressure sensor is mounted in the central area of the shell, the top block is mounted in the central area of the supporting disc, the top block and the pressure sensor are arranged oppositely, and the pressure sensor is electrically connected with the controller.

Further, the below fixed mounting of casing has the lower cover, and circular through-hole has been seted up with the position that the lift post corresponds to the lower cover, and the lower fixed surface of lift post installs spacing post, and the bottom of spacing post is passed circular through-hole and is extended to the below of lower cover, and rectangular shape through-hole has been seted up with the position that the dwang corresponds to the lower cover, and the bottom of dwang is passed rectangular shape through-hole and is extended to the below of lower cover, the plane at spacing post bottom place is less than the plane at dwang bottom place, fixed mounting has the upper cover on the casing, a plurality of screw rods and upper cover fixed connection.

Further, the bottom cover of spacing post is equipped with the silica gel cover.

According to the technical scheme, the utility model has the beneficial effects that: the controller controls the first driving mechanism to drive the rotating arm to rotate and drive the gripper mechanism to rotate, so that the massage position of the gripper mechanism on the head can be changed conveniently; when the gripper mechanism reaches the massage position, the massage pressure between the gripper mechanism and the head is detected through the detection mechanism, and when the massage pressure is larger than a set threshold value, the second driving mechanism drives the rotary arm to move towards one side far away from the head until the massage pressure between the gripper mechanism and the head is consistent with the set threshold value, so that the massage force of the gripper mechanism is conveniently controlled; when the massage pressure is smaller than the set threshold value, the second driving mechanism drives the rotary arm to move towards one side close to the head until the massage pressure between the gripper mechanism and the head is consistent with the set threshold value; when the massage pressure between the gripper mechanism and the head is consistent with the set threshold value, the controller controls the third driving mechanism to drive the gripper mechanism to move, so that the massage range of the gripper mechanism is expanded conveniently.

Drawings

In order to more clearly illustrate the detailed description of the utility model or the technical solutions in the prior art, the drawings that are needed in the detailed description of the utility model or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

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

FIG. 2 is an exploded view of the present invention;

FIG. 3 is an enlarged view of the utility model at B;

FIG. 4 is a schematic structural view of the gripper mechanism according to the present invention;

FIG. 5 is a top view of the gripper mechanism of the present invention;

FIG. 6 is an enlarged view of the utility model at A;

FIG. 7 is a schematic structural view of a counterbore and a through hole of the present invention;

FIG. 8 is a schematic structural view of a top block of the present invention;

FIG. 9 is a schematic structural view of a gripper unit according to the present invention;

FIG. 10 is a schematic view of the internal structure of the gripper unit according to the present invention;

FIG. 11 is a schematic view of a further angle of the gripper unit according to the present invention;

fig. 12 is a schematic structural view of the mounting bracket of the present invention.

Reference numerals:

1-a shell; 2-covering the upper cover; 3-lower cover; 4-a support frame; 5-a first motor; 6-upper support arm; 7-a lower support arm; 8-a limiting disc;

11-a mounting frame; 12-a support block; 13-a fourth motor; 14-eccentric wheel; 15-a transmission rod; 16-a lifting column; 17-a push rod; 18-rotating rods; 19-silica gel fingers; 21-screw rod; 22-a pressure sensor; 31-a circular through hole; 32-long strip-shaped through holes; 41-cover plate; 42-a support disk; 43-connecting piece; 44-a first spring set; 45-a second spring set; 51-switch touch bar; 61-upper protective shell; 62-an upper panel; 63-a fixed shaft; 64-a first drive shaft; 65-a first arc-shaped slot; 66-a third arcuate slot; 67-a support plate; 71-a lower protective shell; 72-a third motor; 73-a second drive shaft; 74-a second arcuate slot; 81-limit switch; 82-a tray cover;

161-bumps; 162-a limit post; 163-silica gel cover; 421-a counter bore; 422-through holes; 423-extension spring; 424-top block; 631-a central base; 632-a second motor; 633-a first bevel gear; 641-a second bevel gear; 642-first PCB board; 643 — a drive gear; 651-arc rack; 721-a third helical gear; 731-fourth helical gear; 732-a second PCB board; 733 — first linkage bar; 734-second linkage rod.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.

Referring to fig. 1 to 12, the intelligent head massaging arm provided by this embodiment includes a fixed support, a rotating arm and a first driving mechanism for driving the rotating arm to rotate are disposed on the fixed support, the first driving mechanism is mounted on the fixed support, a second driving mechanism is disposed in the rotating arm, the second driving mechanism is used for driving the rotating arm to rotate, a gripper mechanism is movably connected to the rotating arm, a detection mechanism for detecting a massaging pressure is disposed in the gripper mechanism, a third driving mechanism is disposed in the rotating arm, the third driving mechanism is used for adjusting a massaging range of the gripper mechanism, the third driving mechanism is in transmission connection with the gripper mechanism, and the first driving mechanism, the second driving mechanism, the third driving mechanism, the detection mechanism and the gripper mechanism are all electrically connected to a controller. The controller is an STM32 singlechip.

In actual use, the controller controls the first driving mechanism to drive the rotating arm to rotate and drive the gripper mechanism to rotate, so that the massage position of the gripper mechanism on the head can be changed conveniently; when the gripper mechanism reaches the massage position, the massage pressure between the gripper mechanism and the head is detected through the detection mechanism, and when the massage pressure is larger than a set threshold value, the second driving mechanism drives the rotary arm to move towards one side far away from the head until the massage pressure between the gripper mechanism and the head is consistent with the set threshold value; when the massage pressure is smaller than the set threshold value, the second driving mechanism drives the rotary arm to move towards one side close to the head until the massage pressure between the gripper mechanism and the head is consistent with the set threshold value, so that the massage force of the gripper mechanism is controlled conveniently; when the massage pressure between the gripper mechanism and the head is consistent with the set threshold value, the controller controls the third driving mechanism to drive the gripper mechanism to move, so that the massage range of the gripper mechanism is expanded conveniently.

In this embodiment, the first driving mechanism includes a first motor 5, the first motor 5 is installed on the fixed bolster, the output shaft of the first motor 5 is connected with the drive of the rotating arm, the output shaft of the first motor 5 is provided with a limiting disc 8 in a rotating manner, the limiting disc 8 is installed on the fixed bolster, two limit switches 81 are arranged on the limiting disc 8, the output shaft of the first motor 5 is coaxially connected with a switch touch rod 51, the switch touch rod 51 is located in the limiting disc 8 and is arranged between the two limit switches 81, the first motor 5 is electrically connected with the controller, and the two limit switches 81 are electrically connected with the controller. The limiting disc 8 is fixedly provided with a disc cover 82.

In practical use, in the process that the first motor 5 drives the rotating arm to rotate, the output shaft of the first motor 5 drives the switch touch rod 51 to rotate, when the switch touch rod 51 touches the limit switch 81, the controller controls the first motor 5 to drive the rotating arm to move in the reverse direction, the two limit switches 81 are used for limiting the rotating range of the rotating arm, the rotating arm is controlled to rotate in the head area of a user, and the rotating arm is prevented from rotating to the face area.

In this embodiment, the rotating arm includes an upper support arm 6 and a lower support arm 7, an upper protective shell 61 is fixedly mounted on the upper support arm 6, a lower protective shell 71 is fixedly mounted on the lower support arm 7, the upper protective shell 61 and the lower protective shell 71 are fixedly connected, the upper protective shell 61 is in driving connection with an output shaft of the first motor 5, and the lower protective shell 71 is in driving connection with an output shaft of the first motor 5; the second driving mechanism comprises a fixed shaft 63 and a first driving shaft 64, two ends of the fixed shaft 63 are respectively rotatably connected with the upper supporting arm 6 and the lower supporting arm 7, a central base 631 is fixedly installed on the fixed shaft 63, a second motor 632 is fixedly installed on the central base 631, a first bevel gear 633 is coaxially connected with an output shaft of the second motor 632, a second bevel gear 641 is coaxially connected with the first driving shaft 64, the first bevel gear 633 is meshed with the second bevel gear 641, a central area of the first driving shaft 64 is rotatably connected with the central base 631, first arc-shaped grooves 65 are respectively formed in positions of the upper supporting arm 6 and the lower supporting arm 7 corresponding to the first driving shaft 64, an arc-shaped rack 651 is arranged on one side wall of the first arc-shaped grooves 65, an end of the first driving shaft 64 extends into the first arc-shaped grooves 65, an end of the first driving shaft 64 is coaxially connected with a driving gear 643, the driving gear 643 is meshed with the arc-shaped rack 651, the first drive shaft 64 is provided with a first PCB 642, the first PCB 642 is used for detecting a rotation angle of the first drive shaft 64, and both the first PCB 642 and the second motor 632 are electrically connected to the controller. Go up protective housing 61 and all offer the logical groove with first arc wall 65 looks adaptation on the protective housing 71, the upper end of first drive shaft 64 passes through logical groove, and the lower extreme of first drive shaft 64 passes through logical groove.

In practical use, when the rotary arm rotates to a predetermined position, the output shaft of the second motor 632 rotates to drive the first bevel gear 633 to rotate, the first bevel gear 633 rotates to drive the second bevel gear 641 to rotate, the second bevel gear 641 rotates to drive the first driving shaft 64 to rotate, the first driving shaft 64 rotates to drive the driving gear 643 to rotate, the driving gear 643 rotates to drive the arc-shaped rack 651 to rotate, the arc-shaped rack 651 rotates to drive the upper support arm 6 and the lower support arm 7 to rotate around the fixed shaft 63, and the distance between the gripper mechanism and the head is adjusted to make the massage pressure between the gripper mechanism and the head consistent with a set threshold value.

In this embodiment, the upper support arm 6 has an upper panel 62 attached thereto, and the lower support arm 7 has a lower panel attached thereto. The upper panel 62 has a function of protecting the upper support arm 6, and the lower panel has a function of protecting the lower support arm 7.

In this embodiment, the third driving mechanism includes a third motor 72 and a second driving shaft 73, the third motor 72 is mounted on the lower supporting arm 7, an output shaft of the third motor 72 is coaxially connected with a third bevel gear 721, the second driving shaft 73 is coaxially connected with a fourth bevel gear 731, the third bevel gear 721 is engaged with the fourth bevel gear 731, the upper supporting arm 6 and the lower supporting arm 7 are both provided with a second arc-shaped slot 74 at a position corresponding to the second driving shaft 73, an end of the second driving shaft 73 passes through the second arc-shaped slot 74 and extends to the upper side of the second arc-shaped slot 74, the second driving shaft 73 is rotatably connected with a first linkage rod 733, one end of the first linkage rod 733, which is far away from the second driving shaft 73, is rotatably connected with a second linkage rod 734, the second driving shaft 73 is mounted with a second PCB 732, the second PCB 732 is used for detecting a rotation angle of the second driving shaft 73, and the second PCB 732 is electrically connected with the controller; third arc-shaped grooves 66 are formed in the positions, corresponding to the gripper mechanisms, of the upper supporting arm 6 and the lower supporting arm 7, connecting sheets 43 are connected to two sides of the gripper mechanisms, the connecting sheets 43 are arranged in the third arc-shaped grooves 66 and slide along the third arc-shaped grooves 66, the second linkage rod 734 is rotatably connected with the connecting sheets 43, the third motor 72 is electrically connected with the controller, a supporting plate 67 is fixedly mounted between the upper supporting arm 6 and the lower supporting arm 7, and the supporting plate 67 corresponds to the gripper mechanisms. The upper end of the second driving shaft 73 penetrates through the upper protective shell 61 and is connected with the upper protective shell 61 in a rotating mode, the lower end of the second driving shaft 73 penetrates through the lower protective shell 71 and is connected with the lower protective shell 71 in a rotating mode, and stability of the second driving shaft 73 in the rotating process is improved.

In practical use, when the massage force of the gripper mechanism and the head is consistent with the set threshold, the output shaft of the third motor 72 rotates to drive the third bevel gear 721 to rotate, the third bevel gear 721 rotates to drive the fourth bevel gear 731 to rotate, the fourth bevel gear 731 rotates to drive the second driving shaft 73 to rotate, the second driving shaft 73 rotates to drive the first linkage rod 733 to rotate, the first linkage rod 733 rotates to pull the second linkage rod 734 to move, and the second linkage rod 734 moves to drive the connecting sheet 43 to slide in the third arc-shaped groove 66, so that the gripper mechanism is driven to move, and the massage range of the gripper mechanism is expanded.

In this embodiment, the gripper mechanism includes two support frames 4 and two gripper units, the two support frames 4 correspond to the two gripper units one by one, the two support frames 4 are rotatably connected, two ends of the connecting sheet 43 are rotatably connected to the two support frames 4, respectively, and the top end of the connecting sheet 43 is rotatably connected to the second linkage bar 734; a first spring group 44 and a second spring group 45 are arranged between the two support frames 4, two ends of the first spring group 44 are respectively arranged above the two support frames 4, two ends of the second spring group 45 are respectively arranged below the two support frames 4, the first spring group 44 and the second spring group 45 are correspondingly arranged, and the elastic force of the first spring group 44 is greater than that of the second spring group 45; a supporting plate 42 is fixedly installed on the supporting frame 4, a plurality of screws 21 are fixedly installed in the edge area of the gripper unit, counter bores 421 are formed in the positions, corresponding to the screws 21, of the supporting plate 42, through holes 422 are formed in the bottoms of the counter bores 421, the top ends of the screws 21 penetrate through the through holes 422 and extend into the counter bores 421, extension springs 423 are arranged in the counter bores 421, the extension springs 423 are sleeved on the screws 21, nuts are connected to the top ends of the screws 21 in a threaded mode, one ends of the extension springs 423 are fixedly connected with the bottoms of the counter bores 421, and the other ends of the extension springs 423 are fixedly connected with the nuts; the two support frames 4 are both fixedly provided with cover plates 41.

In practical use, because the elastic force of the first spring group 44 is greater than the elastic force of the second spring group 45, and the first spring group 44 is located above the second spring group 45, the included angle between the two support frames 4 is smaller than a certain degree, when the support frames 4 are arc-shaped, the positions of the two support frames 4 are an arc line, which can better adapt to the shape of the head of a user; when the head contacts with the gripper unit, the pressure of the head on the gripper unit drives the top end of the screw rod 21 to move towards the direction far away from the head, at the moment, the extension spring 423 is in an extension state, and the top end of the screw rod 21 moves in a limited range under the action of the tension of the extension spring 423, so that excessive pressing of the gripper unit on the head is avoided, and the massage effect on the head can be kept.

In this embodiment, the gripper unit includes a housing 1, a lifting component and a fourth driving mechanism for driving the lifting component to lift are arranged in the housing 1, the fourth driving mechanism is fixedly connected with the housing 1, a plurality of connecting rod assemblies are arranged around the lifting component, one ends of the connecting rod assemblies are movably connected with the lifting component, the other ends of the connecting rod assemblies are respectively provided with a silica gel finger 19, a plurality of supporting components are fixedly arranged on the housing 1, the supporting components correspond to the connecting rod assemblies one to one, and the supporting components are movably connected with the connecting rod assemblies; the fourth driving mechanism comprises a fourth motor 13, the fourth motor 13 is fixedly connected with the shell 1 through a mounting rack 11, an eccentric wheel 14 is connected to an output shaft of the fourth motor 13, a transmission rod 15 is rotatably connected to the eccentric wheel 14, and one end, far away from the eccentric wheel 14, of the transmission rod 15 is rotatably connected with the lifting component; the lifting component comprises a lifting column 16, the top end of the lifting column 16 is rotatably connected with the transmission rod 15, a plurality of lugs 161 are fixedly arranged on the lifting column 16, the lugs 161 correspond to the connecting rod assemblies one by one, and the lugs 161 are rotatably connected with the connecting rod assemblies; the connecting rod assembly comprises a push rod 17 and a rotating rod 18, the push rod 17 is rotatably connected with the projection 161, the push rod 17 is rotatably connected with the rotating rod 18, the middle area of the rotating rod 18 is rotatably connected with a supporting part, a silica gel finger 19 is fixedly installed at the bottom end of the rotating rod 18, the supporting part is a supporting block 12, and the supporting block 12 is rotatably connected with the rotating rod 18.

In practical use, in the process of driving the lifting part to lift through the fourth driving mechanism, the lifting part generates pushing force or pulling force on the connecting rod assembly to drive the silica gel fingers 19 to mutually approach or disperse, so that the grasping or opening action of a human hand is simulated, the comfortable feeling is good no matter in the hair washing and protecting process or the daily massage process, and the grasping or opening action of the silica gel fingers 19 can avoid winding hair; the working process of the fourth driving mechanism is as follows: the rotation of the output shaft of the fourth motor 13 drives the eccentric wheel 14 to rotate, and the eccentric wheel 14 rotates to drive one end of the transmission rod 15, which is far away from the eccentric wheel 14, to lift, so as to drive the lifting part to lift; the working process of the lifting component is as follows: in the process of lifting the bottom end of the transmission rod 15, the lifting column 16 is driven to lift, in the process of lifting the lifting column 16, the plurality of lugs 161 are driven to lift, and in the process of lifting the lugs 161, a pushing force or a pulling force is generated on the connecting rod assembly; the working process of the connecting rod assembly is as follows: in the process that the convex block 161 rises, the push rod 17 is pulled upwards, the push rod 17 generates thrust on the rotating rod 18, so that the top end of the rotating rod 18 moves to one side far away from the lifting column 16, and due to the supporting function of the supporting part, the bottom end of the rotating rod 18 moves to one side close to the lifting column 16, so that the silica gel fingers 19 are driven to approach to one side of the lifting column 16, and therefore the plurality of silica gel fingers 19 are mutually closed to form a grasping action; in the process that the convex block 161 descends, the push rod 17 is pulled downwards, the push rod 17 generates a pulling force on the rotating rod 18, the top end of the rotating rod 18 moves towards one side close to the lifting column 16, and due to the supporting effect of the supporting block 12, the bottom end of the rotating rod 18 moves towards one side far away from the lifting column 16, the silica gel fingers 19 are driven to move towards one side far away from the lifting column 16, so that the silica gel fingers 19 are mutually dispersed to form an opening action.

In the present embodiment, the detection mechanism includes a pressure sensor 22 and a top block 424, the pressure sensor 22 is mounted in the central area of the housing 1, the top block 424 is mounted in the central area of the support plate 42, the top block 424 is disposed opposite to the pressure sensor 22, and the pressure sensor 22 is electrically connected to the controller.

In practical use, when the gripper unit contacts with the head, the head exerts upward pressure on the gripper unit to push the gripper unit to move towards the direction of the supporting plate 42, when the top block 424 contacts with the pressure sensor 22, the pressure sensor 22 can detect the massage pressure of the gripper unit on the head, and when the massage pressure is greater than a set threshold, the controller controls the second motor 632 to drive the rotating arm to move towards the side far away from the head until the massage pressure between the gripper mechanism and the head is consistent with the set threshold; when the massage pressure is less than the set threshold, the controller controls the second motor 632 to drive the rotary arm to move to the side close to the head until the massage pressure between the gripper mechanism and the head is consistent with the set threshold.

In this embodiment, casing 1's below fixed mounting has lower cover 3, circular through-hole 31 has been seted up with the position that lift post 16 corresponds to lower cover 3, lift post 16's lower fixed surface installs spacing post 162, the bottom of spacing post 162 is passed circular through-hole 31 and is extended to the below of lower cover 3, rectangular shape through-hole 32 has been seted up with the position that dwang 18 corresponds to lower cover 3, rectangular shape through-hole 32 extends to the below of lower cover 3 is passed to the bottom of dwang 18, the plane at spacing post 162 bottom place is less than the plane at dwang 18 bottom place, fixed mounting has upper cover 2 on casing 1, a plurality of screw rods 21 and upper cover 2 fixed connection.

In the in-process that in-service use, lift post 16 goes up and down to drive spacing post 162 and go up and down and a plurality of dwang 18 bottom be close to each other or mutual dispersion, and the bottom of spacing post 162 is less than the bottom of dwang 18 all the time, and at the in-process of massage, the bottom contact of head and dwang 18 can be avoided in setting up of spacing post 162, promotes the comfort of massage in-process.

In this embodiment, the bottom end cover of spacing post 162 is equipped with silica gel cover 163, even the bottom contact of head and spacing post 162 among the massage process, because silica gel cover 163 sets up and also can not produce oppression sense and the sense of sting, promotes the comfort among the massage process.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

Claims (10)

1. Intelligence head massage arm, including the fixed bolster, its characterized in that: the massage device is characterized in that a rotary arm and a first driving mechanism used for driving the rotary arm to rotate are arranged on the fixed support, the first driving mechanism is installed on the fixed support, a second driving mechanism is arranged in the rotary arm and used for driving the rotary arm to rotate, a gripper mechanism is movably connected to the rotary arm, a detection mechanism used for detecting massage pressure is arranged in the gripper mechanism, a third driving mechanism is arranged in the rotary arm and used for adjusting the massage range of the gripper mechanism, the third driving mechanism is in transmission connection with the gripper mechanism, and the first driving mechanism, the second driving mechanism, the third driving mechanism, the detection mechanism and the gripper mechanism are all electrically connected with the controller.

2. The intelligent head massaging arm of claim 1, wherein: first actuating mechanism includes first motor (5), first motor (5) are installed on the fixed bolster, the output shaft and the rotating arm drive of first motor (5) are connected, it is provided with spacing dish (8) to rotate on the output shaft of first motor (5), spacing dish (8) are installed on the fixed bolster, be provided with two limit switch (81) on spacing dish (8), coaxial coupling has switch touch bar (51) on the output shaft of first motor (5), switch touch bar (51) are located spacing dish (8) and arrange in between two limit switch (81), first motor (5) are connected with the controller electricity, two limit switch (81) are connected with the controller electricity.

3. The intelligent head massaging arm of claim 2, wherein: the rotary arm comprises an upper support arm (6) and a lower support arm (7), an upper protective shell (61) is fixedly mounted on the upper support arm (6), a lower protective shell (71) is fixedly mounted on the lower support arm (7), the upper protective shell (61) is fixedly connected with the lower protective shell (71), the upper protective shell (61) is in driving connection with an output shaft of a first motor (5), and the lower protective shell (71) is in driving connection with an output shaft of the first motor (5);

the second driving mechanism comprises a fixed shaft (63) and a first driving shaft (64), two ends of the fixed shaft (63) are respectively connected with the upper supporting arm (6) and the lower supporting arm (7) in a rotating manner, a central base (631) is fixedly arranged on the fixed shaft (63), a second motor (632) is fixedly arranged on the central base (631), an output shaft of the second motor (632) is coaxially connected with a first bevel gear (633), a second bevel gear (641) is coaxially connected on the first driving shaft (64), the first bevel gear (633) is meshed with the second bevel gear (641), a central area of the first driving shaft (64) is connected with the central base (631) in a rotating manner, first arc-shaped grooves (65) are formed in positions of the upper supporting arm (6) and the lower supporting arm (7) corresponding to the first driving shaft (64), and arc-shaped racks (651) are arranged on one side wall of the first arc-shaped grooves (65), the end part of the first driving shaft (64) extends into the first arc-shaped groove (65), the end part of the first driving shaft (64) is coaxially connected with a driving gear (643), and the driving gear (643) is meshed with the arc-shaped rack (651);

a first PCB board (642) is mounted on the first driving shaft (64), the first PCB board (642) is used for detecting the rotation angle of the first driving shaft (64), and both the first PCB board (642) and the second motor (632) are electrically connected with the controller.

4. The intelligent head massaging arm of claim 3, wherein: an upper panel (62) is installed on the upper supporting arm (6), and a lower panel is installed on the lower supporting arm (7).

5. The intelligent head massaging arm of claim 3, wherein: the third driving mechanism comprises a third motor (72) and a second driving shaft (73), the third motor (72) is installed on the lower supporting arm (7), an output shaft of the third motor (72) is coaxially connected with a third bevel gear (721), the second driving shaft (73) is coaxially connected with a fourth bevel gear (731), the third bevel gear (721) is meshed with the fourth bevel gear (731), the upper supporting arm (6) and the lower supporting arm (7) are both provided with a second arc-shaped groove (74) at positions corresponding to the second driving shaft (73), the end part of the second driving shaft (73) penetrates through the second arc-shaped groove (74) and extends to the upper part of the second arc-shaped groove (74), the second driving shaft (73) is rotatably connected with a first linkage rod (733), one end, far away from the second driving shaft (73), of the first linkage rod (733) is rotatably connected with a second linkage rod (734), and a second PCB (732) is installed on the second driving shaft (73), the second PCB (732) is used for detecting the rotation angle of the second driving shaft (73), and the second PCB (732) is electrically connected with the controller;

go up support arm (6) and lower support arm (7) and all seted up third arc wall (66) with the position that tongs mechanism corresponds, tongs mechanism's both sides are connected with connection piece (43), connection piece (43) are arranged in third arc wall (66) and are slided along third arc wall (66), second linkage rod (734) rotate with connection piece (43) and are connected, third motor (72) are connected with the controller electricity, go up fixed mounting between support arm (6) and lower support arm (7) and have backup pad (67), backup pad (67) are corresponding with tongs mechanism.

6. The intelligent head massaging arm of claim 5, wherein: the gripper mechanism comprises two support frames (4) and two gripper units, the two support frames (4) correspond to the two gripper units one by one respectively, the two support frames (4) are rotatably connected, two ends of a connecting piece (43) are rotatably connected with the two support frames (4) respectively, and the top end of the connecting piece (43) is rotatably connected with a second linkage rod (734);

a first spring group (44) and a second spring group (45) are arranged between the two support frames (4), two ends of the first spring group (44) are respectively installed above the two support frames (4), two ends of the second spring group (45) are respectively installed below the two support frames (4), the first spring group (44) and the second spring group (45) are correspondingly arranged, and the elastic force of the first spring group (44) is greater than that of the second spring group (45);

a supporting plate (42) is fixedly installed on the supporting frame (4), a plurality of screws (21) are fixedly installed in the edge area of the gripper unit, counter bores (421) are formed in the positions, corresponding to the screws (21), of the supporting plate (42), through holes (422) are formed in the bottoms of the counter bores (421), the top ends of the screws (21) penetrate through the through holes (422) and extend into the counter bores (421), extension springs (423) are arranged in the counter bores (421), the extension springs (423) are sleeved on the screws (21), nuts are connected to the top ends of the screws (21) in a threaded mode, one ends of the extension springs (423) are fixedly connected with the bottoms of the counter bores (421), and the other ends of the extension springs (423) are fixedly connected with the nuts;

and cover plates (41) are fixedly arranged on the two support frames (4).

7. The intelligent head massaging arm of claim 6, wherein: the gripper unit comprises a shell (1), a lifting part and a fourth driving mechanism for driving the lifting part to lift are arranged in the shell (1), the fourth driving mechanism is fixedly connected with the shell (1), a plurality of connecting rod assemblies are arranged around the lifting part, one ends of the connecting rod assemblies are movably connected with the lifting part, silica gel fingers (19) are arranged at the other ends of the connecting rod assemblies, a plurality of supporting parts are fixedly arranged on the shell (1), the supporting parts correspond to the connecting rod assemblies one to one, and the supporting parts are movably connected with the connecting rod assemblies;

the fourth driving mechanism comprises a fourth motor (13), the fourth motor (13) is fixedly connected with the shell (1) through a mounting frame (11), an output shaft of the fourth motor (13) is connected with an eccentric wheel (14), the eccentric wheel (14) is rotatably connected with a transmission rod (15), and one end, far away from the eccentric wheel (14), of the transmission rod (15) is rotatably connected with the lifting component;

the lifting component comprises a lifting column (16), the top end of the lifting column (16) is rotatably connected with the transmission rod (15), a plurality of lugs (161) are fixedly mounted on the lifting column (16), the lugs (161) correspond to the connecting rod assemblies one by one, and the lugs (161) are rotatably connected with the connecting rod assemblies;

link assembly includes catch bar (17) and dwang (18), and catch bar (17) are rotated with lug (161) and are connected, and catch bar (17) are rotated with dwang (18) and are connected, and the middle zone and the support component of dwang (18) rotate to be connected, and silica gel finger (19) fixed mounting is in the bottom of dwang (18), the support component is supporting shoe (12), and supporting shoe (12) are rotated with dwang (18) and are connected.

8. The intelligent head massaging arm of claim 7, wherein: the detection mechanism comprises a pressure sensor (22) and a top block (424), the pressure sensor (22) is installed in the central area of the shell (1), the top block (424) is installed in the central area of the supporting disc (42), the top block (424) and the pressure sensor (22) are arranged oppositely, and the pressure sensor (22) is electrically connected with the controller.

9. The intelligent head massaging arm of claim 7, wherein: the utility model discloses a lead screw structure, including casing (1), the below fixed mounting of casing (1) has lower cover (3), and circular through-hole (31) have been seted up with the position that lift post (16) corresponds in lower cover (3), and the lower fixed surface of lift post (16) installs spacing post (162), and the bottom of spacing post (162) is passed circular through-hole (31) and is extended to the below of lower cover (3), and rectangular shape through-hole (32) have been seted up with the position that dwang (18) correspond in lower cover (3), and the bottom of dwang (18) is passed rectangular shape through-hole (32) and is extended to the below of lower cover (3), the plane at spacing post (162) bottom is less than the plane at dwang (18) bottom place, fixed mounting has upper cover (2) on casing (1), a plurality of screw rods (21) and upper cover (2) fixed connection.

10. The intelligent head massaging arm of claim 9, wherein: the bottom cover of spacing post (162) is equipped with silica gel cover (163).

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