A mechanical arm and a hair washing machine

Abstract

The present invention relates to the technical field of shampooing robots, and more specifically, to a mechanical arm and a shampooing machine. The mechanical arm comprises a connecting member, a crank rocker assembly, a first connecting rod assembly, a second connecting rod assembly and a finger assembly. The crank rocker assembly is mounted on the connecting member, the connecting member is fixed, the two ends of the first connecting rod assembly are respectively rotatably connected with the connecting member and the finger assembly; the two ends of the second connecting rod assembly are respectively rotatably connected with the connecting member and the finger assembly, the crank rocker assembly is suitable for driving the second connecting rod assembly to move, the second connecting rod assembly drives the first connecting rod assembly to rotate around the connecting member, and the first connecting rod assembly and the second connecting rod assembly are also suitable for driving the finger assembly to move. The present invention drives the first connecting rod assembly and the second connecting rod assembly to reciprocate through the crank rocker assembly mounted on the connecting member, thereby driving the finger assembly to slide at the back of the user's head, and after multiple reciprocating movements, the effect of massaging the user's head is achieved.

Description

[0001] This invention is a divisional application. The application number of the original application is 202011135092.6, the application date is October 19, 2020, and the name of the invention is: "A robotic arm and a shampooing machine." Technical Field

[0002] The present invention relates to the technical field of hair washing robots, and in particular to a mechanical arm and a hair washing machine. Background Art

[0003] In the prior art, due to the differences in head size and head curves, the robotic arms of existing shampooing machines cannot completely fit the user's head. When the robotic arms move to different positions of the user's head, they cannot adapt to the different positions of the head, resulting in poor shampooing effects. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a mechanical arm to achieve adaptive kneading.

[0005] The present invention provides a mechanical arm for a hair washing machine, comprising a connecting member, a crank rocker assembly, a first connecting rod assembly, a second connecting rod assembly and a finger assembly, wherein the crank rocker assembly is mounted on the connecting member, the connecting member is fixed, the two ends of the first connecting rod assembly are respectively rotatably connected to the connecting member and the finger assembly; the two ends of the second connecting rod assembly are respectively rotatably connected to the connecting member and the finger assembly, the crank rocker assembly is suitable for driving the second connecting rod assembly to move, when the second connecting rod assembly rotates around the connecting member, the second connecting rod assembly drives the first connecting rod assembly to rotate around the connecting member, and the first connecting rod assembly and the second connecting rod assembly are also suitable for driving the finger assembly to move.

[0006] Optionally, the crank rocker assembly includes a first driving mechanism, a first rocker and a second rocker, the first driving mechanism is mounted on the connecting member, the first end of the first rocker is drivingly connected to the first driving mechanism, the first driving mechanism is suitable for driving the first rocker to rotate around the first end of the first rocker, the second end of the first rocker is hinged to the first end of the second rocker, the second end of the second rocker is hinged to the second connecting rod assembly, and the second rocker is suitable for driving the second connecting rod assembly to swing back and forth.

[0007] Optionally, the first link assembly includes a first link and a second link, one end of the first link is hinged to the connecting member, and the other end of the first link is hinged to one end of the second link; the second link assembly includes a third link and a fourth link, both ends of the fourth link are hingedly connected to the third link and the finger assembly respectively, and the second link is hinged to the finger assembly; the second rocker is hinged to the third link; one end of the third link is hinged to the connecting member, and the other end of the third link is hinged to the second link; the third link is hinged to the second link.

[0008] Optionally, the third link and the first link are parallel and equal, the hinge where the second rocker arm is hinged to the third link is located between the first end and the second end of the third link, the hinge where the third link and the second link are hinged is located between the hinge where the first link and the second link are hinged and the hinge where the second link and the finger assembly are hinged, the hinge where the fourth link and the third link are hinged is located between the hinge where the third link and the connecting piece are hinged and the hinge where the second link and the third link are hinged, and the finger assembly is hinged to the second end of the second link and the second end of the fourth link respectively.

[0009] Optionally, the finger assembly includes a driving device, a mounting assembly and at least one massage finger, the first connecting rod assembly and the second connecting rod assembly are respectively connected to the mounting assembly; the driving device includes a second driving mechanism, a crank-connecting rod mechanism and at least one first gear, the second driving mechanism is installed on the mounting assembly, the massage fingers include at least one first massage finger, the crank-connecting rod mechanism includes a third rocker and at least one fourth rocker, the first end of the third rocker is drivingly connected to the second driving mechanism, the second end of the third rocker is hinged to the first end of the fourth rocker, the first center shaft and the eccentric shaft are respectively provided at the two axial ends of the first gear, the second end of the fourth rocker is hingedly connected to the eccentric shaft, the first center shaft is movably connected to the first massage finger, the second driving mechanism is suitable for driving the first gear to rotate through the crank-connecting rod mechanism, and the first gear is suitable for driving the first massage finger to reciprocate.

[0010] Optionally, the massage finger also includes two second massage fingers, and the driving device also includes two second gears, there are two first gears, there are two first massage fingers, each second gear is respectively engaged with each first gear, the second gear includes a second center axis, the second massage finger is suitable for being movably connected to the second center axis, and the first gear is suitable for driving the second massage fingers to reciprocate through the second gear; the two first gears, the second gear, the first massage finger and the second massage finger are respectively arranged symmetrically about the first symmetry plane, and the distance from the second gear to the first symmetry plane is greater than the distance from the first gear to the first symmetry plane.

[0011] Optionally, a first universal joint is installed between the first gear and the first massage finger, and the two ends of the first universal joint are respectively connected to the first center axis and the first massage finger key, and the first gear is suitable for driving the first massage finger to rotate through the first universal joint; a second universal joint is installed between the second gear and the second massage finger, and the two ends of the second universal joint are respectively connected to the second center axis and the second massage finger key, and the second gear is suitable for driving the second massage finger to rotate through the second universal joint.

[0012] Optionally, the mounting assembly includes a mounting plate, a plurality of first elastic members and a plurality of seesaws, the seesaw being rotatably connected to the mounting plate, a first elastic member being installed between adjacent seesaws, a through hole being opened on the seesaw, the massage fingers being inserted through the through hole, the massage fingers being interference fit with the through hole, and the massage fingers being suitable for passing through the seesaw to be transmission-connected to the driving device.

[0013] Optionally, the massage finger also includes a base, a second elastic member and a finger, the base is rotatably connected to the mounting assembly, the base is transmission-connected to the driving device, the base is provided with a slot, the finger is slidably connected to the slot, one end of the finger 535 is suitable for sliding in the slot to increase or decrease the distance between the finger and the seesaw, the second elastic member is located between the finger and the base, the two ends of the second elastic member are respectively abutted against the seesaw and the finger, and the extension and contraction direction of the second elastic member is consistent with the sliding direction of the finger along the slot.

[0014] Compared with the prior art, the mechanical arm of the present invention has the following beneficial effects:

[0015] The present invention drives the first connecting rod assembly and the second connecting rod assembly to reciprocate by the crank rocker assembly installed on the connecting member. Through the cooperation of the first connecting rod assembly and the second connecting rod assembly and the mutual restriction in movement, the finger assembly can be driven to slide in close contact with the user's head, so as to realize adaptive sliding of the finger assembly on the user's head and ensure that the finger assembly always fits the scalp during the movement. When one end of the first connecting rod assembly and the second connecting rod assembly rotates around the connecting member, the other end of the first connecting rod assembly and the second connecting rod assembly will drive the finger assembly connected thereto to move at the back of the user's head, and the finger assembly is driven by the crank rocker assembly to slide from the back of the user's neck. Move to the top of the user's head, and then slide from the top of the user's head to the back of the user's neck, such reciprocating motion achieves the effect of massaging the user's head; when the finger assembly slides around the back of the user's head, the crank rocker assembly rotates half a cycle, and the finger assembly can move from the back of the user's neck to the top of the user's head or from the top of the user's head to the back of the neck. After the crank rocker assembly rotates one cycle, the finger assembly returns to the back of the user's neck or the user's head, thereby completing a massage of the user's head. The crank rocker assembly drives the first connecting rod assembly and the second connecting rod assembly to drive the finger assembly to reciprocate multiple times on the user's head, thereby achieving the effect of adaptive kneading of the user's head.

[0016] The present invention also provides a hair washing machine, comprising the mechanical arm as described in any one of the above items. The beneficial effects of the hair washing machine provided by the present invention also include the beneficial effects of the mechanical arm, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the structure of a robot arm in use state according to an embodiment of the present invention;

[0018] Figure 2 It is a schematic structural diagram of an embodiment of a mechanical arm of the present invention;

[0019] Figure 3 It is a schematic structural diagram of another embodiment of the robot arm of the present invention;

[0020] Figure 4 For the present invention Figure 3 A partial enlarged view of the middle A;

[0021] Figure 5 It is a schematic structural diagram of an embodiment of a robot arm finger assembly of the present invention;

[0022] Figure 6 It is a schematic structural diagram of another use state of an embodiment of a robotic arm of the present invention;

[0023] Figure 7 It is a structural schematic diagram of another embodiment of the robot arm finger assembly of the present invention;

[0024] Figure 8 This is a schematic structural diagram of an embodiment of a mechanical arm massage finger of the present invention;

[0025] Fig. 9 It is a cross-sectional schematic diagram of an embodiment of a robotic arm massage finger of the present invention.

[0026] Description of reference numerals:

[0027] 1-connecting piece; 2-crank rocker assembly; 21-first driving mechanism; 22-first rocker; 23-second rocker; 3-first connecting rod assembly; 31-first connecting rod; 32-second connecting rod; 4-second connecting rod assembly; 41-third connecting rod; 42-fourth connecting rod; 5-finger assembly; 51-driving device; 511-second driving mechanism; 512-crank connecting rod mechanism; 5121-third rocker; 5122-fourth rocker; 513-first gear; 5131-first central axis; 5132-eccentric axis; 514-second gear; 5141-second central axis; 52-mounting assembly; 521-mounting plate; 522-first elastic member; 523-rocker; 53-massage finger; 531-first massage finger; 532-second massage finger; 533-base; 5331-slot; 534-second elastic member; 535-finger. DETAILED DESCRIPTION

[0028] In the description of the present invention, it should be noted that the terminology nouns in the various embodiments, such as "up", "down", "front", "back", "left", "right", etc., which indicate directions, are only for the convenience of describing the present invention, and do not indicate or imply that the device referred to must have a specific direction, be constructed and operated in a specific direction. Such directional nouns do not constitute a limitation on the present invention.

[0029] The terms "first", "second", "third", "fourth", "fifth" and "sixth" are used for descriptive purposes only and should not be understood 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 of the features.

[0030] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or a rotational connection; it can be a mechanical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0032] The user can lie on a shampooing bed matched with the shampooing machine, with the connecting piece 1 fixed on the shampooing bed, the back of the user's head contacts the finger assembly 5, a water pool can be placed under the back of the user's head, and water on the user's head can fall into the water pool from above. During use, the crank rocker assembly 2 can push the finger assembly 5 to reciprocate on the back of the user's head through the first connecting rod assembly 3 and the second connecting rod assembly 4.

[0033] like Figure 1 As shown, a robotic arm according to one embodiment of the present invention is used for a hair washing machine, and the robotic arm includes a connecting member 1, a crank rocker assembly 2, a first connecting rod assembly 3, a second connecting rod assembly 4 and a finger assembly 5, wherein the crank rocker assembly 2 is mounted on the connecting member 1, and the two ends of the first connecting rod assembly 3 are rotatably connected to the connecting member 1 and the finger assembly 5 respectively, and the crank rocker assembly 2 is suitable for driving the first connecting rod assembly 3 to rotate around the connecting member 1; the two ends of the second connecting rod assembly 4 are rotatably connected to the connecting member 1 and the finger assembly 5 respectively, and the first connecting rod assembly 3 is suitable for driving the second connecting rod assembly 4 to rotate around the connecting member 1; the first connecting rod assembly 3 and the second connecting rod assembly 4 are also suitable for driving the finger assembly 5 to move.

[0034] In one embodiment of the present invention, the crank rocker assembly 2 installed on the connecting member 1 can reciprocate to push the first connecting rod assembly 3 connected thereto to move. When the first connecting rod assembly 3 rotates around the connecting member 1, the first connecting rod assembly 3 will drive the second connecting rod assembly 4 connected thereto to rotate around the connecting member 1. When one end of the first connecting rod assembly 3 and the second connecting rod assembly 4 both rotate around the connecting member 1, the other end of the first connecting rod assembly 3 and the second connecting rod assembly 4 will drive the finger assembly 5 connected thereto to move at the back of the user's head. The finger assembly 5 is driven by the crank rocker assembly 2 to slide from the back of the user's neck to the top of the user's head, and then from the top of the user's head to the back of the user's neck. Such reciprocating motion can achieve the effect of massaging the user's head. While massaging, flushing the user's head with water can achieve the effect of massaging and washing in one, thereby saving labor costs. Users can complete hair washing and massage by themselves through the shampooing machine. In addition, a dryer can be installed on the shampooing machine. The dryer can be an air-discharging type or a heating type. When the user completes shampooing and massaging with the shampooing machine, there will still be water on the user's head. At this time, the user can control the dryer to automatically dry the hair, thus achieving contactless self-service shampooing, massage and drying in one.

[0035] In another embodiment of the present invention, the crank rocker assembly 2 installed on the connecting member 1 can also reciprocate to push the second connecting rod assembly 4 connected thereto to move. When the second connecting rod assembly 4 rotates around the connecting member 1, the second connecting rod assembly 4 will drive the first connecting rod assembly 3 connected thereto to rotate around the connecting member 1. When one end of the first connecting rod assembly 3 and the second connecting rod assembly 4 both rotate around the connecting member 1, the other ends of the first connecting rod assembly 3 and the second connecting rod assembly 4 will drive the finger assembly 5 connected thereto to move at the back of the user's head. The finger assembly 5 is driven by the crank rocker assembly 2 to slide from the back of the user's neck to the top of the user's head, and then from the top of the user's head to the back of the user's neck. Such reciprocating motion achieves the effect of massaging the user's head.

[0036] The advantage of such a configuration is that the crank rocker assembly 2 installed on the connecting member 1 drives the first connecting rod assembly 3 and the second connecting rod assembly 4 to reciprocate, and through the cooperation and mutual restriction of the first connecting rod assembly 3 and the second connecting rod assembly 4 in movement, the finger assembly 5 can be driven to slide in close contact with the user's head, thereby realizing adaptive sliding of the finger assembly 5 on the user's head, and ensuring that the finger assembly 5 always fits the scalp during the movement. When the finger assembly 5 slides around the back of the user's head, the crank rocker assembly 2 rotates half a cycle, and the finger assembly 5 can move from the back of the user's neck to the top of the user's head or from the top of the user's head to the back of the neck. After the crank rocker assembly 2 rotates one cycle, the finger assembly 5 returns to the back of the user's neck or the user's head, thereby completing a kneading of the user's head. After the crank rocker assembly 2 drives the first connecting rod assembly 3 and the second connecting rod assembly 4 to drive the finger assembly 5 to reciprocate on the user's head for multiple times, the effect of adaptive kneading of the user's head is achieved.

[0037] like Figure 1 , Figure 2 As shown, the crank rocker assembly 2 includes a first driving mechanism 21, a first rocking arm 22 and a second rocking arm 23. The first driving mechanism 21 is installed on the connecting member 1. The first end of the first rocking arm 22 is drivingly connected to the first driving mechanism 21. The first driving mechanism 21 is suitable for driving the first rocking arm 22 to rotate around the first end of the first rocking arm 22. The second end of the first rocking arm 22 is hinged to the first end of the second rocking arm 23. The second end of the second rocking arm 23 is hinged to the first connecting rod assembly 3. The second rocking arm 23 is suitable for driving the first connecting rod assembly 3 to rotate around the connecting member 1.

[0038] The length of the first rocking arm 22 can be smaller than the length of the second rocking arm 23. When the first rocking arm 22 rotates around its first section, the second end of the first rocking arm 22 can drive the first end of the second rocking arm 23 to rotate around the first end of the first rocking arm 22 with the length of the first rocking arm 22 as a radius, thereby driving the second end of the second rocking arm 23 to reciprocate, thereby driving the first connecting rod assembly 3 connected thereto to move; the second end of the second rocking arm 23 can also be hinged to the second connecting rod assembly 4, and the second connecting rod assembly 4 is driven to swing back and forth through the second rocking arm 23, so as to imitate manual hair washing and slide back and forth on the user's head, and the first driving mechanism 21 can rotate in one direction, and the driving mechanism can rotate clockwise or counterclockwise to drive the first connecting rod assembly 3 or the second connecting rod assembly 4 to reciprocate; the length of the first rocking arm 22 can be greater than the length of the second rocking arm 23, and the first driving mechanism 21 can control the rotation of the first rocking arm 22 by its own forward and reverse rotation, thereby controlling the second rocking arm 23 hinged thereto to drive the first connecting rod assembly 3 or the second connecting rod assembly 4 to reciprocate.

[0039] like Figure 1 , Figure 2 As shown, the first connecting rod assembly 3 includes a first connecting rod 31 and a second connecting rod 32, one end of the first connecting rod 31 is hinged to the connecting member 1, the other end of the first connecting rod 31 is hinged to one end of the second connecting rod 32, and the second connecting rod assembly 4 is hingedly connected to the other end of the second connecting rod 32.

[0040] The second rocker arm 23 can be hinged to the first connecting rod 31, and the hinge can be located between the first end and the second end of the first connecting rod 31. One end of the second connecting rod 32 is hinged to the connecting member 1, and the other end of the second connecting rod 32 is hinged to the second end of the first connecting rod 31. The other end of the second connecting rod 32 is hinged to the second connecting rod assembly 4. When the first connecting rod 31 and the second connecting rod 32 move around the hinge between one end of the first connecting rod 31 and the connecting member 1, the second connecting rod assembly 4 can be driven to move together.

[0041] like Figure 1 , Figure 2 As shown, the second link assembly 4 also includes a third link 41 and a fourth link 42, the two ends of the fourth link 42 are respectively hingedly connected to the third link 41 and the finger assembly 5, the second link 32 is hingedly connected to the finger assembly 5, and the third link 41 and the first link 31 are parallel and equal.

[0042] The second rocker arm 23 can be hinged to the third link 41, and the hinge can be located between the first end and the second end of the third link 41. One end of the third link 41 is hinged to the connecting member 1, and the other end of the third link 41 is hinged to the second link 32. The hinge between the third link 41 and the second link 32 can be located between the hinge between the first link 31 and the second link 32 and the hinge between the second link 32 and the finger assembly 5. The hinge between the fourth link 42 and the third link 41 is located between the hinge between the third link 41 and the connecting member 1 and the hinge between the second link 32 and the third link 41. The finger assembly 5 is hinged to the second end of the second link 32 and the second end of the fourth link 42 respectively. The finger assembly 5 can be fixed by two hinges to ensure the massage direction of the finger assembly 5 during massage. The third link 41 and the first link 31 rotate at the same angle around the connecting member 1.

[0043] like Figure 1 , Figure 2 As shown, the finger assembly 5 includes a driving device 51, a mounting assembly 52 and at least one massage finger 53, the driving device 51 is mounted on the mounting assembly 52, the first connecting rod assembly 3 and the second connecting rod assembly 4 are respectively connected to the mounting assembly 52, and the driving device 51 is suitable for driving the massage finger 53 to move.

[0044] When the user's head needs to be massaged, the driving device 51 installed on the mounting assembly 52 can drive the massage fingers 53 to rotate. The massage fingers 53 can rotate clockwise or counterclockwise, or reciprocate. The massage fingers 53 rotate locally on the head to achieve the effect of rubbing the parts of the head that are separated from the user's head, thereby increasing the cleanliness and providing a massage effect.

[0045] like Figures 3 to 5As shown, the driving device 51 includes a second driving mechanism 511, a crank-connecting rod mechanism 512 and at least one first gear 513, the massage finger 53 includes at least one first massage finger 531, the crank-connecting rod mechanism 512 includes a third rocking arm 5121 and at least one fourth rocking arm 5122, the first end of the third rocking arm 5121 is drivingly connected to the second driving mechanism 511, the second end of the third rocking arm 5121 is hinged to the first end of the fourth rocking arm 5122, the first gear 513 is provided with a first central axis 5131 and an eccentric axis 5132 at two axial ends, the second end of the fourth rocking arm 5122 is hinged to the eccentric axis 5132, the first central axis 5131 is movably connected to the first massage finger 531, the second driving mechanism 511 is suitable for driving the first gear 513 to rotate through the crank-connecting rod mechanism 512, and the first gear 513 is suitable for driving the first massage finger 531 to rotate reciprocatingly.

[0046] The second driving mechanism 511 can be installed on the mounting assembly 52, and the length of the third rocker arm 5121 can be smaller than the length of the fourth rocker arm 5122. When the third rocker arm 5121 rotates around its first end, the first end of one of the fourth rocker arms 5122 can move together with the second end of the third rocker arm 5121, and the second end of the fourth rocker arm 5122 is connected to the first eccentric shaft 5132 on the first gear 513. The fourth rocker arm 5122 drives the eccentric shaft 5132 on the first gear 513 to rotate the first gear 513 around the first center axis 5131. The other end of the first center axis 5131 is connected to the massage finger 53. When the first gear 513 rotates, the massage finger 53 will be driven to rotate therewith. When the third rocker arm 5121 drives the fourth rocker arm 5122 to move, the second end of the fourth rocker arm 5122 rotates along the circumference of the first gear 513. There are two fourth rockers 5122, and the first ends of the two fourth rockers 5122 are coaxial with the second end of the third rocker 5121. When the third rocker 5121 rotates, the third rocker 5121 can simultaneously drive the two fourth rockers 5122 to swing back and forth, thereby driving the two first gears 513 to rotate, so that the massage fingers 53 connected to the first gear 513 can reciprocate in the part in contact with the user's head, forming a rubbing effect, which can perform local cleaning on the user's head and increase the cleanliness of cleaning.

[0047] like Figure 5As shown, the massage finger 53 also includes at least one second massage finger 532, and the driving device 51 also includes at least one second gear 514, the second gear 514 is meshed with the first gear 513, the second gear 514 includes a second center axis 5141, the second massage finger 532 is suitable for being movably connected to the second center axis 5141, and the first gear 513 is suitable for driving the second massage finger 532 to reciprocate through the second gear 514.

[0048] There can be two second gears 514, one of which is meshed with the first gear 513, and the other second gear 514 is meshed with the other first gear 513. The two first gears 513 drive one second gear 514 to rotate back and forth respectively. When the first gear 513 rotates, it drives the second gear 514 meshed with it to rotate around the second central axis 5141. The rotation directions of the two connected massage fingers 53 are opposite, and the massage fingers 53 at adjacent positions are driven to rotate in opposite directions in turn, thereby achieving a massage effect. Similarly, a swinging tooth can be installed between the adjacent first gears 513 and the second gear 514. When the first gear 513 swings back and forth, the swinging direction of the second gear 514 is consistent with the swinging direction of the first gear 513, thereby driving the rotation directions of multiple massage fingers 53 to be consistent.

[0049] like Figure 6 As shown, there are two first gears 513, two second gears 514, two first massage fingers 531 and two second massage fingers 532, and the two first gears 513, two second gears 514, two first massage fingers 531 and two second massage fingers 532 are symmetrically arranged about the first symmetry plane.

[0050] The first symmetry plane is a plane between the two ears of the user, the distance from the left ear of the user to the first symmetry plane is equal to the distance from the right ear of the user to the first symmetry plane, the first symmetry plane is located between the two first gears 513 and the two second gears 514, the distance from the second gear 514 to the first symmetry plane is greater than the distance from the first gear 513 to the first symmetry plane, the two first gears 513 are arranged adjacent to each other, one first gear 513 is meshed with one second gear 514, the first massage finger 531 and the first gear 513 can be connected by a universal joint, one first gear 513 and one second gear 514 form a group, and the other group is composed of another first gear 513 and another second gear 514, one group of the first massage fingers 531 and the second massage fingers 532 can be located on the left side of the back of the user's head, or on the right side of the back of the user's head. Similarly, another group of the first massage fingers 531 and the second massage fingers 532 can be located on the right side of the back of the user's head, or on the left side of the back of the user's head.

[0051] like Figure 7 As shown, the mounting assembly 52 includes a mounting plate 521, a plurality of first elastic members 522 and a plurality of seesaws 523, the seesaws 523 are rotatably connected to the mounting plate 521, a first elastic member 522 is installed between adjacent seesaws 523, and the massage fingers 53 are suitable for passing through the seesaws 523 and being transmission-connected to the driving device 51.

[0052] A first universal joint may be installed between the first gear 513 and the first massage finger 531, and the two ends of the first universal joint are respectively connected to the first center axis 5131 of the first gear 513 and the first massage finger 531. The first gear 513 is suitable for driving the first massage finger 531 to rotate through the universal joint, and the first universal joint can change the axial transmission direction of the first gear 513; similarly, a second universal joint may be installed between the second gear 514 and the second massage finger 532, and the second universal joint can change the axial transmission direction of the second gear 514. The planes of the plurality of seesaws 523 may be different. The plurality of seesaws 523 are arranged in an arc-shaped structure along the user's head. The first elastic member 522 may be a spring. A spring is installed between adjacent seesaws 523. A through hole is provided on the seesaw 523. The massage finger 53 may be inserted into the through hole. The massage finger 53 and the through hole may be interference fit. When the seesaw 523 rotates relative to the mounting plate 521, the seesaw 523 drives the massage finger 53 to rotate together, and the two rotate in the same direction. There are differences in the head curves of the users. When the massage finger 53 contacts the user's head, in order for the plurality of massage fingers 53 to completely fit the user's head, the plurality of seesaws 523 will rotate, thereby driving the plurality of massage fingers 53 to fit the user's head. When the plurality of seesaws 523 rotate, the springs between the adjacent seesaws 523 will be stretched. At this time, the springs store elastic potential energy. When the user's head leaves the massage finger 53, the springs release the elastic potential energy stored by themselves to reset the plurality of seesaws 523. Furthermore, by arranging springs between adjacent seesaws 523, it is also possible to prevent the seesaws 523 from excessively rotating, thereby preventing adjacent massage fingers 53 from touching each other, which may cause damage to the massage fingers 53 when they rotate.

[0053] like Figure 8 , Fig. 9 As shown, the massage finger 53 also includes a base 533, a second elastic member 534 and a finger 535. The base 533 is rotatably connected to the mounting assembly 52, and the base 533 is transmission-connected to the driving device 51. The base 533 is provided with a slot 5331, and the finger 535 is slidably connected to the slot 5331. The second elastic member 534 is located between the finger 535 and the base 533, and the extension direction of the second elastic member 534 is consistent with the sliding direction of the finger 535 along the slot 5331.

[0054] The finger 535 may be a "C-shaped structure" or a "Y-shaped structure" or an "E-shaped structure", etc. Each finger 535 may include a plurality of branch structures, and a plurality of different branch structures are in contact with the user's head respectively, so as to increase the contact area between the finger 535 and the user's head and increase the massage efficiency in the same time. The second elastic member 534 may be a spring, and the two ends of the spring may respectively abut against the seesaw 523 and the finger 535, and one end of the finger 535 may slide in the slot 5331, so that the distance between the finger 535 and the seesaw 523 increases or decreases. When the distance between the finger 535 and the seesaw 523 decreases, the spring is compressed, and when the distance between the finger 535 and the seesaw 523 increases, the spring returns to its original state. When the finger 535 contacts the human head, the spring may be compressed and the distance between the finger 535 and the seesaw 523 may be shortened. By setting the spring, the finger 535 may be prevented from excessively pressing the head. When the finger 535 contacts the user's head, the pressure on the user's head may be slowly increased through the spring, so that the user has an adaptation process and the finger 535 is prevented from directly pressing the user's head, which may cause excessive pressure on the user's head in an instant, thereby causing a sense of oppression on the user's head and causing discomfort to the user. When the finger 535 leaves the head, the spring returns to its original state, thereby driving the finger 535 to return to its initial position. At the same time, the pressure on the head slowly decreases, so that the user may not feel uncomfortable when the pressure disappears instantly.

[0055] A hair washing machine according to another embodiment of the present invention comprises a spray system and the mechanical arm as described above, wherein the spray system is suitable for spraying water to the head. In some examples, the spray system comprises a spray head (not shown in the figure), and the spray head can spray water to the head. In some examples, the spray system can also comprise a water tank (not shown in the figure) and a pump (not shown in the figure), and the spray head (not shown in the figure) and the pump are respectively connected to the water tank and the spray head. During the hair washing process, the pump can drive the water in the water tank to spray to the head through the spray head to moisten or clean the head; the spray head can also be connected to the shampoo to drive the shampoo to spray to the head through the spray head through the pump; the hair can be rubbed by the mechanical arm to achieve massage of the head and speed up the washing of the hair. The beneficial effects of the hair washing machine also include the beneficial effects of the mechanical arm, which will not be repeated here.

[0056] Although the disclosure is disclosed as above, the protection scope of the disclosure is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A mechanical arm for a hair washing machine, characterized in that: The invention comprises a connecting member (1), a crank rocker assembly (2), a first connecting rod assembly (3), a second connecting rod assembly (4) and a finger assembly (5), wherein the crank rocker assembly (2) is mounted on the connecting member (1), the connecting member (1) is fixed, the two ends of the first connecting rod assembly (3) are rotatably connected to the connecting member (1) and the finger assembly (5), respectively; the two ends of the second connecting rod assembly (4) are rotatably connected to the connecting member (1) and the finger assembly (5), respectively; the crank rocker assembly (2) is suitable for driving the second connecting rod assembly (4) to move, and when the second connecting rod assembly (4) rotates around the connecting member (1), the second connecting rod assembly (4) rotates around the connecting member (1). When the connecting member (1) rotates, the second connecting rod assembly (4) drives the first connecting rod assembly (3) to rotate around the connecting member (1), and the first connecting rod assembly (3) and the second connecting rod assembly (4) are also suitable for driving the finger assembly (5) to move; the finger assembly (5) comprises a driving device (51), a mounting assembly (52) and at least one massage finger (53), the driving device (51) is mounted on the mounting assembly (52), the first connecting rod assembly (3) and the second connecting rod assembly (4) are respectively connected to the mounting assembly (52), and the driving device (51) is suitable for driving the finger assembly (53). The massage fingers (53) are moved, the driving device (51) comprises a second driving mechanism (511), a crank-connecting rod mechanism (512) and at least one first gear (513), the second driving mechanism (511) is mounted on the mounting assembly (52), the massage fingers (53) comprise at least one first massage finger (531), the crank-connecting rod mechanism (512) comprises a third rocking rod (5121) and at least one fourth rocking rod (5122), the first end of the third rocking rod (5121) is drivingly connected to the second driving mechanism (511), and the second end of the third rocking rod (5121) is drivingly connected to the second driving mechanism (511), and the second end of the third rocking rod (5121) is drivingly connected to the second driving mechanism (511). The first end of the fourth rocker (5122) is hingedly connected to the first end of the fourth rocker (5122), the first gear (513) is respectively provided with a first central axis (5131) and an eccentric axis (5132) at two axial ends, the second end of the fourth rocker (5122) is hingedly connected to the eccentric axis (5132), the first central axis (5131) is movably connected to the first massage finger (531), the second driving mechanism (511) is suitable for driving the first gear (513) to rotate through the crank-connecting rod mechanism (512), and the first gear (513) is suitable for driving the first massage finger (531) to rotate reciprocatingly.

2. The robotic arm according to claim 1, characterized in that: The crank rocker assembly (2) comprises a first driving mechanism (21), a first rocking arm (22) and a second rocking arm (23); the first driving mechanism (21) is mounted on the connecting member (1); the first end of the first rocking arm (22) is drivingly connected to the first driving mechanism (21); the first driving mechanism (21) is suitable for driving the first rocking arm (22) to rotate around the first end of the first rocking arm (22); the second end of the first rocking arm (22) is hinged to the first end of the second rocking arm (23); the second end of the second rocking arm (23) is hinged to the second connecting rod assembly (4); the second rocking arm (23) is suitable for driving the second connecting rod assembly (4) to swing back and forth.

3. The robotic arm according to claim 2, characterized in that: The first connecting rod assembly (3) comprises a first connecting rod (31) and a second connecting rod (32), one end of the first connecting rod (31) is hinged to the connecting member (1), and the other end of the first connecting rod (31) is hinged to one end of the second connecting rod (32); the second connecting rod assembly (4) comprises a third connecting rod (41) and a fourth connecting rod (42), two ends of the fourth connecting rod (42) are respectively hinged to the third connecting rod (41) and the finger assembly (5), and the second connecting rod (32) is hinged to the finger assembly (5); the second rocker (23) is hinged to the third connecting rod (41); one end of the third connecting rod (41) is hinged to the connecting member (1), and the other end of the third connecting rod (41) is hinged to the second connecting rod (32); the third connecting rod (41) is hinged to the second connecting rod (32).

4. The robotic arm according to claim 3, characterized in that: The third link (41) and the first link (31) are parallel and equal, the hinge point where the second rocker (23) and the third link (41) are hinged is located between the first end and the second end of the third link (41), the hinge point where the third link (41) and the second link (32) are hinged is located between the hinge point between the first link (31) and the second link (32) and the hinge point between the second link (32) and the finger assembly (5), the hinge point where the fourth link (42) and the third link (41) are hinged is located between the hinge point between the third link (41) and the connecting member (1) and the hinge point between the second link (32) and the third link (41), and the finger assembly (5) is hinged to the second end of the second link (32) and the second end of the fourth link (42), respectively.

5. The robotic arm according to claim 1, characterized in that: The massage finger (53) further comprises two second massage fingers (532), and the driving device (51) further comprises two second gears (514). There are two first gears (513), and there are two first massage fingers (531). Each second gear (514) is respectively meshed with each first gear (513). The second gear (514) comprises a second central axis (5141). The second massage finger (532) is suitable for being movably connected with the second central axis (5141). The first gear (513) is suitable for driving the second massage finger (532) to reciprocate through the second gear (514). The two first gears (513), the second gear (514), the first massage finger (531) and the second massage finger (532) are respectively arranged symmetrically with respect to a first symmetric plane, and the distance from the second gear (514) to the first symmetric plane is greater than the distance from the first gear (513) to the first symmetric plane.

6. The robotic arm according to claim 5, characterized in that: A first universal joint is installed between the first gear (513) and the first massage finger (531), and the two ends of the first universal joint are respectively connected to the first central axis (5131) and the first massage finger (531), and the first gear (513) is suitable for driving the first massage finger (531) to rotate through the first universal joint; a second universal joint is installed between the second gear (514) and the second massage finger (532), and the two ends of the second universal joint are respectively connected to the second central axis (5141) and the second massage finger (532), and the second gear (514) is suitable for driving the second massage finger (532) to rotate through the second universal joint.

7. The robotic arm according to claim 1, characterized in that: The mounting assembly (52) comprises a mounting plate (521), a plurality of first elastic members (522) and a plurality of seesaws (523); the seesaws (523) are rotatably connected to the mounting plate (521); a first elastic member (522) is installed between adjacent seesaws (523); a through hole is opened on the seesaw (523); the massage finger (53) is inserted into the through hole; the massage finger (53) is interference-fitted with the through hole; and the massage finger (53) is suitable for passing through the seesaw (523) to be transmission-connected with the driving device (51).

8. The robot arm according to claim 7, characterized in that: The massage finger (53) further comprises a base (533), a second elastic member (534) and a finger (535); the base (533) is rotatably connected to the mounting assembly (52); the base (533) is transmission-connected to the driving device (51); a slot (5331) is provided on the base (533); the finger (535) is slidably connected to the slot (5331); one end of the finger (535) is adapted to slide in the slot (5331) so as to increase or decrease the distance between the finger (535) and the seesaw (523); the second elastic member (534) is located between the finger (535) and the base (533); two ends of the second elastic member (534) are respectively in contact with the seesaw (523) and the finger (535); and the extension direction of the second elastic member (534) is consistent with the sliding direction of the finger (535) along the slot (5331).

9. A hair washing machine, characterized in that: Comprising a robotic arm as described in any one of claims 1-8.

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