A robotic arm for back-of-the-head massage and a hair washing machine

Abstract

This invention relates to the field of hair washing machine technology, specifically to a scalp massage robotic arm and a hair washing machine. The scalp massage robotic arm, applied to a hair washing machine, includes a swing drive device, a lifting drive device, and a massage hand. The swing drive device is driven and connected to the massage hand, driving the massage hand to rotate around a set position. The lifting drive device is connected to the swing drive device, driving the swing drive device to reciprocate along a first linear direction. Thus, during the operation of the scalp massage robotic arm, the swing drive device drives the massage hand to slide on the back of the user's head, and the lifting drive device drives the massage hand to press firmly against the back of the user's head, creating a certain force between the massage hand and the back of the user's head. This strengthens the force of the massage hand sliding on the back of the user's head, thereby improving the cleaning effect on the user's hair.

Description

[0001] This application is a divisional application of the invention patent application filed on January 4, 2021, with application number 202110010164.2 and invention title "A Back-of-the-Head Massage Robotic Arm and Hair Washing Machine". Technical Field

[0002] This invention relates to the field of hair washing machine technology, and more specifically, to a back-of-the-head massage robotic arm and a hair washing machine. Background Technology

[0003] Hair washing machines are mainly used to wash a user's hair and massage the head. In existing technology, hair washing machines only wash the left and right sides of the head, but have limited effectiveness in cleaning the back of the head, making it difficult for them to thoroughly clean the entire head. Summary of the Invention

[0004] The problem solved by this invention is how to achieve cleaning and massage of the back of a user's head.

[0005] To address the aforementioned problems, this invention provides a posterior head massage robotic arm for use in a shampoo machine. The arm includes a swing drive device, a lifting drive device, and a massage hand. The swing drive device is driven to rotate the massage hand around a set position. The lifting drive device is connected to the swing drive device and drives the swing drive device to reciprocate along a first linear direction.

[0006] Optionally, the swing drive device includes a first drive mechanism, a first linkage assembly, a first connecting assembly, and a mounting frame; one end of the first drive mechanism and the first linkage assembly are drivenly connected, the other end of the first linkage assembly is rotatably connected to the massage hand, the first connecting assembly is rotatably connected to the massage hand and the mounting frame respectively, the first drive mechanism is used to drive the first linkage assembly to rotate, the first linkage assembly is used to drive the massage hand to rotate around a set position, the first drive mechanism is mounted on the mounting frame, and the lifting drive device is drivenly connected to the mounting frame.

[0007] Optionally, the first linkage assembly includes a first linkage and a second linkage, the first drive mechanism is drivenly connected to the first end of the first linkage, the second end of the first linkage is rotatably connected to the first end of the second linkage, the second end of the second linkage is rotatably connected to the massage hand, and the first drive mechanism is used to drive the first end of the first linkage to rotate.

[0008] Optionally, the first connecting component includes a first connector and a second connector, the two ends of the first connector and the two ends of the second connector being rotatably connected to the massage hand and the mounting bracket, respectively, and the first connector and the second connector being parallel and equal in size.

[0009] Optionally, the lifting drive device includes a second drive mechanism and a first mounting base. The second drive mechanism is mounted on the first mounting base and is drivenly connected to the mounting frame. The second drive mechanism is used to drive the mounting frame to perform linear reciprocating motion along a first linear direction.

[0010] Optionally, the mounting bracket includes a guide rod and a second mounting base. One end of the guide rod is connected to the second mounting base. The first drive mechanism is mounted on the second mounting base. The first guide rod is arranged along the first straight line direction. A first guide hole is provided on the first mounting base. The first guide rod passes through the first guide hole and can slide along the first guide hole.

[0011] Optionally, the second drive mechanism includes a first motor and a second linkage assembly. The first motor is drivenly connected to the second linkage assembly, and the second linkage assembly is rotatably connected to the second mounting base. The first motor is mounted on the first mounting base. The first motor is used to drive the second linkage assembly to rotate, and the second linkage assembly is used to drive the massage hand to reciprocate linearly.

[0012] Optionally, the second linkage assembly includes a third linkage and a fourth linkage. The first end of the third linkage is connected to the first motor, the second end of the third linkage is rotatably connected to the first end of the fourth linkage, and the second end of the fourth linkage is rotatably connected to the massage hand. The first motor is used to drive the third linkage to rotate.

[0013] Optionally, the massage hand includes a third drive mechanism, a second connecting component, a swing arm, a mounting base assembly, and a massage part; the third drive mechanism and the second connecting component are drivenly connected, one end of the swing arm is rotatably connected to the second connecting component, the other end of the swing arm is connected to the massage part, the massage part is rotatably connected to the mounting base assembly, and the swing drive device is drivenly connected to the mounting base assembly; the third drive mechanism is used to drive the second connecting component to reciprocate linearly, and the second connecting component is used to drive the massage part to rotate via the swing arm.

[0014] Optionally, the third driving mechanism includes a second motor, an eccentric connector, and a fifth link. The second motor and the eccentric connector are driven together. One end of the fifth link is connected to the eccentric connector, and the other end of the fifth link is connected to the second connecting assembly. The second motor drives the eccentric connector to rotate, the eccentric connector drives one end of the fifth link to make an eccentric movement, and the other end of the fifth link drives the second connecting assembly to reciprocate linearly.

[0015] Optionally, the mounting base assembly further includes a guide post and a second mounting base, the guide post being connected to the second mounting base, the second connecting assembly having a through hole, the guide post passing through the through hole, the second connecting assembly being adapted to perform reciprocating linear motion along the guide post, and the swing drive device being driven connected to the second mounting base.

[0016] Optionally, the second connecting assembly includes a third connecting member and a fourth connecting member. The third connecting member is drivenly connected to the third driving mechanism, and the fourth connecting member is connected to the swing arm pin. The third connecting member and the fourth connecting member are respectively connected to the guide rod pin, and the fourth connecting member is rotatable relative to the guide rod.

[0017] Optionally, the massage unit further includes a connecting column, the mounting base assembly includes a first mounting base with a third through hole, the connecting column passes through the third through hole, the side wall of the connecting column has a guide hole arranged radially along the connecting column, the swing arm includes a shaft, the shaft passes through the guide hole and can slide along the guide hole, and the swing arm is adapted to drive the connecting column to rotate.

[0018] Compared with the prior art, the beneficial effects of the posterior head massage robotic arm described in this invention are:

[0019] This invention connects the lifting drive device and the swing drive device, allowing the lifting drive device to drive the swing drive device to reciprocate in the up-down direction. The swing drive device is connected to the massage hand, enabling the massage hand to slide back and forth at a set position. During the operation of the back-of-the-head massage robotic arm, the swing drive device drives the massage hand to slide back and forth at the set position, while the lifting drive device causes the massage hand to press firmly against the back of the user's head, creating a certain force between the massage hand and the user's head. This achieves the sliding of the massage hand on the back of the user's head, thereby cleaning the user's hair.

[0020] The present invention also provides a hair washing machine, including the posterior head massage robotic arm as described above. The hair washing machine possesses the beneficial effects of the massage robotic arm, which will not be elaborated further here. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the posterior head massage robotic arm in an embodiment of the present invention;

[0022] Figure 2 This is another structural schematic diagram of the posterior head massage robotic arm in an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the swing drive device in an embodiment of the present invention;

[0024] Figure 4 This is another structural schematic diagram of the swing drive device in an embodiment of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of the massage hand in an embodiment of the present invention;

[0026] Figure 6 This is a schematic diagram of the installation structure of the third drive mechanism in an embodiment of the present invention;

[0027] Figure 7 This is a schematic diagram of the structure of the second connecting component and the connecting frame in an embodiment of the present invention;

[0028] Figure 8 For the present invention Figure 7 Enlarged schematic diagram of the structure at point A in the diagram;

[0029] Figure 9 This is a schematic diagram of the connection structure between the connecting component and the swing arm in an embodiment of the present invention;

[0030] Figure 10 This is a schematic diagram of the installation structure of the massage part in an embodiment of the present invention;

[0031] Figure 11 For the present invention Figure 10 Enlarged schematic diagram of the structure at point B in the diagram;

[0032] Figure 12 This is a schematic diagram of the connection structure between the swing arm and the massage part in an embodiment of the present invention.

[0033] Explanation of reference numerals in the attached figures:

[0034] 6- Massage hands;

[0035] 62-Massage section; 66-Connecting post; 661-Guide hole;

[0036] 68 - Mounting base assembly; 61 - First mounting base; 71 - Second mounting base; 711 - Guide post; 712 - Flexible connector; 714 - Strip hole;

[0037] 72-Third drive mechanism; 721-Second motor; 722-Eccentric connector; 723-Fifth link;

[0038] 73-Second connecting component; 731-Guide slider; 732-Third connecting piece; 733-Fourth connecting piece;

[0039] 74-Swing arm; 741-Insertion shaft;

[0040] 75-Connecting bracket;

[0041] 81-Second drive mechanism; 811-First motor; 812-Second linkage assembly; 8121-Third linkage; 8122-Fourth linkage;

[0042] 82-First mounting base; 821-Mounting plate;

[0043] 85-Mounting bracket; 96-Second mounting base; 822-First guide rod;

[0044] 91 - First drive mechanism;

[0045] 92 - First link assembly; 921 - First link; 922 - Second link;

[0046] 93 - Connecting shaft;

[0047] 94-First connecting component; 941-First connector; 942-Second connector;

[0048] 95-Connecting arm. Detailed Implementation

[0049] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0050] It should be noted that in the XYZ coordinate system provided herein, the positive X-axis represents the right, and the negative X-axis represents the left; the positive Y-axis represents the front, and the negative Y-axis represents the back; the positive Z-axis represents the top, and the negative Z-axis represents the bottom. Furthermore, it should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein.

[0051] Embodiments of the present invention provide a robotic arm for posterior head massage, such as... Figures 1 to 2 As shown, the back-of-the-head massage robotic arm, applied to a shampoo machine, includes a swing drive device, a lifting drive device, and a massage hand 6. The swing drive device is driven to the massage hand 6, and the swing drive device is used to drive the massage hand 6 to rotate around a set position. The lifting drive device is connected to the swing drive device, and the lifting drive device is used to drive the swing drive device to reciprocate along a first linear direction.

[0052] In one embodiment, the massage hand 6 has a connecting hole with a keyway. The swing drive device is a swing cylinder, and the rotating shaft of the swing cylinder is keyed to the connecting hole. The rotating shaft of the swing cylinder is arranged along the X-axis, and the swing cylinder drives the massage hand 6 to reciprocate around the rotating shaft. The lifting drive device is a linear stepper motor, and the drive rod of the linear stepper motor is bolted to the swing cylinder. The drive rod of the linear stepper motor is arranged along the Z-axis, and the axis of the drive rod is perpendicular to the axis of the rotating shaft of the swing cylinder. The linear stepper motor drives the swing cylinder to reciprocate along the Z-axis, where the first linear direction is the Z-axis. During the operation of the posterior head massage robotic arm, the linear stepper motor first drives the swing cylinder to move along the Z-axis. The massage hand 6 follows the swing cylinder to move along the Z-axis. After the massage hand 6 is in contact with the user's head, the swing cylinder drives the massage hand 6 to rotate back and forth around the axis of the swing cylinder, and the massage hand 6 slides back and forth on the back of the user's head. In other embodiments, the swing drive device can also be a reciprocating stepper motor, and the lifting drive device can also be an electric push rod or a telescopic cylinder.

[0053] The advantage of this design is that, by connecting the lifting drive device and the swing drive device, the lifting drive device can drive the swing drive device to reciprocate up and down. The swing drive device is then connected to the massage hand 6, allowing the massage hand 6 to slide back and forth across the user's head, thus combing the hair at the back of the head. During the operation of the back-of-the-head massage robotic arm, the swing drive device drives the massage hand to slide across the user's head, while the lifting drive device causes the massage hand to press firmly against the back of the head, creating a certain force between the massage hand and the user's head. This strengthens the force of the massage hand sliding across the user's head, thereby improving the cleaning effect on the user's hair.

[0054] like Figure 1 and Figure 2As shown, the swing drive device includes a first drive mechanism 91, a first linkage assembly 92, a first connecting assembly 94, and a mounting frame 85; one end of the first drive mechanism 91 and the first linkage assembly 92 are drivenly connected, and the other end of the first linkage assembly 92 is rotatably connected to the massage hand 6; the first connecting assembly 94 is rotatably connected to the massage hand 6 and the mounting frame 85 respectively; the first drive mechanism 91 is used to drive the first linkage assembly 92 to rotate, and the first linkage assembly 92 is used to drive the massage hand 6 to rotate around a set position; the first drive mechanism 91 is mounted on the mounting frame 85, and the lifting drive device is drivenly connected to the mounting frame 85.

[0055] The first drive mechanism 91 can be a DC motor, an asynchronous motor, or a synchronous motor. The drive end of the first drive mechanism 91 can be connected to the first connecting rod assembly 92 by key, pin, or screw. The first drive mechanism 91 can be located on the underside of the massage hand 6. The first connecting rod assembly 92 has a first connecting hole, and the massage hand 6 has a second connecting hole. A first rotating shaft passes through the first connecting hole and the second connecting hole. The first connecting assembly 94 has a third connecting hole, and the mounting bracket 85 has a fourth connecting hole. A second rotating shaft passes through the third connecting hole and the fifth connecting hole. The first connecting assembly 94 has a fifth connecting hole, and the massage hand 6 has a sixth connecting hole. A third rotating shaft passes through the fifth connecting hole and the sixth connecting hole. The centerlines of the first rotating shaft and the third rotating shaft are parallel but not on the same straight line. The first drive mechanism 91 is bolted, snapped, or welded to the mounting bracket 85. The lifting drive device is bolted or threaded to the mounting frame 85, and the lifting drive device drives the mounting frame 85 to reciprocate along the Z-axis.

[0056] During the operation of the first drive mechanism 91, the first drive mechanism 91 drives the first linkage assembly 92 to rotate, and the first linkage assembly 92 drives the massage hand 6 to reciprocate. Under the pulling action of the first connecting assembly 94, the massage hand 6 slides simultaneously along the Z-axis and Y-axis. For example, in one operating cycle of the first drive mechanism 91, the first drive mechanism 91 first rotates half a turn, driving the first linkage assembly 92 to rotate, and the first linkage assembly 92 drives the massage hand 6 and the first connecting assembly 94 to move along the positive Z-axis and the negative Y-axis; then the first drive mechanism 91 continues to rotate half a turn, driving the first linkage assembly 92 to rotate, and the first linkage assembly 92 drives the massage hand 6 and the first connecting assembly 94 to move simultaneously along the negative Z-axis and the positive Y-axis.

[0057] The advantage of this configuration is that, through the driving connection between one end of the first drive mechanism 91 and the first linkage assembly 92, the first drive mechanism 91 can drive the first linkage assembly 92 to rotate. Through the rotatable connection between the other end of the first linkage assembly 92 and the massage hand 6, the first linkage assembly 92 can drive the massage hand 6 to reciprocate. Through the rotatable connection between the first connecting assembly 94 and both the massage hand 6 and the mounting bracket 85, the first connecting assembly 94 can pull the massage hand 6, allowing it to slide along the back of the user's neck to the top of the user's head, and then... The massager slides from the top of the user's head to the back of the neck, repeating this process to achieve an effect similar to a fingertip massaging the user's head, providing a comprehensive massage to the back of the head. Furthermore, during the sliding motion, the massager 6 can comb through the user's hair to enhance its cleaning effect. The massager is mounted on the mounting frame 85 via the first drive mechanism 91, and the lifting drive device is connected to the mounting frame 85, allowing the lifting drive device to raise and lower the mounting frame 85. This, in turn, allows the mounting frame 85 to move the first drive mechanism 91 and the massager 6 up and down.

[0058] like Figures 1 to 4 As shown, the first linkage assembly 92 includes a first linkage 921 and a second linkage 922. The first drive mechanism 91 is drivenly connected to the first end of the first linkage 921. The second end of the first linkage 921 is rotatably connected to the first end of the second linkage 922. The second end of the second linkage 922 is rotatably connected to the massage hand 6. The first drive mechanism 91 is used to drive the first end of the first linkage 921 to rotate. The first connection assembly 94 includes a first connector 941 and a second connector 942. The two ends of the first connector 941 and the two ends of the second connector 942 are rotatably connected to the massage hand 6 and the mounting bracket 85, respectively. The first connector 941 and the second connector 942 are parallel and equal in length.

[0059] In one embodiment, the length of the second connecting rod 922 is greater than the length of the first connecting rod 921. The first end of the first connecting rod 921 has a first connecting hole, which is keyed to the drive end of the first driving mechanism 91. The second end of the first connecting rod 921 has a second connecting hole, and the first end of the second connecting rod 922 has a third connecting hole. A rotating shaft passes through the second and third connecting holes. The second end of the second connecting rod 922 has a fourth connecting hole, and the massage hand 6 has a fifth connecting hole. A rotating shaft passes through the fifth connecting hole of the massage hand 6 and the fourth connecting hole of the second connecting rod 922. During the movement of the first driving mechanism 91, the first driving mechanism 91 drives one end of the first connecting rod 921 to rotate, and the other end of the first connecting rod 921 drives one end of the second connecting rod 922 to move eccentrically relative to the rotating shaft of the first driving mechanism 91. The second connecting rod 922 drives the massage hand 6 to move simultaneously along the Z-axis and Y-axis directions, and this cycle repeats. For example, in one operating cycle of the first drive mechanism 91, the first drive mechanism 91 first rotates half a turn, causing the first end of the first connecting rod 921 to rotate. The second end of the first connecting rod 921 causes the first end of the second connecting rod 922 to move eccentrically relative to the axis of rotation of the first drive mechanism 91. Under the constraint of the first connecting component 94, the second end of the second connecting rod 922 causes the massage hand 6 to move simultaneously along the positive direction of the Z-axis and the negative direction of the Y-axis. Then, the first drive mechanism 91 continues to rotate half a turn, causing the first end of the first connecting rod 921 to rotate. The second end of the first connecting rod 921 causes the first end of the second connecting rod 922 to move eccentrically relative to the axis of rotation of the first drive mechanism 91. Under the constraint of the first connecting component 94, the second end of the second connecting rod 922 causes the massage hand 6 to move along the negative direction of the Z-axis and the positive direction of the Y-axis.

[0060] like Figure 3 Figure 4As shown, the back-of-the-head massage robotic arm also includes a connecting shaft 93 and two connecting arms 95. The axial ends of the connecting shaft 93 are respectively connected to the connecting arms 95, and the connecting arms 95 are respectively connected to the massage hand 6. The first connecting rod assembly 92 is rotatably connected to the connecting shaft 93. The connecting shaft 93 passes through the fourth connecting hole of the second connecting rod. The two connecting arms 95 are a first connecting arm and a second connecting arm. The first connecting arm is bolted to the left end face of the massage hand 6, and the second connecting arm is bolted to the right end face of the massage hand 6. The first connecting arm has a first connecting hole, and the second connecting arm has a second connecting hole. The two ends of the connecting shaft 93 pass through the first connecting hole of the first connecting arm and the second connecting hole of the second connecting arm, respectively. During the operation of the drive mechanism 91, the first connecting rod assembly 92 simultaneously drives the two connecting arms 95 to move simultaneously along the Y-axis and Z-axis directions, and the connecting arms 95 drive the massage hand 6 to move simultaneously along the Y-axis and Z-axis directions. Figure 3 As shown, the connecting arm 95 has a through hole, and the connecting shaft 93 passes through the through hole. The first connecting member 941 is rotatably connected to the connecting shaft 93. Thus, by rotatably connecting the first connecting member 941 to the connecting shaft 93, the first connecting member 941 can pull the connecting shaft 93, reducing the load of the massage hand 6 on the first connecting rod assembly 92. Furthermore, it avoids the need to create a connecting hole on the massage hand 6 to connect the first connecting member 941, thereby simplifying the installation of the first connecting assembly 94.

[0061] The first connector 941 has a first through hole at its first end, the mounting bracket 85 has a second through hole, and a first rotating shaft passes through the first through hole and the second through hole. The first connector 941 has a second through hole at its second end, and a connecting shaft 93 passes through the second through hole. The second connector 942 has a third through hole at its first end, the mounting bracket 85 has a fourth through hole, and a second rotating shaft passes through the third through hole and the fourth through hole. The second connector 942 has a fourth through hole at its second end, the connecting arm 95 has a fifth through hole, and a second rotating shaft passes through the fourth through hole and the fifth through hole. The axis of the second rotating shaft is parallel to the axis of the connecting shaft 93 but not on the same straight line. The first connector 941 and the second connector 942 are located between the connecting arm 95 and the mounting bracket 85. During the movement of the first drive mechanism 91, the first connector 941 and the second connector 942 move simultaneously along the Z-axis and X-axis directions, and restrict the movement direction of the connecting arm 95.

[0062] In one implementation, such as Figure 1 , Figure 2 As shown, the mounting bracket 85 includes a left mounting bracket and a right mounting bracket. The first connecting component 94 includes a left connecting component and a right connecting component. The left connecting component is connected to both the left mounting bracket and the massage hand 6. The right connecting component is rotatably connected to both the right mounting bracket and the massage hand 6. The right mounting bracket is parallel to the left mounting bracket, and the left connecting component is parallel to the right connecting component. The left connecting component is located between the left mounting bracket and the massage hand, and the right connecting component is located between the left mounting bracket and the massage hand. During the movement of the massage hand, all the first connecting components 94 swing synchronously. The advantage of this arrangement is that, with at least two mounting brackets 85 and first connecting components 94, the massage hand 6 is located between two mounting brackets 85, allowing the mounting brackets 85 to support the first connecting components 94. The first connecting components 94 can simultaneously pull the massage hand 6 from both sides, preventing the massage hand 6 from tilting during movement and making the massage hand 6 more stable during sliding.

[0063] The advantage of this configuration is that during the operation of the first drive mechanism 91, it only needs to rotate in one direction. The first drive mechanism 91 is driven by the first end of the first connecting rod 921, allowing it to rotate. The second end of the first connecting rod 921 is rotatably connected to the first end of the second connecting rod 922, enabling the second connecting rod 922 to drive the massage hand 6 in reciprocating motion. This achieves the reciprocating motion of the massage hand 6. Furthermore, it avoids the torque generated by the first drive mechanism 91's rotating shaft switching direction, thus enabling the first drive mechanism... The operation of 91 is more stable; the two ends of the first connector 941 and the two ends of the second connector 942 are respectively rotatably connected to the massage hand 6 and the mounting bracket 85, so that the first connector 941 and the second connector 942 can pull the massage hand 6, restricting the direction of movement of the massage hand 6, thereby allowing the massage hand 6 to rotate around a set position. Through the pulling of the massage hand 6 by the first connector 941 and the second connector 942, the pressure of the massage hand 6 on the second connecting rod 922 and the first connecting rod 921 is reduced, making the movement of the first connecting rod 921 and the second connecting rod 922 more stable.

[0064] like Figure 1 , Figure 2As shown, the lifting drive device includes a second drive mechanism 81 and a first mounting base 82. The second drive mechanism 81 is mounted on the first mounting base 82. The second drive mechanism 81 is driven to connect with the mounting frame 85. The second drive mechanism 81 is used to drive the mounting frame 85 to perform linear reciprocating motion along a first straight line direction.

[0065] The driving end of the second drive mechanism 81 can be bolted, snapped, or welded to the mounting bracket 85. The second drive mechanism 81 is screwed, welded, or snapped to the first mounting base 82. In one embodiment, the second drive mechanism 81 is an electric push rod, one end of which is threaded to the mounting bracket 85. The electric push rod drives the mounting bracket 85 to reciprocate along the Z-axis, and the massage hand 6 follows the movement of the mounting bracket 85. When there is a certain gap between the back of the user's head and the massage hand 6, the electric push rod pushes the mounting bracket 85 to move linearly upward, and the massage hand 6 follows the upward movement of the mounting bracket 85 until the massage hand 6 is in contact with the back of the user's head. When the massage hand 6 lifts the back of the user's head, causing discomfort, the electric push rod drives the mounting bracket 85 to move downward, and the massage hand 6 follows the downward movement of the mounting bracket 85 until the back of the user's head is in a comfortable position. In other embodiments, the drive mechanism 81 can also be a telescopic cylinder or a linear stepper motor.

[0066] The advantage of this design is that by mounting the second drive mechanism 81 onto the first mounting base 82, the second drive mechanism 81 is installed, preventing it from shaking during operation. The second drive mechanism 81 is connected to the mounting frame 85, allowing it to drive the mounting frame 85 to reciprocate vertically. When there is a certain gap between the massage hand 6 and the back of the user's head, the second drive mechanism 81 drives the mounting frame 85 to move upwards linearly. The mounting frame 85 then drives the massage hand upwards until it is in contact with the back of the user's head. When the massage hand 6 lifts the back of the user's head, causing discomfort, the second drive mechanism 81 drives the mounting frame 85 downwards to lower the massage hand 6 until the back of the user's head is in a comfortable position. This allows the massage hand 6 to adapt to different users, improving the user experience.

[0067] like Figure 1 , Figure 2As shown, the mounting bracket 85 includes a first guide rod 822 and a second mounting base 96. One end of the first guide rod 822 is connected to the second mounting base 96. The first drive mechanism 91 is mounted on the second mounting base 96. The first guide rod 822 is arranged along the first straight line direction. A first guide hole is provided on the first mounting base 82. The first guide rod 822 passes through the first guide hole and can slide along the first guide hole.

[0068] In one embodiment, the second mounting base 96 has a mounting hole, and the first guide rod 822 passes through the mounting hole and is welded to the second mounting base 96. The mounting bracket 85 also includes a mounting component, which is connected to the shaft hole of the first connecting assembly 94. The mounting component has a threaded hole, and the first guide rod 822 has a threaded structure, and the first guide rod 822 is threadedly connected to the mounting component. The first drive mechanism 91 is bolted to the second mounting base 96. The first mounting base 82 includes a mounting plate 821, and the first guide hole is formed on the mounting plate 821. The second mounting base 96 is located on the lower side of the mounting plate 821.

[0069] In another embodiment, the second drive mechanism 81 includes a first motor 811 and a second linkage assembly 812. The first motor 811 is drivenly connected to the second linkage assembly 812, and the second linkage assembly 812 is rotatably connected to the second mounting base 96. The first motor 811 is mounted on the first mounting base 82. The second linkage assembly 812 includes a third linkage 8121 and a fourth linkage 8122. The length of the fourth linkage 8122 is greater than the length of the third linkage 8121. A first connecting hole is formed at the first end of the third linkage 8121, and the first connecting hole is keyed to the shaft of the first motor 811. A second connecting hole is formed at the second end of the third linkage 8121. A third connecting hole is formed at the first end of the fourth linkage 8122. A shaft passes through the first connecting hole and the third connecting hole. A fourth connecting hole is formed at the second end of the fourth linkage 8122. The second mounting base 96 includes a connecting rod, and the connecting rod passes through the fourth connecting hole. During the operation of the first motor 811, the first motor 811 drives the first end of the third connecting rod 8121 to rotate. The second end of the third connecting rod 8121 drives the first end of the fourth connecting rod 8122 to move eccentrically relative to the shaft of the first motor 811. Under the guidance of the first guide rod 822, the second end of the fourth connecting rod 8122 drives the second mounting base 96 to reciprocate in the up-down direction. Thus, during the operation of the first motor 811, the first motor 811 only needs to rotate in one direction. Through the drive connection between the first motor 811 and the second connecting rod assembly 812, the first motor 811 can drive the second connecting rod assembly 812 to rotate. Through the rotatable connection between the second connecting rod assembly 812 and the massage hand 6, the second connecting rod assembly 812 can drive the mounting frame 85 to move linearly back and forth, thereby realizing the linear back and forth movement of the massage hand 6. This avoids the torque generated by the shaft of the first motor 811 switching rotation directions, thus making the operation of the first motor 811 more stable.

[0070] The advantage of this configuration is that the second mounting base 96 is installed on the first driving mechanism 91, which prevents the second mounting base 96 from shaking during operation. During the movement of the mounting bracket 85 driven by the second driving mechanism 81, the first guide rod 822 passes through the first guide hole, allowing the first guide rod 822 to move along the first straight line, thereby guiding the massage hand 6 and preventing the massage hand 6 from shifting its position during movement.

[0071] like Figures 5 to 7As shown, the massage hand 6 includes a third drive mechanism 72, a second connecting component 73, a swing arm 74, a mounting base assembly 68, and a massage part 62; the third drive mechanism 72 and the second connecting component 73 are drivenly connected, one end of the swing arm 74 is rotatably connected to the second connecting component 73, the other end of the swing arm 74 is connected to the massage part 62, the massage part 62 is rotatably connected to the mounting base assembly 68, and the swing drive device is drivenly connected to the mounting base assembly 68; the third drive mechanism 72 is used to drive the second connecting component 73 to reciprocate linearly, and the second connecting component 73 is used to drive the massage part 62 to rotate through the swing arm 74.

[0072] The third drive mechanism 72 can be an electric push rod, a linear stepper motor, or a telescopic cylinder. The output end of the third drive mechanism 72 can be bolted, snapped, or welded to the second connecting assembly 73. The third drive mechanism 72 drives the second connecting assembly 73 to reciprocate linearly. The second connecting assembly 73 has a first insertion hole, and the swing arm 74 has a second insertion hole. A first rotating shaft passes through the first insertion hole and the second insertion hole, and the swing arm 74 can rotate relative to the second connecting assembly 73. The massage part 62 has a third insertion hole, and the other end of the swing arm 74 is inserted into the third insertion hole. The massage part 62 includes a connecting post 66, and the mounting base assembly 68 includes a first mounting base 61. The first mounting base 61 has a second mounting hole, and the connecting post 66 passes through the second mounting hole to achieve a rotatable connection between the massage part 62 and the first mounting base 61. The mounting base assembly 68 includes a second mounting base 71, and the swing drive device is keyed or screwed to the second mounting base 71.

[0073] During the operation of the third drive mechanism 72, the third drive mechanism 72 first drives the second connecting component 73 to move along the positive Y-axis. The second connecting component 73 drives one end of the swing arm 74 to move along the positive Y-axis. Under the limiting action of the first mounting base 61, one end of the swing arm 74 rotates around the axis of the first rotating shaft. The other end of the swing arm 74 drives the massage part 62 to rotate counterclockwise around the axis of the connecting post 66. Then, the third drive mechanism 72 drives the second connecting component 73 to move along the negative Y-axis. The second connecting component 73 drives one end of the swing arm 74 to move along the negative Y-axis. Under the limiting action of the first mounting base 61, one end of the swing arm 74 rotates around the axis of the first rotating shaft. The other end of the swing arm 74 drives the massage part 62 to rotate clockwise around the axis of the connecting post 66. This cycle repeats to achieve the reciprocating rotation of the massage part 62.

[0074] The advantage of this configuration is that, through the drive connection between the third drive mechanism 72 and the second connecting component 73, the third drive mechanism 72 can drive the second connecting component 73 to reciprocate linearly. One end of the swing arm 74 is rotatably connected to the second connecting component 73, allowing the second connecting component 73 to drive the swing arm 74 to reciprocate linearly. The other end of the swing arm 74 is connected to the massage unit 62, and the massage unit 62 is rotatably connected to the mounting base assembly 68, allowing the swing arm 74 to drive the massage unit 62 to rotate reciprocally. This allows the massage unit 62 to reciprocate and rub the user's hair, facilitating a comprehensive hair cleaning and enhancing the hair cleaning effect.

[0075] like Figures 5 to 7 As shown, the third drive mechanism 72 includes a second motor 721, an eccentric connector 722, and a fifth link 723. The second motor 721 and the eccentric connector 722 are drivenly connected. One end of the fifth link 723 is connected to the eccentric connector 722, and the other end of the fifth link 723 is connected to the connecting assembly 73. The second motor 721 drives the eccentric connector 722 to rotate, the eccentric connector 722 drives one end of the fifth link 723 to perform an eccentric movement, and the other end of the fifth link 723 drives the connecting assembly 73 to perform a linear reciprocating motion. The second motor 721 can be a DC motor, an asynchronous motor, or a synchronous motor. The shaft of the second motor 721 can be connected to the eccentric connector 722 by key, pin, or screw. The eccentric connector 722 can be an eccentric sleeve, an eccentric bearing, or a connecting rod. The eccentric connector 722 has a first connecting hole and a second connecting hole. A keyway is formed in the first connecting hole. The shaft of the second motor 721 is keyed to the first connecting hole. One end of the fifth connecting rod 723 has a third connecting hole. A first connecting shaft is inserted into the second and third connecting holes. The axis of the first connecting shaft is parallel to and on the same straight line as the axis of the second motor 721. The connecting assembly 73 has a fourth connecting hole. The other end of the fifth connecting rod 723 has a fifth connecting hole. A second connecting shaft is inserted into the fourth and fifth connecting holes. In another embodiment, the massage hand further includes a connecting frame 75. The connecting frame 75 is welded or screwed to the connecting assembly 73. The fourth connecting hole is formed on the connecting frame 75.

[0076] During the operation of the second motor 721, the shaft of the second motor 721 drives the eccentric connector 722 to rotate. The eccentric connector 722 drives one end of the fifth link 723 to move eccentrically relative to the shaft of the second motor 721, and the other end of the fifth link 723 drives the connecting assembly 73 to reciprocate linearly along the Y-axis. For example, during one revolution of the eccentric connector 722, the eccentric connector 722 first rotates 90°, and the relative distance between the end of the fifth link 723 near the connecting assembly 73 and the shaft of the second motor 721 gradually increases, and the fifth link 723 pushes the connecting assembly 73 forward; the eccentric connector 722 continues to rotate 90°, and the relative distance between the end of the fifth link 723 near the connecting assembly 73 and the shaft of the second motor 721 gradually decreases, and the eccentric connector 722 drives the connecting assembly 73 to reciprocate linearly along the Y-axis. The fifth link 723 returns to its original position; the eccentric connector 722 continues to rotate 90°, the relative distance between the end of the fifth link 723 near the connecting component 73 and the shaft of the second motor 721 increases, and the fifth link 723 pulls the connecting component 73 backward; then the connector 722 continues to rotate 90°, the relative distance between the end of the fifth link 723 near the connecting component 73 and the shaft of the second motor 721 gradually decreases, and the eccentric connector 722 drives the fifth link 723 back to its original position.

[0077] The advantage of this configuration is that during the operation of the second motor 721, the second motor 721 only needs to rotate in one direction. Through the drive connection between the second motor 721 and the eccentric connector 722, the second motor 721 can drive the eccentric connector 722 to rotate. One end of the fifth link 723 is connected to the eccentric connector 722, allowing the eccentric connector 722 to drive one end of the fifth link 723 to perform an eccentric motion. The other end of the fifth link 723 is connected to the connecting assembly 73, allowing the other end of the fifth link 723 to drive the connecting assembly 73 to perform a linear reciprocating motion. This achieves linear reciprocating motion of the connecting assembly 73, avoiding the torque generated by the second motor 721's shaft switching rotation direction, thus making the operation of the second motor 721 more stable.

[0078] like Figures 7 to 9 As shown, the mounting base assembly 68 further includes a guide post 711 and a second mounting base 71. The guide post 711 is connected to the second mounting base 71. The second connecting assembly 73 has a through hole, and the guide post 711 passes through the through hole. The second connecting assembly 73 is adapted to perform reciprocating linear motion along the guide post 711. The swing drive device is drivenly connected to the second mounting base 71.

[0079] The guide post 711 is keyed, snap-fitted, welded, or threadedly connected to the second mounting base 71. The through hole is arranged along the axial direction of the guide post 711, and the second connecting assembly 73 can slide relative to the guide post 711. The guide post 711 is arranged along the Y-axis. During the operation of the third drive mechanism 72, the third drive mechanism 72 drives the second connecting assembly 73 to move along the axial direction of the guide post 711. The second mounting base 71 has a strip-shaped hole 714, the length direction of which is the same as the axis of the guide post 711. The connecting assembly 73 includes a guide slider 731, which passes through the strip-shaped hole 714 and can slide along the strip-shaped hole 714. The first mounting base 61 and the third drive mechanism 72 are respectively mounted on opposite sides of the second mounting base 71. The strip-shaped hole 714 is located on the upper side of the guide post 711, and the outer wall of the guide slider 731 is fitted against the inner wall of the strip-shaped hole 714. The strip-shaped hole 714 is arranged along the Y-axis direction. The guide slider 731 can slide within the strip-shaped hole 714. The guide slider 731 can be drivenly connected to the drive mechanism 72. The drive mechanism 72 is mounted on the upper end surface of the second mounting base 71, and the drive mechanism 72 is bolted, snapped, or welded to the second mounting base 71. The first mounting base 61 can be screwed, snapped, or welded to the second mounting base 71.

[0080] In another implementation, such as Figure 10 , Figure 11As shown, the first mounting base 61 has a connecting hole, and the guide post 711 passes through the connecting hole. The first mounting base 61 can rotate around the axis of the guide post 711, and the massage part 62 rotates with the first mounting base 61. In one embodiment, there are two first mounting bases 61 and guide posts 711, with the two first mounting bases 61 located at opposite ends of the second mounting base 71, and each of the two first mounting bases 61 is pin-connected to the guide post 711. An elastic connector 712 is provided between the first mounting base 61 and the second mounting base 71. One end of the elastic connector 712 contacts the first mounting base 61 and has a certain elastic force, and the other end of the elastic connector 712 contacts the second mounting base 71 and has a certain elastic force. The elastic connector 712 can be a spring sheet or a torsion spring. During the rotation of the first mounting base 61, the elastic connector 712 limits the rotation angle of the first mounting base 61. When the force on the first mounting base 61 disappears, the elastic connector 712 resets the first mounting base 61. A limiting groove is formed on the first mounting base 61, and a limiting hole is formed on the second mounting base 71. One end of the elastic connector 712 is inserted into the limiting hole, and the other end is inserted into the limiting groove. By having both ends of the elastic connector 712 inserted into the limiting hole and the limiting groove respectively, the limiting hole and the limiting groove can limit the elastic connector 712, preventing it from slipping out from between the first mounting base 61 and the second mounting base 71.

[0081] The advantages of this design are as follows: the guide post 711 is connected to the second mounting base 71, thus enabling the installation of the guide post 711; the guide post 711 passes through a through hole on the second connecting component 73, thus guiding the second connecting component 73; under the guidance of the guide post 711, the second connecting component 73 can move along the axial direction of the guide post 711, realizing the linear reciprocating motion of the second connecting component 73; in addition, the guide post 711 restricts the displacement of the second connecting component 73, making the second connecting component 73 more stable during movement.

[0082] like Figure 6 , Figure 7As shown, the second connecting component 73 includes a third connecting member 732 and a fourth connecting member 733. The third connecting member 732 is drivenly connected to the third driving mechanism 72, and the fourth connecting member 733 is pin-connected to the swing arm 74. The third connecting member 732 and the fourth connecting member 733 are respectively pin-connected to the guide post 711, and the fourth connecting member 733 can rotate relative to the guide post 711.

[0083] The third connecting member 732 can be keyed, screwed, or pinned to the drive end of the third driving mechanism 72. In one embodiment, the third connecting member 732 includes a first limiting plate and a second limiting plate, and the fourth connecting member 733 is located between the first limiting plate and the second limiting plate. The two end faces of the fourth connecting member 733 in the axial direction of the guide post 711 are respectively abutted against the first limiting plate and the second limiting plate. The first limiting plate and the second limiting plate are provided with a first guide hole, and the fourth connecting member 733 is provided with a second guide hole. The guide post 711 passes through the first guide hole and the second guide hole to realize the pin connection between the third connecting member 732 and the fourth connecting member 733 and the guide post 711. Both the third connecting member 732 and the fourth connecting member 733 can slide along the axial direction of the guide post 711, and the fourth connecting member 733 can rotate about the axial line of the guide post 711. Therefore, by positioning the fourth connector 733 within the first and second limiting plates, the first and second limiting plates can limit the radial displacement of the fourth connector 733 within the guide post 711, thereby making the movement of the fourth connector 733 more stable. The fourth connector 733 includes a first connecting plate and a second connecting plate, with the swing arm 74 located between the first and second connecting plates. The first and second connecting plates have a first connecting hole, and the swing arm 74 has a second connecting hole. A rotating shaft passes through the first and second connecting holes, allowing the swing arm 74 to rotate around the axis of the rotating shaft. Thus, by positioning the swing arm 74 between the first and second connecting plates, the first and second connecting plates can limit the position of the swing arm 74, and the connection between the swing arm 74 and the second connector is strengthened.

[0084] The advantage of this configuration is that the third connecting member 732 is driven to connect with the third driving mechanism 72, allowing the third driving mechanism 72 to drive the third connecting member 732 to reciprocate linearly. The third connecting member 732 and the fourth connecting member 733 are respectively pin-connected to the guide post 711. On one hand, the third connecting member 732 can drive the fourth connecting member 733 to move along the guide post 711; on the other hand, the fourth connecting member 733 can rotate relative to the guide post 711, preventing the third connecting member 732 from interfering with the rotation of the fourth connecting member 733. The fourth connecting member 733 is pin-connected to the swing arm 74, allowing the swing arm 74 to rotate relative to the fourth connecting member 733, thus achieving a rotational connection between the fourth connecting member 733 and the swing arm 74.

[0085] like Figure 9 , Figure 12 As shown, the massage part 62 further includes a connecting post 66, the mounting base assembly 68 includes a first mounting base 61, the first mounting base 61 has a third through hole, the connecting post 66 passes through the third through hole, the side wall of the connecting post 66 has a guide hole 661, the guide hole 661 is arranged radially along the connecting post 66, the swing arm 74 includes a shaft 741, the shaft 741 passes through the guide hole 661, the shaft 741 can slide along the guide hole 661, and the swing arm 74 is adapted to drive the connecting post 66 to rotate.

[0086] In one embodiment, the first mounting base 61 includes a first mounting base body and a cover plate. The third through hole is formed on the first mounting base body, and a limiting hole is formed on the cover plate. The connecting post 66 passes through the limiting hole and the third through hole, which are coaxial. The cover plate is bolted or screwed to the first mounting base body. Thus, by forming a limiting hole on the cover plate and simultaneously passing through the limiting hole and the third through hole, the limiting hole can limit the movement of the connecting post 66, preventing it from shaking. The connecting post 66 also has an annular protrusion structure that fits against the first mounting base 61 to secure the connecting post 66 to the first mounting base 61, preventing it from slipping off. The swing arm 74 is a telescopic connecting arm or an elastic arm. One end of the swing arm 74 is provided with a threaded structure, and a threaded hole is opened on the side wall of the connecting post 66. The swing arm 74 is threadedly connected to the connecting post 66. During the movement of the connecting assembly 73, the connecting assembly 73 drives one end of the swing arm 74 to reciprocate linearly along the Y-axis, and one end of the swing arm 74 rotates relative to the connecting assembly 73. The other end of the swing arm 74 drives the connecting post 66 to rotate. The guide hole 661 passes through the connecting post 66. The swing arm 74 includes a connector, which is connected to the shaft hole of the second connecting assembly 73. The insert shaft 741 is threadedly connected to or welded to the connector. During the movement of the second connecting assembly 73, the connecting assembly 73 drives one end of the swing arm 74 to reciprocate linearly, and one end of the swing arm 74 rotates around the axis of the connecting post 66. The insert shaft 741 slides out or extends into the guide hole 661, and drives the connecting post 66 to rotate.

[0087] In another embodiment, the length of the swing arm 74 is telescopically adjustable. The swing arm 74 includes a first connecting tube and a second connecting tube. The first connecting tube has a through hole that extends through the body of the first connecting tube along its axis. The second connecting tube passes through the through hole and can slide relative to the first connecting tube. During the rotation of the connecting post 66 driven by the swing arm 74, the second connecting tube can slide relative to the first connecting tube to adapt to changes in the relative distance between the swing arm 74 and the connecting post 66. In other embodiments, the swing arm 74 can also be a spring or a telescopic rod.

[0088] The advantage of this design is that, by having the connecting post 66 pass through the third through hole, the connecting post 66 can rotate relative to the first mounting base 61, thus achieving a rotatable connection between the connecting post 66 and the first mounting base 61. During the rotation of the connecting post 66 driven by the swing arm 74, the insert shaft 741 passes through the guide hole 661, which is radially arranged along the connecting post 66, allowing the insert shaft 741 to slide along the guide hole 661. This allows the insert shaft 741 to adapt to changes in the relative distance between the swing arm 74 and the connecting post 66, thereby preventing the connecting post 66 from interfering with the movement of the swing arm 74.

[0089] The present invention also provides a hair washing machine, including a scalp massage robotic arm as described above. The hair washing machine possesses the beneficial effects of the scalp massage robotic arm, which will not be elaborated further here.

[0090] While the disclosure is as stated above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the protection scope of this invention.

Claims

1. A robotic arm for massaging the back of the head, used in a hair washing machine, characterized in that, It includes a swing drive device, a lifting drive device and a massage hand (6). The swing drive device is driven to the massage hand (6) and is used to drive the massage hand (6) to rotate around a set position. The lifting drive device is connected to the swing drive device and is used to drive the swing drive device to reciprocate along a first straight line direction. The massage hand (6) includes a third drive mechanism (72), a second connecting component (73), a swing arm (74), a mounting base assembly (68), and a massage part (62); the third drive mechanism (72) and the second connecting component (73) are drivenly connected, one end of the swing arm (74) is rotatably connected to the second connecting component (73), the other end of the swing arm (74) is connected to the massage part (62), the massage part (62) and the mounting base assembly (68) are rotatably connected, and the swing drive device is drivenly connected to the mounting base assembly (68); the third drive mechanism (72) is used to drive the second connecting component (73) to reciprocate linearly, and the second connecting component (73) is used to drive the massage part (62) to rotate through the swing arm (74); The third drive mechanism (72) includes a second motor (721), an eccentric connector (722), and a fifth link (723). The second motor (721) and the eccentric connector (722) are driven together. One end of the fifth link (723) is connected to the eccentric connector (722), and the other end of the fifth link (723) is connected to the second connecting assembly (73). The second motor (721) drives the eccentric connector (722) to rotate. The eccentric connector (722) drives one end of the fifth link (723) to make an eccentric movement. The other end of the fifth link (723) drives the second connecting assembly (73) to make a linear reciprocating movement.

2. The posterior head massage robotic arm according to claim 1, characterized in that, The mounting base assembly (68) further includes a guide post (711) and a second mounting base (71). The guide post (711) is connected to the second mounting base (71). The second connecting assembly (73) has a through hole, and the guide post (711) passes through the through hole. The second connecting assembly (73) is adapted to reciprocate linearly along the guide post (711). The swing drive device is driven to connect with the second mounting base (71).

3. The posterior head massage robotic arm according to claim 2, characterized in that, The second connecting component (73) includes a third connecting member (732) and a fourth connecting member (733). The third connecting member (732) is driven to the third driving mechanism (72), and the fourth connecting member (733) is pin-connected to the swing arm (74). The third connecting member (732) and the fourth connecting member (733) are pin-connected to the guide post (711) respectively. The fourth connecting member (733) can rotate relative to the guide post (711).

4. The posterior head massage robotic arm according to claim 1, characterized in that, The massage part (62) also includes a connecting post (66), and the mounting base assembly (68) includes a first mounting base (61), on which a third through hole is provided, and the connecting post (66) passes through the third through hole.

5. The posterior head massage robotic arm according to claim 4, characterized in that, The connecting column (66) has a guide hole (661) on its side wall. The guide hole (661) is arranged radially along the connecting column (66). The swing arm (74) includes a shaft (741) which passes through the guide hole (661) and can slide along the guide hole (661). The swing arm (74) is adapted to drive the connecting column (66) to rotate.

6. A hair washing machine, characterized in that, Includes the posterior head massage robotic arm as described in any one of claims 1-5.

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