Massage robot therapy head and massage robot

Abstract

The present invention relates to a massage robot physiotherapy head and a massage robot. The massage robot physiotherapy head includes a shell, a light source assembly, a wind source assembly, a heat source assembly, and a vibration reduction assembly; the shell is constructed with a housing cavity and an air inlet and an air duct hole connected to the housing cavity, and the shell is used to be connected to a robotic arm; the light source assembly is accommodated in the housing cavity, and the light source assembly is used to emit light toward the air duct hole; the heat source assembly is accommodated in the housing cavity, and the heat source assembly is used to generate heat; the wind source assembly includes a fixed frame and a fan, the fixed frame is accommodated in the housing cavity, and the fan is installed on the fixed frame, and the fan is used to rotate to introduce airflow from the air inlet into the housing cavity and lead it out to the outside through the air duct hole; the vibration reduction assembly includes a compression elastic member, one end of the compression elastic member is connected to the shell, and the other end is connected to the fixed frame. The fixed frame is connected to the shell through the compression elastic member to reduce the reaction force generated by vibration and impact on the fixed frame when the fan rotates, thereby reducing vibration and noise.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to a massage robot physiotherapy head and a massage robot. Background Art

[0002] With the continuous advancement of technology, people's work and life paces are accelerating, resulting in long working hours and high-pressure environments. The phenomenon of "phone addiction," computer addiction, and mobile phone addiction have become the main culprits of sub-health. Massage, as a simple and quick way to relax, is often purchased for home massages for themselves or their families. However, existing massage devices can be noisy, affecting the user experience. Summary of the Invention

[0003] Based on this, it is necessary to provide a massage robot therapy head to address the technical problems that existing massage instruments have, such as loud noise during operation, which affects the user experience.

[0004] A massage robot physiotherapy head, comprising:

[0005] A shell member is constructed with a receiving cavity and an air inlet and an air duct hole communicating with the receiving cavity, and the shell member is used to be connected to the robotic arm;

[0006] a light source assembly, housed in the accommodating cavity, and configured to emit light toward the air duct hole;

[0007] A heat source component is accommodated in the accommodating cavity, and the heat source component is used for generating heat;

[0008] an air source assembly, the air source assembly comprising a fixing frame and a fan, the fixing frame being accommodated in the accommodating cavity and located on a side of the light source assembly away from the air duct hole, the fan being mounted on the fixing frame and configured to rotate to introduce airflow from the air inlet into the accommodating cavity and out of the airflow to the outside through the air duct hole; and

[0009] The vibration reduction assembly includes a compression elastic member, one end of the compression elastic member is connected to the outer shell member, and the other end is connected to the fixing frame to reduce the vibration of the fixing frame.

[0010] In one embodiment, the vibration reduction assembly further includes a damper, the fixing frame has a mounting groove, the damper is inserted into the mounting groove, the cylinder of the damper is connected to the groove wall of the mounting groove, and the piston rod of the damper is connected to the compression elastic member.

[0011] In one embodiment, the cylinder of the damper is connected to the groove wall of the mounting groove for rotation around a first direction, and the vibration reduction assembly further includes a torsional elastic member, which is accommodated in the mounting groove, and one end of the torsional elastic member is connected to the groove bottom wall of the mounting groove, and the other end is connected to the damper, wherein the first direction is parallel to the rotation direction of the fan.

[0012] In one embodiment, a limiting member is protruded from the bottom wall of the installation slot, and the limiting member is used to abut against the torsion elastic member to limit the torsion elastic member from moving along a second direction, wherein the second direction is perpendicular to the first direction.

[0013] In one embodiment, the outer shell includes a shell, an air duct tube and an insulation tube. The accommodating cavity is arranged on the shell. The air duct tube is arranged in the accommodating cavity and is connected to the shell. The inner side wall of the air duct tube is arranged to form the air duct hole. The insulation tube is sleeved on the air duct tube for heat insulation.

[0014] In one embodiment, the thermal insulation cylinder includes an inner cylinder, an outer cylinder and a noise reduction component. The inner cylinder is connected to the outer cylinder, and an installation cavity is defined between the inner cylinder and the outer cylinder. The inner cylinder has a plurality of first through holes connected to the installation cavity. The noise reduction component is disposed in the installation cavity. The noise reduction component includes a plurality of polygonal tubes, one end of each polygonal tube is connected to the outer cylinder, and the other end has a first preset gap with the inner cylinder.

[0015] In one embodiment, the insulation tube further includes a folding leaf, which is arranged in the installation cavity and located on one side of the polygonal tube. The folding leaf includes two bent plates, one end of the two bent plates are connected to each other and connected to the inner tube, and the other ends of the two bent plates are away from each other and have a second preset gap with the outer tube.

[0016] In one embodiment, the light source assembly includes a graphene lamp, which is accommodated in the accommodating cavity and located on a side of the wind source assembly close to the air duct hole, and the graphene lamp is used to emit a light source of a preset band.

[0017] The present invention also provides a massage robot that can solve at least one of the above technical problems.

[0018] A massage robot comprises the above-mentioned massage robot therapy head and a mechanical arm, wherein the massage robot therapy head is mounted on the mechanical arm, and the mechanical arm is used to drive the massage robot therapy head to move in space.

[0019] In one embodiment, the massage robot further includes a processor and a distance detector, the distance detector and the robotic arm are electrically connected to the processor, the distance detector is installed at the end of the outer shell close to the air duct hole, the distance detector is used to detect the distance between the end of the air duct hole and the target position, and send the distance information to the processor to control the movement of the massage robot's physiotherapy head to a preset position relative to the target position.

[0020] Beneficial effects:

[0021] The massage robot therapy head provided by an embodiment of the present invention includes an outer shell, a light source assembly, an air source assembly, a heat source assembly and a vibration reduction assembly; the outer shell is constructed with a accommodating cavity and an air inlet and an air duct hole connected to the accommodating cavity, and the outer shell is used to be connected to a robotic arm; the light source assembly is accommodated in the accommodating cavity, and the light source assembly is used to emit light toward the air duct hole; the heat source assembly is accommodated in the accommodating cavity, and the heat source assembly is used to generate heat; the air source assembly includes a fixed frame and a fan, the fixed frame is accommodated in the accommodating cavity, and is located on the side of the light source assembly away from the air duct hole, the fan is installed on the fixed frame, and the fan is used to rotate to introduce airflow from the air inlet into the accommodating cavity, and discharge it to the outside through the air duct hole; the vibration reduction assembly includes a compression elastic member, one end of the compression elastic member is connected to the outer shell, and the other end is connected to the fixed frame to reduce the vibration of the fixed frame. In the present application, the fan is rotated to blow air out of the air duct hole to perform gas massage therapy on the human body, and the heat source component can heat the gas in the air duct hole, and then cooperate with the light source component to emit light from the air duct hole to perform phototherapy, thereby warming the meridians, relieving muscle tension and pain, promoting blood circulation, and enhancing the massage therapy effect. The fixed frame is connected to the outer shell by a compressible elastic part to reduce the reaction force on the fixed frame caused by vibration and impact when the fan rotates, thereby reducing vibration and noise and improving user experience.

[0022] The present invention further provides a massage robot comprising the aforementioned massage robot therapy head and a robotic arm, wherein the massage robot therapy head is mounted on the robotic arm and the robotic arm is configured to drive the massage robot therapy head to move in space. The massage robot can achieve at least one of the aforementioned technical effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A cross-sectional view of a massage robot therapy head provided in accordance with an embodiment of the present invention.

[0024] Figure 2 A schematic diagram of a massage robot therapy head provided in accordance with an embodiment of the present invention.

[0025] Figure 3 This is an exploded view of the massage robot therapy head provided by one embodiment of the present invention.

[0026] Figure 4 A schematic diagram of a fixing frame in a massage robot therapy head provided in one embodiment of the present invention.

[0027] Figure 5 A partial cross-sectional view of a fixing frame in a massage robot therapy head provided by one embodiment of the present invention.

[0028] Figure 6 A partial schematic diagram of the silencer cotton in the massage robot therapy head provided by one embodiment of the present invention.

[0029] Figure 7 A partial schematic diagram of the heat-insulating cylinder in the massage robot's physiotherapy head provided by one embodiment of the present invention.

[0030] Figure 8 A schematic diagram of a massage robot provided according to an embodiment of the present invention.

[0031] Figure Number:

[0032] 10-massage robot therapy head; 100-housing; 110-accommodation cavity; 120-air inlet; 130-air duct hole; 140-air gathering hole; 150-housing; 160-air duct tube; 161-fixing groove; 170-insulation tube; 171-inner tube; 172-outer tube; 173-polygonal tube; 174-folding leaf; 175-first through hole; 176-connecting rod; 177-bending plate; 178-second through hole; 179-installation cavity; 180-air duct cover; 181-step wall; 190-dust cover; 200-light source assembly; 210-graphene lamp; 220-lamp holder; 300-heat source assembly; 310-graphene heating wire; 320- Fixed cylinder; 321-mounting hole; 322-matching cavity; 400-air source assembly; 410-fixing bracket; 411-mounting slot; 412-limiting piece; 413-positioning column; 414-support plate; 415-column; 420-fan; 500-vibration reduction assembly; 510-compression elastic piece; 520-damper; 521-cylinder body; 522-piston rod; 523-matching slot; 530-torsion elastic piece; 610-filter; 620-silence cotton; 621-silence layer; 622-protective layer; 623-buffer layer; 630-iron ring; 640-magnet; 650-flange; 660-robotic arm; 670-industrial control host; 680-roller. DETAILED DESCRIPTION

[0033] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0034] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0036] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0037] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0038] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0039] See Figure 1-Figure 5 , Figure 1 A cross-sectional view of a massage robot therapy head provided in accordance with an embodiment of the present invention. Figure 2 A schematic diagram of a massage robot therapy head provided in accordance with an embodiment of the present invention. Figure 3 This is an exploded view of the massage robot therapy head provided by one embodiment of the present invention. Figure 4 A schematic diagram of a fixing frame in a massage robot therapy head provided in one embodiment of the present invention. Figure 5 A partial cross-sectional view of a fixing frame in a massage robot massage head according to an embodiment of the present invention. The massage robot massage head 10 according to an embodiment of the present invention comprises a housing 100, a light source assembly 200, an air source assembly 400, a heat source assembly 300, and a vibration reduction assembly 500. The housing 100 is provided with a housing cavity 110 and an air inlet 120 and an air duct hole 130 connected to the housing cavity 110. The housing 100 is used to be connected to a robotic arm 660. The light source assembly 200 is accommodated in the housing cavity 110 and is used to emit light toward the air duct hole 130. The heat source assembly 300 is accommodated in the housing cavity 110 and is used to Heat generation; the wind source component 400 includes a fixing frame 410 and a fan 420, the fixing frame 410 is accommodated in the accommodating cavity 110, and is located on the side of the light source component 200 away from the air duct hole 130, the fan 420 is installed on the fixing frame 410, and the fan 420 is used to rotate to introduce the air flow from the air inlet 120 into the accommodating cavity 110, and discharge it to the outside through the air duct hole 130; the vibration reduction component 500 includes a compression elastic member 510, one end of the compression elastic member 510 is connected to the outer shell 100, and the other end is connected to the fixing frame 410 to reduce the vibration of the fixing frame 410.

[0040] Specifically, in this application, the fan 420 rotates to blow air out of the air duct hole 130 to perform gas massage therapy on the human body, and the heat source component 300 can heat the gas in the air duct hole 130, and then cooperate with the light source component 200 to emit light from the air duct hole 130 to perform light therapy, thereby warming the meridians, relieving muscle tension and pain, promoting blood circulation, and enhancing the massage therapy effect. The fixed frame 410 is connected to the outer shell 100 through the compression elastic member 510 to reduce the reaction force generated by vibration and impact on the fixed frame 410 when the fan 420 rotates, thereby reducing vibration and noise and improving user experience. Preferably, the fan 420 is a fan driven by an electric motor. Preferably, the compression elastic member 510 is a compression spring.

[0041] It should be noted that the end of the air duct hole 130 away from the air inlet 120 is the air outlet, and the air outlet is the active end of the massage robot therapy head 10. That is, when the active end is aimed at the target part of the human body, the hot air pressure and light source are exported through the air outlet to achieve massage of the target part of the human body.

[0042] See Figure 1 、 Figure 3 、 Figure 4 and Figure 5 In one embodiment, the vibration reduction assembly 500 further includes a damper 520. The fixing frame 410 has a mounting groove 411. The damper 520 is inserted into the mounting groove 411, and the cylinder 521 of the damper 520 is connected to the groove wall of the mounting groove 411. The piston rod 522 of the damper 520 is connected to the compression elastic member 510, so that the fixing frame 410 and the outer shell 100 are connected through the damper 520. When the fan 420 rotates and generates vibration and impact, the damper 520 can slow down the reaction force generated by the compression elastic member 510 and absorb unnecessary movement to prevent the generation of reaction force. That is, the compression elastic member 510 and the damper 520 are connected in series combination to jointly bear external loads and work together to achieve vibration reduction and buffering functions, so that the fan 420 can operate stably and reduce the noise during operation of the fan 420.

[0043] See Figure 3 、 Figure 4 and Figure 5 In one embodiment, the cylinder 521 of the damper 520 is connected to the groove wall of the installation groove 411 for rotation around a first direction. The vibration reduction assembly 500 also includes a torsional elastic member 530 extending along the first direction. The torsional elastic member 530 is accommodated in the installation groove 411, and one end of the torsional elastic member 530 is connected to the groove bottom wall of the installation groove 411, and the other end is connected to the damper 520, wherein the first direction is parallel to the rotation direction of the fan 420.

[0044] Specifically, the cylinder 521 of the damper 520 is rotatably connected to the wall of the mounting groove 411 about a first direction. Thus, when the fan 420 rotates and generates vibration and impact, the torsional elastic member 530 can use the damper 520 as a support point to counterbalance the torsional force transmitted from the fixing frame 410, thereby reducing the vibration energy, thereby improving the stability of the fan 420, ensuring stable operation of the fan 420, and reducing noise during operation of the fan 420. Preferably, the torsional elastic member 530 is a torsion spring.

[0045] See Figure 5 In one embodiment, a limit member 412 is protruded from the bottom wall of the mounting groove 411. The limit member 412 is used to abut against the torsion elastic member 530 to limit the movement of the torsion elastic member 530 along a second direction perpendicular to the first direction, so that the torsion elastic member 530 can stably resist the vibration of the fixing frame 410 in the second direction.

[0046] Furthermore, the cylinder body 521 of the damper 520 has a mating groove 523, and the torsional elastic member 530 is at least partially accommodated in the mating groove 523 and connected to the bottom wall of the mating groove 523. The limiting member 412 includes two limiting posts, which are respectively arranged on either side of the torsional elastic member 530 along the second direction to limit the movement of the torsional elastic member 530 in the second direction.

[0047] See Figure 4 and Figure 5 In one embodiment, the fixing frame 410 includes a supporting plate 414 and a column 415 connected to each other, the fan 420 is installed on the supporting plate 414, the mounting groove 411 is set on the column 415, the bottom wall of the mounting groove 411 is located on the supporting plate 414, and a positioning member is provided on the groove wall of the mounting groove 411. One end of the damper 520 abuts against the supporting plate 414, and the other end of the damper 520 abuts against the positioning member, thereby stably limiting the position of the damper 520 relative to the mounting groove 411 in the first direction.

[0048] Furthermore, a positioning post 413 is protruded from the support plate 414 , and the positioning post 413 passes through the torsion elastic member 530 to transmit the torsion force on the support plate 414 to the torsion elastic member 530 .

[0049] See Figure 4 and Figure 5 In one embodiment, there are multiple columns 415, and the multiple columns 415 are arranged at intervals around the circumference and surround the fan 420. The number of vibration reduction assemblies 500 corresponds to the number of columns 415, thereby significantly reducing system vibration and impact, absorbing and dissipating more vibration energy, reducing the vibration amplitude and frequency of the system, and thus improving the overall operating stability.

[0050] Furthermore, the outer shell 100 is provided with fixing grooves 161 corresponding to the number of columns 415, and the columns 415 are inserted into the corresponding fixing grooves 161. The compression elastic member 510 is accommodated in the fixing groove 161, and the end of the compression elastic member 510 away from the damper 520 is connected to the groove wall of the fixing groove 161, thereby guiding the compression elastic member 510 and improving the reliability of the massage robot physiotherapy head 10.

[0051] See Figure 1 and Figure 3 In one embodiment, the housing 100 includes a shell 150, an air duct tube 160, and an insulation tube 170. The housing 150 includes a receiving cavity 110. The air duct tube 160 is disposed within the receiving cavity 110 and is connected to the housing 150. The inner sidewall of the air duct tube 160 is formed to form an air duct hole 130. The insulation tube 170 is sleeved over the air duct tube 160 to provide insulation, thereby reducing heat transfer to the shell 150 and preventing burns. The fixing groove 161 is disposed on the outer wall of the air duct tube 160.

[0052] See Figure 3 、 Figure 6 and Figure 7 , Figure 6 A partial schematic diagram of the silencer cotton in the massage robot therapy head provided by one embodiment of the present invention. Figure 7 A partial schematic diagram of the heat-insulating tube 170 in the massage robot's massage head according to one embodiment of the present invention. In one embodiment, the heat-insulating tube 170 includes an inner tube 171, an outer tube 172, and a noise reduction component. The inner tube 171 is connected to the outer tube 172, and a mounting cavity 179 is defined between the inner tube 171 and the outer tube 172. The inner tube 171 has a plurality of first through holes 175 that communicate with the mounting cavity 179. The noise reduction component is disposed within the mounting cavity 179 and includes a plurality of polygonal tubes 173. Each polygonal tube 173 has one end connected to the outer tube 172 and a first predetermined gap between the other end and the inner tube 171.

[0053] Specifically, a first preset gap is defined between polygonal tube 173 and inner cylinder 171, allowing sound waves entering mounting cavity 179 through first through-hole 175 to enter polygonal tube 173 and resonate therein, thereby effectively achieving a noise reduction effect. Preferably, the first preset gap is 2-3 mm.

[0054] Furthermore, each polygonal tube 173 extends radially along the insulation tube 170, with adjacent polygonal tubes 173 abutting against each other. This optimizes the complexity of the sound wave propagation path, increases energy dissipation efficiency, and allows sound waves to be reflected and refracted multiple times within the polygonal tubes 173, effectively enhancing sound absorption performance. In the axial direction of the insulation tube 170, each row of polygonal tubes 173 alternates between 17 and 18.

[0055] See Figure 3 、 Figure 6 and Figure 7 In one embodiment, the insulation tube 170 further includes a folding leaf 174, which is disposed in the mounting cavity 179 and located on one side of the polygonal tube 173. The folding leaf 174 includes two bent plates 177, one end of the two bent plates 177 being connected to each other and connected to the inner tube 171, and the other ends of the two bent plates 177 being away from each other and having a second preset gap with the outer tube 172.

[0056] Specifically, a second preset gap is defined between the bent plate 177 and the outer cylinder 172. This allows sound waves entering the mounting cavity 179 through the first through-hole 175 to be reflected and refracted by the bent plate 177. This increases the complexity of sound wave propagation, effectively prolongs the propagation time of the sound waves, and increases the dissipation of the sound wave energy, effectively achieving a noise reduction effect. The two bent plates 177 are arranged at a 45° angle. Preferably, the second preset gap is 2-3 mm.

[0057] Furthermore, a plurality of second through holes 178 are provided on the bending plate 177 at intervals. When the sound waves are reflected and refracted on the bending plate 177, the second through holes 178 on the bending plate 177 will penetrate and propagate the sound waves, thereby increasing the chances of reflection and refraction of the sound waves. Moreover, the three small spaces formed by the two bending plates 177 will have a damping effect on the sound waves, further reducing the energy of the sound waves.

[0058] Furthermore, the installation cavity 179 is divided into three groups of areas around the circumference of the heat insulation tube 170. Each group of areas is provided with a folding leaf 174 and two noise reduction components, and the folding leaf 174 is arranged between the two noise reduction components.

[0059] Among them, the insulation tube 170 also includes multiple connecting rods 176, and the two ends of the connecting rods 176 are respectively connected to the same side ends of the inner tube 171 and the outer tube 172, so that the inner tube 171 and the outer tube 172 are connected while avoiding interference with the polygonal tube 173 and the folding leaf 174 in the installation cavity 179.

[0060] See Figure 1 In one embodiment, the light source assembly 200 includes a graphene lamp 210. The graphene lamp 210 is housed in the housing cavity 110 and located on the side of the air source assembly 400 near the air duct hole 130. The graphene lamp 210 is configured to emit light of a predetermined wavelength, thereby effectively improving blood circulation and microcirculation, achieving the effects of warming the meridians and promoting the flow of Qi and blood. The light source assembly 200 also includes a lamp holder 220. The lamp holder 220 is housed in the housing cavity 110 and the graphene lamp 210 is mounted on the lamp holder 220.

[0061] See Figure 1 In one embodiment, the heat source assembly 300 includes a graphene heating filament 310, which is housed in the housing cavity 110 and located on the side of the graphene lamp 210 near the air duct hole 130. The graphene heating filament 310 not only generates heat quickly but also efficiently radiates heat energy to the surrounding space in the form of infrared light waves, providing users with a more uniform and comfortable heating experience. Infrared radiation heating has the characteristic of deep heating, can penetrate the surface of objects, and accelerate molecular motion, thereby improving heating efficiency and energy saving.

[0062] Furthermore, the heat source assembly 300 also includes a fixing cylinder 320, which is connected to the lamp holder 220. The inner circumference of the fixing cylinder 320 defines a mounting hole 321 corresponding to the air duct hole 130, so that the preset band light source emitted by the graphene lamp 210 is introduced into the air duct hole 130 through the mounting hole 321, and the cylinder wall of the fixing cylinder 320 has a matching cavity 322, and the graphene heating wire 310 is installed in the matching cavity 322 to heat the airflow in the mounting hole 321.

[0063] See Figure 1 and Figure 3 In one embodiment, a wind collecting hole 140 is provided on the side of the outer shell 100 away from the air duct hole 130, and the wind collecting hole 140 is connected to the accommodating cavity 110, and the air inlet 120 is located on the side of the air outlet away from the air duct hole 130. In the flow direction of the airflow, the radial size of the wind collecting hole 140 gradually decreases, thereby achieving wind collection and improving the reliability of the fan 420 rotating to generate wind power.

[0064] Furthermore, the outer shell 100 also includes an air duct cover 180, which is arranged in the accommodating cavity 110 and connected to the shell 150, and the air duct cover 180 is located on the side of the fixing frame 410 close to the air inlet 120, and the air gathering hole 140 is arranged on the air duct cover 180.

[0065] See Figure 1 and Figure 3 In one embodiment, the massage robot therapy head 10 further includes a filter 610, which is connected to the air duct cover 180 and covers the air inlet 120, thereby filtering particles such as dust in the air and reducing the noise generated during the rotation of the fan 420.

[0066] Furthermore, the air duct cover 180 has a step wall 181, and an iron ring 630 is installed on the step wall 181. The outer shell 100 also includes a dust cover 190, which is mounted on the air duct cover 180 and is magnetically connected to the iron ring 630 through a magnet 640, thereby facilitating the removal of the dust cover 190 to clean the filter 610.

[0067] See Figure 1 、 Figure 3 and Figure 6 In one embodiment, the massage robot therapy head 10 further includes a sound-absorbing cotton 620, which is attached to the wall of the air collecting hole 140 to absorb sound and reduce noise.

[0068] Furthermore, the sound-absorbing cotton 620 includes a sound-absorbing layer 621, which is composed of a mixture of polypropylene and polyester. It should be noted that during the preparation process, polypropylene and polyester fibers are mixed in a carefully calculated ratio, and professional mixing equipment is used to ensure the uniformity of the mixture. The mixture is then fed into a melt spinning system, in which the material is melted at high temperature and spun into uniform polymer fibers with a smaller diameter. The smaller the fiber diameter, the higher its sound absorption efficiency, and the more effectively it can capture and absorb noise waves. Among them, due to its bonding properties, the polypropylene fiber gives the sound-absorbing cotton a higher structural strength, ensuring its reliability during use.

[0069] See Figure 6 In one embodiment, the sound-absorbing cotton 620 further includes a protective layer 622, which is located on both sides of the sound-absorbing layer 621 to protect the sound-absorbing layer 621. The protective layer 622 is made of polylactic acid, an environmentally friendly material that not only has excellent wear resistance but is also biodegradable after its service life, reducing its impact on the environment.

[0070] Furthermore, a buffer layer 623 is provided between the protective layer 622 and the sound-absorbing layer 621. The buffer layer 623 is made of environmentally friendly materials such as bamboo fiber or cotton fiber. These materials not only provide additional sound absorption performance, but also increase comfort and safety while maintaining the overall environmental properties of the sound-absorbing cotton.

[0071] See Figure 1 、 Figure 3 and Figure 8 , Figure 8 Schematic diagram of a massage robot provided by one embodiment of the present invention. In one embodiment, the present invention further provides a massage robot comprising the aforementioned massage robot massage head 10 and a robotic arm 660, wherein the massage robot massage head 10 is mounted on the robotic arm 660 and the robotic arm 660 is used to drive the massage robot massage head 10 to move in space.

[0072] Specifically, the fixing frame 410 is connected to the outer shell 100 via a compression elastic member 510 to reduce the reaction force on the fixing frame 410 caused by vibration and impact when the fan 420 rotates, thereby reducing noise and vibration, thereby improving the stability of the massage robot massage. Among them, by installing the massage robot massage head 10 on the mechanical arm 660, the massage robot massage head 10 can automatically move to the target position to perform massage, avoiding the need to hold the massage robot massage head 10, and improving the convenience of the massage robot. Among them, a flange 650 is provided on the outer shell 100, and the massage robot massage head 10 is connected to the mechanical arm 660 via the flange 650. It should be noted that the specific structure of the mechanical arm 660 is prior art and will not be described in detail.

[0073] Among them, the massage robot has a built-in knowledge base of Chinese medicine meridians, which enables it to simulate the techniques of professional Chinese medicine practitioners when performing therapeutic movements and provide a more accurate therapeutic experience.

[0074] Furthermore, the massage robot also includes an industrial control host 670 and a roller 680. The robotic arm 660 is connected to the industrial control host 670. There are multiple rollers 680 installed at the lower end of the industrial control host 670, thereby facilitating the movement of the industrial control host 670 to improve convenience.

[0075] See Figure 1 、 Figure 3 and Figure 8 In one embodiment, the massage robot further includes a processor and a distance detector. The distance detector and the robotic arm 660 are both electrically connected to the processor. The distance detector is mounted on the end of the housing 100 near the air duct hole 130. The distance detector is used to detect the distance between the end of the air duct hole 130 and the target position and transmit the distance information to the processor to control the movement of the massage robot's massage head 10 relative to the target position to a preset position, thereby ensuring safety and comfort during the massage. Preferably, the distance detector is a distance sensor.

[0076] Furthermore, the massage robot also includes a temperature sensor. The temperature sensor, fan 420 and graphene heating wire 310 are all electrically connected to the processor. The temperature sensor is arranged at the active end of the massage robot therapy head 10. The temperature sensor is used to measure the temperature at the outlet of the air duct hole 130 and send the temperature information to the processor to control the rotation speed of the fan 420 and the heating power of the graphene heating wire 310 to achieve temperature regulation and ensure comfort and safety during the therapy process.

[0077] See Figure 1 、 Figure 3 and Figure 8In one embodiment, the massage robot also includes an infrared laser head, which is mounted within the housing 110 and electrically connected to the processor. The housing 100 is provided with a laser aperture through which the infrared laser head emits infrared laser light, creating a clear guidance path. The therapy head moves along this path, achieving uniform treatment for the patient. The infrared laser provides trajectory guidance, eliminating the need for image acquisition and processing, significantly reducing computing resource requirements.

[0078] Furthermore, the massage robot also includes a monitoring component, which is installed on the outer shell 100 and electrically connected to the processor. The monitoring component is used to monitor the output intensity and frequency of the infrared laser head, and send the output intensity and frequency information of the infrared laser head to the processor, so that the processor controls the robotic arm 660 to adjust according to the actual position of the massage robot therapy head 10.

[0079] Furthermore, the massage robot also includes a safety detection component, which is installed on the outer shell 100 and electrically connected to the processor. The safety detection component monitors the power density of the infrared laser head and sends the power density information of the infrared laser head to the processor, so that the processor controls the robotic arm 660 to adjust according to the actual position of the massage robot's physiotherapy head 10 to ensure that it operates within a safe range.

[0080] Among them, the infrared laser head has a ranging function. The laser probe detects the distance in front of the air outlet in real time. When the laser probe detects an obstacle within 15 centimeters in front of the air outlet, the processor controls the fan 420 to reduce the speed to reduce the air outlet temperature and wind speed to prevent burns; when the laser probe detects an obstacle within 5 centimeters in front of the air outlet, the processor controls the graphene heating wire 310 to immediately stop the operation of the heating wire to prevent overheating and damage to components.

[0081] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0082] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A massage robot therapy head, characterized in that: The massage robot physiotherapy head includes: A shell member is constructed with a receiving cavity and an air inlet and an air duct hole communicating with the receiving cavity, and the shell member is used to be connected to the robotic arm; a light source assembly, housed in the accommodating cavity, and configured to emit light toward the air duct hole; A heat source component is accommodated in the accommodating cavity, and the heat source component is used for generating heat; an air source assembly, the air source assembly comprising a fixing frame and a fan, the fixing frame being accommodated in the accommodating cavity and located on a side of the light source assembly away from the air duct hole, the fan being mounted on the fixing frame and configured to rotate to introduce airflow from the air inlet into the accommodating cavity and out of the airflow to the outside through the air duct hole; and A vibration reduction assembly, the vibration reduction assembly comprising a compression elastic member, one end of the compression elastic member being connected to the housing member and the other end being connected to the fixing frame to reduce vibration of the fixing frame; The vibration reduction assembly further includes a damper, the fixing frame has a mounting groove, the damper is inserted into the mounting groove, the cylinder of the damper is connected to the groove wall of the mounting groove, and the piston rod of the damper is connected to the compression elastic member; The cylinder of the damper is rotatably connected to the groove wall of the mounting groove about a first direction, and the vibration reduction assembly further includes a torsional elastic member extending along the first direction, the torsional elastic member is accommodated in the mounting groove, and one end of the torsional elastic member is connected to the groove bottom wall of the mounting groove, and the other end is connected to the damper, wherein the first direction is parallel to the rotation direction of the fan; A limiting member is protruded from the bottom wall of the installation slot, and the limiting member is used to abut against the torsion elastic member to limit the torsion elastic member from moving along a second direction, wherein the second direction is perpendicular to the first direction.

2. The massage robot therapy head according to claim 1, characterized in that: The outer shell includes a shell, an air duct tube and an insulation tube. The accommodating cavity is arranged on the shell. The air duct tube is arranged in the accommodating cavity and is connected to the shell. The inner side wall of the air duct tube is arranged to form the air duct hole. The insulation tube is sleeved on the air duct tube for heat insulation.

3. The massage robot therapy head according to claim 2, characterized in that: The heat-insulating cylinder includes an inner cylinder, an outer cylinder and a noise reduction component. The inner cylinder is connected to the outer cylinder, and an installation cavity is set between the inner cylinder and the outer cylinder. The inner cylinder has a plurality of first through holes connected to the installation cavity. The noise reduction component is arranged in the installation cavity. The noise reduction component includes a plurality of polygonal tubes, one end of each polygonal tube is connected to the outer cylinder, and the other end has a first preset gap with the inner cylinder.

4. The massage robot therapy head according to claim 3, characterized in that: The thermal insulation tube also includes a folding leaf, which is arranged in the installation cavity and located on one side of the polygonal tube. The folding leaf includes two bent plates, one end of the two bent plates are connected to each other and connected to the inner tube, and the other ends of the two bent plates are far away from each other and have a second preset gap with the outer tube.

5. The massage robot therapy head according to claim 1, characterized in that: The light source assembly includes a graphene lamp, which is accommodated in the accommodating cavity and located on a side of the wind source assembly close to the air duct hole. The graphene lamp is used to emit a light source with a preset wavelength band.

6. A massage robot, characterized in that: It comprises the massage robot therapy head according to any one of claims 1 to 5, and also comprises a robotic arm, wherein the massage robot therapy head is mounted on the robotic arm, and the robotic arm is used to drive the massage robot therapy head to move in space.

7. The massage robot according to claim 6, characterized in that: The massage robot also includes a processor and a distance detector. The distance detector and the robotic arm are electrically connected to the processor. The distance detector is installed at the end of the outer shell close to the air duct hole. The distance detector is used to detect the distance between the end of the air duct hole and the target position, and send the distance information to the processor to control the massage robot's physiotherapy head to move to a preset position relative to the target position.

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