Angle self-adaptive adjustment physiotherapy massage head and physiotherapy equipment

Abstract

The invention discloses a physiotherapy massage head with an angle self-adaptive adjustment function and physiotherapy equipment. The physiotherapy massage head comprises a connecting assembly and a massage assembly, the bearing component is connected with the connecting assembly through a rotating mechanism; the plurality of massage assemblies are mounted on the bearing component; the massage device is characterized in that the massage assembly comprises a mounting component, a massage component and a massage component, and the mounting component is fixed on the bearing component; the middle part of the rocker is in shaft connection with the mounting component; the two massage contacts are connected with the two ends of the rocker respectively, and at least one massage protrusion is arranged on the surface of the bottom end of each massage contact. The physiotherapy massage head, the massage contact and the bearing component are all movably connected, the angle is adjusted through the massage contact and the bearing component, the purpose of automatically adapting to the uneven human body surface is achieved, and the massage comfort is improved. In addition, due to the fact that a spring is not used, pain caused by springback of the spring is avoided, and damage to the mechanical arm caused by stress generated by deformation of the spring is avoided.

Description

Technical Field

[0001] This invention relates to the field of physiotherapy technology, and in particular to a physiotherapy massage head and physiotherapy device with adaptive angle adjustment. Background Technology

[0002] Physiotherapy massage is a method that uses physical therapy to manipulate specific areas of the body's surface to adjust physiological and pathological states and achieve therapeutic goals. Traditional physiotherapy massage mainly relies on manual labor, which is limited to some extent by the availability of space and manpower.

[0003] With advancements in technology, physiotherapy devices are increasingly being applied in practice. These robots typically consist of a robotic arm capable of moving in multiple directions and a physiotherapy massage head mounted on the arm. Driven by the robotic arm, the massage head can automatically massage the body.

[0004] Existing physiotherapy massage head designs include a connecting component for attaching to a robotic arm, a support component connected to the connecting component via a spring, and multiple massage components mounted on the support component. When a massage component encounters bone, and the resistance exceeds the spring's elastic force, the spring deforms, causing the massage component to oscillate relative to the robotic arm. However, this design has the following problems: after the massage component slides past the bone, it quickly rebounds under the spring's restoring force, causing the massage component to impact the skin and thus produce pain. Furthermore, the stress generated by the spring strain is also transmitted to the robotic arm, causing impact. Therefore, this design of massage head has some drawbacks in practical use. Summary of the Invention

[0005] Therefore, in view of the problem that existing physiotherapy massage heads have large rebound force and high stress when encountering uneven areas, the present invention provides a physiotherapy massage head and physiotherapy device with adaptive angle adjustment.

[0006] An angle-adjustable therapeutic massage head, comprising:

[0007] Connection components;

[0008] The supporting component is connected to the connecting assembly via a rotating mechanism;

[0009] Multiple massage components are mounted on the supporting component;

[0010] The massage component includes:

[0011] The mounting component is fixed to the supporting component;

[0012] A rocker arm, the middle portion of which is axially connected to the mounting component; and

[0013] Two massage contacts are connected to the two ends of the rocker arm, and at least one massage protrusion is provided on the bottom surface of the massage contacts.

[0014] In one embodiment, the massage protrusion includes a main massage protrusion and a plurality of secondary massage protrusions surrounding the main massage protrusion, and the lower end of the main massage protrusion is flush with the lower end of the secondary massage protrusions.

[0015] In one embodiment, the rocker arm includes a main body and connecting portions located at both ends of the main body, the connecting portions being detachably connected to the massage contacts.

[0016] In one embodiment, the plurality of massage components are arranged along the circumferential direction of the support member.

[0017] In one embodiment, the supporting component is provided with a heating component located within the space enclosed by the plurality of massage components.

[0018] In one embodiment, the rotating mechanism includes: an adapter block connected to the bottom end of the connecting assembly via a first rotating shaft, thereby allowing the adapter block to rotate about a first axis, and connected to the top end of the bearing member via a second rotating shaft, thereby allowing the bearing member to rotate about a second axis, wherein the first axis and the second axis are perpendicular to each other.

[0019] In one embodiment, the adapter block has a first shaft hole extending along a first axis and a second shaft hole extending along a second axis. The bottom end of the connecting component is provided with two first ears arranged along the first axis, and the first ears are provided with a third shaft hole. The top end of the bearing component is provided with two second ears arranged along the second axis, and the second ears are provided with a fourth shaft hole. The first rotating shaft passes through the first shaft hole and the third shaft hole, and the second rotating shaft passes through the second shaft hole and the fourth shaft hole.

[0020] In one embodiment, an essential oil component is further included, which is connected to the connecting component.

[0021] In one embodiment, the connection component is provided with an interface for connecting to a robotic arm.

[0022] A physiotherapy device includes a main unit and a robotic arm, one end of which is fixed to the main unit. The device is characterized by further including an angle-adaptive physiotherapy massage head, which is connected to the other end of the robotic arm.

[0023] The angle-adaptive therapeutic massage head of this invention allows the massage contacts to swing freely. Therefore, when the massage contacts encounter irregular parts of the body (such as joints or bones), they can swing upwards or downwards as needed. When encountering a significant slope, the massage contacts drive the supporting component to swing relative to the connecting assembly, thus flexibly adapting to various curves and contours of the human body. This angle-adaptive therapeutic massage head automatically adapts to uneven human surfaces through dual angle adjustment of the massage contacts and the supporting component, making the massage process smoother and significantly improving comfort. Furthermore, by eliminating the need for springs, it avoids pain caused by spring rebound and damage to the robotic arm caused by stress generated by spring deformation.

[0024] The beneficial effects of the additional technical features of this invention will be described in the detailed embodiments section of this specification. Attached Figure Description

[0025] Figure 1 This is a front view of a therapeutic massage head with adaptive angle adjustment in one embodiment of the present invention;

[0026] Figure 2 for Figure 1 A schematic diagram showing the internal structure by concealing part of the outer shell;

[0027] Figure 3 for Figure 1 A schematic diagram of the decomposition process;

[0028] Figure 4 This is a schematic diagram of the three-dimensional structure of the adapter block;

[0029] Figure 5 for Figure 1 Rear view;

[0030] Figure 6 for Figure 5 Cross-sectional view along the AA direction;

[0031] Figure 7 for Figure 6 A magnified view of the area at point C;

[0032] Figure 8 for Figure 1 The right view;

[0033] Figure 9 for Figure 8 Cross-sectional view along the BB direction;

[0034] Figure 10 for Figure 9 A magnified view of the area at point D;

[0035] Figure 11This is a front view of the massage component of the angle-adaptive adjustable physiotherapy massage head in one embodiment of the present invention;

[0036] Figure 12 for Figure 11 A schematic diagram of the decomposition process;

[0037] Figure 13 for Figure 11 Top view;

[0038] Figure 14 for Figure 13 A cross-sectional view along the CC direction;

[0039] Figure 15 for Figure 11 A front view of the massage probe;

[0040] Figure 16 for Figure 15 A bottom view.

[0041] Explanation of reference numerals in the attached figures:

[0042] 10. Connecting assembly; 11. Connector; 12. Connecting cover; 121. First lug; 122. Third shaft hole; 13. Support post; 14. PCB circuit board; 15. "T" shaped slider; 16. U-shaped groove; 17. Pin;

[0043] 20. Supporting component; 21. Second lug; 22. Fourth shaft hole; 23. Mounting slot;

[0044] 30. Massage component; 31. Massage head; 311. Main massage protrusion; 312. Secondary massage protrusion; 3121. Cylindrical surface; 3122. Spherical surface; 313. Groove; 32. Mounting component; 321. Upper section; 3211. Slot; 322. Lower section; 323. Rotating shaft; 33. Rocker arm; 331. Connecting part; 332. Main body; 3321. Shaft hole; 34. Magnet; 35. Iron block; 36. Screw;

[0045] 40. Rotating mechanism; 41. First rotating shaft; 42. Second rotating shaft; 43. Adapter block; 431. First shaft hole; 432. Second shaft hole;

[0046] 50. Adjusting block;

[0047] 60. Heating component; 61. Lamp holder; 62. Infrared lamp tube;

[0048] 70. Protective netting;

[0049] 80. Essential oil supply assembly; 81. Essential oil bottle positioning assembly; 82. Essential oil delivery mechanism; 83. Output channel; 84. Bracket; 85. Air inlet channel;

[0050] 90. Essential oil bottle;

[0051] 110. First outer shell; 120. Second outer shell; 130. Third outer shell; 140. Fourth outer shell. Detailed Implementation

[0052] 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 clearly and completely described below with reference to the accompanying drawings. Obviously, the specific details described below are only a part of the embodiments of the present invention, and the present invention can be implemented in many other embodiments different from those described herein. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0053] In this document, when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The directional terms such as "front," "back," "up," and "down" are defined based on the positions of the components in the accompanying drawings and their relative positions, and are used solely for clarity and convenience in expressing the technical solution. It should be understood that the use of these directional terms should not limit the scope of protection claimed in this application.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0055] See Figure 1 and Figure 2 In one embodiment of the present invention, the angle adaptive adjustment physiotherapy massage head includes a shell, a connecting component 10, a supporting component 20, and a plurality of massage components 30.

[0056] The connecting component 10 is used to connect to the end of the robotic arm of the physiotherapy device (not shown in the figure), and the robotic arm drives the physiotherapy massage head to perform a massage operation. In order to facilitate the replacement of the physiotherapy massage head, the connecting component 10 is provided with a first interface, and the end of the robotic arm is provided with a second interface that mates with the first interface. The physiotherapy massage head and the robotic arm are detachably connected through the first interface and the second interface.

[0057] See also Figure 2 and Figure 3As an example, the connection assembly 10 includes a connector 11, a connection cover 12, and a plurality of support posts 13. The upper surface of the connector 11 is designed with a first interface for connection to the end effector of a robotic arm. As an example, the first interface includes a "T"-shaped slider 15 protruding from the upper surface of the connector 11 (see...). Figure 3 The second connector includes a T-shaped groove (not shown in the figure) at the end of the robotic arm that matches the T-shaped slider 15. The T-shaped slider 15 engages with the T-shaped groove to connect the physiotherapy massage head to the robotic arm. To prevent unauthorized disassembly of the physiotherapy massage head, a locking mechanism (not shown in the figure) is also provided between the physiotherapy massage head and the robotic arm. Preferably, the front end of the T-shaped slider 15 along the sliding direction (i.e., the sliding direction in which the T-shaped slider 15 slides into the T-shaped groove) has a U-shaped groove. Several pins are provided in the U-shaped groove, and these pins are connected to the PCB circuit board 14 via wires. Several holes (not shown in the figure) are correspondingly provided in the T-shaped groove, and these holes are connected to the main unit (not shown in the figure) via wires. When the T-shaped slider 15 engages with the T-shaped groove, the pins are inserted into the holes to achieve electrical connection, thereby connecting the PCB circuit board 14 to the main unit.

[0058] Connecting covers 12 are positioned at certain intervals below the connector 11, while support columns 13 are distributed between the connector 11 and the connecting covers 12, with their two ends connected to the connector 11 and the connecting covers 12 respectively. In this way, a cavity is formed between the connector 11 and the connecting covers 12, and the PCB circuit board 14 is placed in this cavity, thereby facilitating circuit connection and protection.

[0059] See Figures 3-10 The supporting component 20 is located below the connecting cover 12 and is connected to the connecting cover 12 via a rotating mechanism 40, so that the supporting component 20 can rotate relative to the connecting cover 12 along a first axis and a second axis perpendicular to the first axis. In this design, the supporting component 20 has two rotational degrees of freedom: about the first axis A1 and about the second axis A2.

[0060] The rotating mechanism 40, as an example, includes a transition block 43, a first rotating shaft 41, and a second rotating shaft 42. The transition block 43 has a first shaft hole 431 extending along a first axis A1 and a second shaft hole 432 extending along a second axis A2. The lower end of the connecting cover 12 has two first lugs 121 arranged along the first axis A1, each with a third shaft hole 122. The upper end of the supporting member 20 has two opposing second lugs 21 arranged along the second axis A2, each with a fourth shaft hole 22. The first rotating shaft 41 passes through the first shaft hole 431 and the third shaft hole 122, and the second rotating shaft 42 passes through the second shaft hole 432 and the fourth shaft hole 22. This design of the rotating mechanism 40 allows the supporting member 20 to have rotational freedom in both directions around the first rotating shaft 41 and the second rotating shaft 42, increasing the mobility of the supporting member 20 and improving the range and flexibility of the massage.

[0061] See Figure 4 Preferably, the adapter block 43 is a hollow cuboid or cube structure. The adapter block 43 has a first shaft hole 431 on each of its two side walls along the first axis A1, and a second shaft hole 432 on each of its two side walls along the second axis A2. This design places the first shaft hole 431 and the second shaft hole 432 in the same horizontal plane, making the structure more compact and smaller, thus reducing the overall size of the massage head and increasing portability.

[0062] In one embodiment, a limiting mechanism is further included to limit the rotation angle of the bearing component 20 and prevent excessive rotation of the bearing component 20. The limiting mechanism includes an adjusting block 50, the upper end of which is connected to the connecting cover 12, and the lower end of which leaves a certain gap with the upper surface of the bearing component 20. This forms a physical limit to restrict the rotation of the bearing component 20, ensuring that the bearing component 20 works within a specified range and avoiding excessive rotation. Preferably, the adjusting block 50 has a cylindrical structure, and the upper end of the adjusting block 50 is connected to the bottom surface of the connecting cover 12 by screws. The adapter block 43, the first lug 121, and the second lug 21 are located inside the adjusting block 50.

[0063] like Figure 2 , 3As shown, the massage component 30 is mounted on the support component 20, and includes at least one massage head 31 that can swing up and down. Because the massage head 31 can swing up and down, when it encounters uneven parts of the human body (such as bones), it can tilt upwards or downwards, allowing it to smoothly "climb" over slopes. When multiple massage heads 31 are on a slope, they cause the support component 20 to swing relative to the connecting component 10, thus automatically adjusting the angle according to the working surface. Both the massage head 31 and the support component 20 of this therapeutic massage head are movably connected. Through the dual adjustment of the angle by the massage head 31 and the support component 20, it automatically adapts to uneven human surfaces, increasing massage comfort. Furthermore, since no spring is used, it avoids the pain caused by spring rebound and the damage to the robotic arm caused by stress generated by spring deformation.

[0064] refer to Figures 11-16 To enhance the massage effect, the massage assembly 30 also includes a mounting component 32 and a rocker arm 33. The mounting component 32 is mounted on the support component 20, and the middle part of the rocker arm 33 is rotatably mounted on the mounting component 32. Two massage contacts 31 are respectively mounted at both ends of the rocker arm 33. With this structure, during the movement of the massage head, when the massage contact 31 at the front end of the rocker arm 33 encounters a concave or convex part of the human body, it swings upward or downward, while the massage contact 31 at the rear end swings downward or upward. This ensures that the massage contacts 31 at both ends of the massage head maintain a constant pressure with the human body, resulting in a better massage effect and a better massage experience.

[0065] In one embodiment, the rocker arm 33 includes a main body 332 and connecting portions 331 located at both ends of the main body 332. The connecting portions 331 are detachably connected to the massage head 31. Since essential oils are typically applied to the body during massage, residue remains on the massage head 31 afterward. When massaging another person, the massage head 31 usually needs to be cleaned. Existing technology involves disassembling the entire tool head for cleaning, which is very inconvenient. In this embodiment, the massage head 31 is detachably connected to the connecting portions 331; cleaning only requires disassembling the massage head 31, making cleaning and maintenance convenient.

[0066] In one design, the connecting portion 331 is a cylindrical shape extending downward from the end of the main body 332. The massage contact 31 has a groove 313, and the connecting portion 331 is embedded in the groove 313, facilitating the connection between the massage contact 31 and the connecting portion 331. Furthermore, to prevent the massage contact 31 from detaching, the massage contact 31 and the connecting portion 331 are connected by a magnetic component. Figure 14As shown, as an example, the magnetic assembly includes a magnet 34 disposed on the connecting portion 331 and an iron block 35 disposed on the massage contact head 31. The connecting portion 331 and the massage contact head 31 are attracted together by the magnet 34 and the iron block 35. Further, the connecting portion 331 has a downward-facing mounting groove. The magnet 34 is ring-shaped and is installed in the mounting groove. A screw 36 passes through the magnet 34 and is screwed into a screw hole on the magnet 34, thereby fixing the magnet 34 to the connecting portion 331. The iron block 35 is installed at the bottom of a groove 313 on the connecting portion 331, and the upper end of the iron block 35 has a groove for avoiding the nut of the screw 36.

[0067] refer to Figures 11-16 To further enhance the massage effect, the lower end of the massage contact 31 is designed with two or more massage protrusions 311 and 312 to concentrate the massage force and improve the massage effect. More specifically, the massage protrusions 311 and 312 include a main massage protrusion 311 located in the middle of the lower end face of the massage contact 31 and multiple secondary massage protrusions 312 surrounding the main massage protrusion 311, with the lower ends of the main massage protrusion 311 and the secondary massage protrusions 312 flush. This arrangement allows for more massage protrusions to be set in a limited space, thereby improving the massage effect. Preferably, the lower end of the massage contact 31 is elliptical, forming the main massage protrusion 311, and the multiple secondary massage protrusions 312 are evenly distributed around the lower end of the massage contact. In addition, to facilitate demolding, the secondary massage protrusion 312 includes a lower hemispherical portion 3122 and an upper cylindrical portion 3121. This reduces production difficulty and production costs.

[0068] In one embodiment, see Figure 12 The mounting component 32 includes an upper section 321 and a lower section 322. The upper section 321 has a slot 3211 on its side, which fits onto the outer periphery of the supporting component 20 and is fixed with screws. The lower section 322 has a rotating shaft 323, and the main body 332 of the rocker arm 33 has a shaft hole 3321 in its middle that mates with the rotating shaft 323. The rocker arm 33 passes through the rotating shaft 323 and the shaft hole 3321. With this structure, multiple massage components 30 are arranged along the circumference of the supporting component 20, resulting in uniform massage intensity and a good user experience. Preferably, the supporting component 20 has a polygonal cross-section, with the multiple massage components 30 arranged on each side of the polygon.

[0069] In one embodiment, a heating assembly 60 is further disposed on the support member 20. The heating assembly 60 generates heat during operation and transfers it to the individual body to achieve a thermotherapy effect. As an example, the support member 20 has a downward-facing mounting groove 23, within which the heating assembly 60 is disposed. As an example, the heating assembly 60 includes a lamp holder 61 and at least one infrared lamp tube 62 mounted on the upper end of the lamp holder 61. (See reference...) Figure 3 Preferably, a protective net 70 is provided at the opening of the mounting slot to prevent skin from coming into contact with the heating component 60 and getting burned.

[0070] In one embodiment, the housing includes a first housing 110 covering the connecting assembly, a second housing 120 covering the rotating mechanism, and a third housing 130 covering the supporting member. As an example, the first housing 110 is a cylindrical structure open at both ends, with a connector covering the upper opening and a connecting cap covering the lower opening. The third housing 130 is a bowl-shaped structure with its opening facing downwards, and is inverted onto the supporting member, with its upper end fixed to the upper surface of the supporting member. The second housing 120 is a tubular structure made of a soft material, with its upper end connected to the lower end of the first housing 110 and its lower end connected to the upper end of the third housing 130.

[0071] In one embodiment, the therapeutic massage head further includes an essential oil supply component 80, which is connected to the connecting component 10. During the massage, essential oil is automatically supplied by the essential oil supply component 80, allowing for precise control of the output amount. As an example, the essential oil supply assembly 80 includes an essential oil bottle positioning assembly 81, a hollow first puncture needle (not shown in the figure), a hollow second puncture needle (not shown in the figure), and an essential oil delivery mechanism 82. The essential oil bottle positioning assembly 81 includes a positioning groove for placing an essential oil bottle 90. The first puncture needle is located at the bottom of the positioning groove, with its head extending into the positioning groove and having a puncture portion that can pass through the cap of the essential oil bottle 90 at that end. The tail end of the first puncture needle is connected to one end of an air intake channel 85, and the other end of the air intake channel 85 is connected to the outside. The second puncture needle is located at the bottom of the positioning groove, with its head extending into the positioning groove and having a puncture portion that can pass through the cap of the essential oil bottle 90 at that end. The input port of the essential oil delivery mechanism 82 is connected to the tail end of the second puncture needle, and the output port is connected to one end of an output channel 83, for guiding the essential oil in the essential oil bottle 90 through the second puncture needle into the output channel 83.

[0072] Before use, insert the essential oil bottle 90, with the cap facing upwards, into the positioning groove. During insertion, the piercing portions of the first and second piercing needles pierce the cap of the essential oil bottle 90 and are then inserted into the bottle. When essential oil needs to be supplied, the essential oil delivery mechanism 82 operates, guiding the essential oil in the bottle 90 through the second piercing needle into the output channel 83, achieving automatic essential oil supply. By controlling the output volume of the essential oil, the output volume can be precisely controlled.

[0073] In one embodiment, the essential oil delivery mechanism 8230 is a peristaltic pump. This facilitates the continuous and uniform delivery of essential oils.

[0074] In one embodiment, the essential oil supply assembly 80 further includes a bracket 84, which is L-shaped. The vertical portion of the bracket 84 is connected to the essential oil bottle positioning assembly 81, and the horizontal portion of the bracket 84 is connected to the connecting cap 12.

[0075] In one embodiment, the housing further includes a fourth housing 140, which covers the exterior of the essential oil supply assembly 80. As an example, the fourth housing 140 is integrally formed with the first housing 110.

[0076] In another embodiment of the present invention, a physiotherapy device is provided, comprising a main unit, a robotic arm, and the physiotherapy massage head described in the above embodiment. One end of the robotic arm is fixed to the main unit, and the other end is connected to the physiotherapy massage head. Automatic massage is achieved by the robotic arm driving the physiotherapy massage head to move (including translation and up-down movement).

[0077] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A physiotherapy massage head with adaptive angle adjustment, comprising: Connect components; A bearing component connected to the connecting assembly via a rotating mechanism; A plurality of massage components are mounted on the bearing component; Characterized in that the massage component comprises: A mounting component, fixed on the bearing component; A rocker, a middle portion of which is axially connected to the mounting component; and Two massage contacts are respectively connected to the two ends of the rocker, and at least one massage protrusion is arranged on the bottom end surface of the massage contact.

2. The angle-adaptive physiotherapy massage head according to claim 1, characterized in that: The massage protrusions include a main massage protrusion and a plurality of secondary massage protrusions arranged around the main massage protrusion, and the lower end of the main massage protrusion is flush with the lower end of the secondary massage protrusion.

3. The angle-adaptive physiotherapy massage head according to claim 1, characterized in that: The rocker comprises a main body and connecting parts arranged at two ends of the main body, and the connecting parts are detachably connected to the massage contacts.

4. The angle-adaptive physiotherapy massage head according to claim 1, characterized in that: The plurality of massage components are arranged along the circumferential direction of the bearing component.

5. The angle-adaptive physiotherapy massage head according to claim 4, characterized in that: A heating component is provided on the bearing component, and the heating component is located in the space surrounded by the multiple massage components.

6. The angle-adaptive physiotherapy massage head according to any one of claims 1 to 5, characterized in that: The rotating mechanism includes: an adapter block, which is connected to the bottom end of the connecting assembly through a first rotating shaft so that the adapter block can rotate around a first axis, and is connected to the top end of the supporting component through a second rotating shaft so that the supporting component can rotate around a second axis, and the first axis and the second axis are perpendicular to each other.

7. The angle-adaptive physiotherapy massage head according to claim 6, characterized in that: The adapter block has a first axial hole extending along the first axial direction and a second axial hole extending along the second axial direction. The bottom end of the connecting component is provided with two first ears arranged along the first axial direction, and the first ears are provided with a third axial hole; the top end of the bearing component is provided with two second ears arranged along the second axial direction, and the second ears are provided with a fourth axial hole. The first rotating shaft is inserted into the first axial hole and the third axial hole, and the second rotating shaft is inserted into the second axial hole and the fourth axial hole.

8. The angle-adaptive physiotherapy massage head according to any one of claims 1 to 5, characterized in that: It also includes an essential oil component, which is connected to the connecting component.

9. The angle-adaptive physiotherapy massage head according to any one of claims 1 to 5, characterized in that: The connection component is provided with an interface for connecting with the mechanical arm.

10. A physical therapy device, comprising a main unit and a mechanical arm, wherein one end of the mechanical arm is fixed to the main unit, characterized in that: It also includes a physiotherapy massage head with an angle self-adjustment as described in any one of claims 1 to 9, and the physiotherapy massage head with an angle self-adjustment is connected to the other end of the mechanical arm.

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