Bidirectional mechanical arm massage equipment

Abstract

According to the bidirectional mechanical arm massage equipment, the tail end of a mechanical arm is provided with a mounting frame, the mounting frame is provided with a first massage head and a second massage head, the first massage head faces forwards, and the second massage head faces backwards; comprising a single-face stress sensor, an elastic detection face of the single-face stress sensor is fixedly installed on an installation frame, and the front end face of the single-face stress sensor is fixedly connected with a first massage head and a second massage head. The bidirectional mechanical arm massage equipment is provided with the first massage head and the second massage head which are different, and different massage modes can be adopted to massage a human body. The massage equipment converts the counter-acting force borne by the first massage head into thrust to the single-face stress sensor and converts the counter-acting force borne by the second massage head into tension to the single-face stress sensor. The single-face stress sensor detects the counter-acting force borne by the two massage heads in this way so as to indirectly detect the pressure of the two massage heads on the human body, and therefore the pressure of the two massage heads on the human body can be detected only through one single-face stress sensor.

Description

Technical Field

[0001] The utility model relates to the technical field of massage equipment, in particular to a bidirectional mechanical arm massage equipment. Background Art

[0002] The robotic arm massage device includes a robotic arm, at the end of which a forward-facing massage head and a force sensor are installed. The robotic arm drives the massage head forward to approach the human body and applies pressure massage to the human body. During the massage, the human body applies a backward reaction force to the massage head, and the massage head transmits the reaction force to the detection surface of the force sensor, converting the reaction force into a thrust on the force sensor. In this way, the force sensor indirectly detects the pressure of the massage head on the human body. Conventional robotic arm massage devices only have one massage head and can only use a single massage method to massage the human body. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide a bidirectional mechanical arm massage device which can massage the human body in different massage modes.

[0004] The inventor tried to improve the existing equipment by adding a massage head facing backwards behind the original massage head to form a bidirectional massage device. When the robotic arm drives one of the massage heads to move forward and close to the human body for massage, the other massage head is located behind the above massage head and will not hinder the masseur. The robotic arm only needs to drive the two massage heads to rotate and change direction, and the other massage head can be used to move forward and close to the human body for massage. Traditional robotic arm massage equipment converts the reaction force exerted on the massage head into a thrust on the sensor, and in this way detects the pressure of the massage head on the human body. The sensor used is generally a single-sided force sensor, which has only one detection surface and can only accept thrust from one direction. The two massage heads of the bidirectional robotic arm massage device are in opposite directions, and the reaction forces transmitted to the sensor are also in opposite directions. According to the traditional design concept, two single-sided force sensors are required to detect thrusts from two opposite directions, but this is costly. After research, the inventor found that a single-sided force sensor can detect both backward thrust and forward pulling force. If the traditional design idea is not followed, but the reaction force received by one of the massage heads is converted into a thrust on the single-sided force sensor, and the reaction force received by the other massage head is converted into a pulling force on the single-sided force sensor, then only one single-sided force sensor is needed to detect the reaction force received by the two massage heads, thereby indirectly detecting the pressure of the two massage heads on the human body.

[0005] In order to solve the above technical problems, the utility model discloses a bidirectional mechanical arm massage device, comprising a mechanical arm, a rotating part is provided at the end of the mechanical arm, a mounting frame is installed on the rotating part, the mounting frame is provided with a first massage head and a second massage head with different massage modes, the first massage head faces forward and the second massage head faces backward, the rotating part can drive the mounting frame to rotate and change direction so that the first massage head changes to face backward and the second massage head changes to face forward; the mechanical arm drives the forward massage head to approach the human body forward, and applies pressure to massage the human body; it comprises a single-sided force sensor for detecting the pressure of the massage head on the human body, the rear end face of the single-sided force sensor is an elastic detection face, which is fixedly installed on the mounting frame, and the front end face is fixedly connected to the first massage head and the second massage head.

[0006] Furthermore, the first massage head is fixedly connected to the second massage head, and specifically, is indirectly fixedly connected to the front end surface of the single-sided force sensor via the second massage head.

[0007] Furthermore, the second massage head is provided with an installation cavity, the opening of the installation cavity is aligned with the installation frame, the installation frame is provided with a protrusion extending into the installation cavity, the single-sided force sensor is located in the installation cavity, and its detection surface is fixedly mounted on the protrusion, and the cavity wall of the installation cavity of the second massage head is fixedly connected to the front end surface of the single-sided force sensor.

[0008] Furthermore, one of the massage heads is a negative pressure massage head, which is connected to a negative pressure generator.

[0009] Furthermore, the other massage head is an impact massage head.

[0010] Furthermore, a rolling massage wheel and a driving motor are installed on the negative pressure massage head. The driving motor is connected to the rolling massage wheel and can drive the rolling massage wheel to rotate around the axis of the rolling massage wheel to perform rolling massage on the human body.

[0011] Furthermore, the rolling massage wheel has a left-right axial direction, a negative pressure chamber is opened at the axis of the rolling massage wheel, a negative pressure generator is connected to the negative pressure chamber, a radial negative pressure channel is opened on the wall of the negative pressure chamber, and the end of the negative pressure channel radially connects to the surface of the rolling massage wheel.

[0012] Furthermore, there are multiple negative pressure channels arranged circumferentially, including an axial directional tube, which is located in the negative pressure chamber but does not rotate with the rolling massage wheel. The axial directional tube is provided with a forward air inlet. When the rolling massage wheel rotates, the multiple negative pressure channels rotate forward in turn. The air inlet passes through the front of the negative pressure chamber and the negative pressure channel that has rotated forward to the wheel surface of the rolling massage wheel. The end of the directional tube is the air outlet, which extends axially from the right end of the rolling massage wheel to the outside of the negative pressure chamber. The negative pressure generator is connected to the air outlet of the directional tube, and is indirectly connected to the negative pressure chamber in this way.

[0013] Furthermore, a negative pressure groove with a large opening and a small bottom is opened on the surface of the rolling massage wheel, and the end of the negative pressure channel specifically leads to the negative pressure groove, and the opening of the negative pressure groove is wider than the end of the negative pressure channel.

[0014] Furthermore, convex points are arranged on the surface of the rolling massage wheel.

[0015] The bidirectional mechanical arm massage device of the utility model is provided with different first massage heads and second massage heads, and different massage methods can be used to massage the human body. When the mechanical arm drives one of the massage heads to face forward and approach the human body to massage the human body, the other massage head is located behind the above massage head and will not hinder the person being massaged. The elastic detection surface of the single-sided force sensor faces backward and is fixedly installed on the mounting frame, and the first massage head faces forward and is fixedly connected to the front end surface of the single-sided force sensor. This structure can convert the reaction force received by the first massage head into a thrust force on the single-sided force sensor; the elastic detection surface of the single-sided force sensor faces backward and is fixedly installed on the mounting frame, and the second massage head faces backward and is fixedly connected to the front end surface of the single-sided force sensor. This structure can convert the reaction force received by the second massage head into a pulling force on the single-sided force sensor; the single-sided force sensor detects the reaction forces received by the two massage heads in this way respectively, thereby indirectly detecting the pressure of the two massage heads on the human body, so only one single-sided force sensor is needed to detect the pressure of the two massage heads on the human body. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of a bidirectional robotic arm massage device, in which: the impact massage head faces forward, the negative pressure rolling massage head faces backward, and the camera faces upward.

[0017] Figure 2 It is a schematic diagram of a two-way robotic arm massage device, with the camera facing forward.

[0018] Figure 3 Schematic diagram of a bidirectional mechanical arm massage device, in which: the impact massage head faces backwards and the negative pressure rolling massage head faces forwards.

[0019] Figure 4 Schematic diagram of a negative pressure rolling massage head.

[0020] Figure 5 This is a schematic diagram of the mounting bracket, in which the outer shell of the mounting bracket has been removed.

[0021] Figure 6 It is a schematic diagram of the first massage head body and the silicone ring being detached from the mounting base.

[0022] Figure 7 Schematic diagram of the first massage head body.

[0023] Figure 8 This is a schematic diagram of the first massage head body with the left shell removed.

[0024] Fig. 9 It is a cross-sectional view of the rolling massage wheel.

[0025] Fig.10 This is a left view of the negative pressure relief device.

[0026] Fig.11 yes Fig.10 AA cross-sectional view of the central negative pressure tube, in which the central tube and tube body of the central negative pressure tube are omitted.

[0027] Fig.12 yes Fig.11 A partial enlarged picture of Fig.11 Part B.

[0028] Fig.13 Schematic diagram of a central negative pressure tube, in which the tube body and the first air inlet nozzle are detached from the central tube.

[0029] Fig.14 It is a schematic diagram of the first massage head body equipped with the second air inlet nozzle.

[0030] Fig.15 Schematic diagram of the second massage head body. DETAILED DESCRIPTION

[0031] The present invention is further described in detail below in conjunction with specific implementation methods.

[0032] Bidirectional mechanical arm massage equipment Figure 1 , including a mechanical arm 7, a rotating part 71 is provided at the end of the mechanical arm 7, a mounting frame 72 is installed on the rotating part 71, and an impact massage head 1 and a negative pressure rolling massage head 2 with different massage modes are installed on the mounting frame 72, the impact massage head 1 faces forward and the negative pressure rolling massage head 2 faces backward, wherein the impact massage head 1 is a prior art, and the negative pressure rolling massage head 2 is connected to a negative pressure generator (not shown in the figure), which is a prior art. A camera 73 facing upward is also provided on the mounting frame 72. The mechanical arm 7 is a prior art, and the rotating part 71 at the end thereof can drive the mounting frame 72 to rotate and change direction, for example, driving the mounting frame 72 to rotate so that the camera 73 changes to face forward (such as Figure 2 As shown), or the impact massage head 1 is changed to face backward and the negative pressure rolling massage head 2 is changed to face forward (as shown Figure 3 shown).

[0033] The bidirectional mechanical arm massage device also includes a controller (not shown in the figure), which controls the connection between the mechanical arm 7, the negative pressure generator and the camera 73. Figure 1In the state shown, the massage recipient stands in front of the massage device and starts the massage device. The controller controls the mechanical arm 7 to drive the impact massage head 1 to perform impact massage on the human body. The specific process is as follows: first, the rotating part 71 at the end of the mechanical arm 7 is controlled to drive the mounting frame 72 to drive the camera 73 to rotate forward, such as Figure 2 As shown, the controller then controls the mechanical arm 7 to drive the mounting frame 72 to slowly move forward to the person being massaged. During this process, the controller determines the distance between the mounting frame 72 and the person being massaged based on the image captured by the camera 73 to prevent the mounting frame 72 from hitting the person being massaged. When the controller determines that the distance between the mounting frame 72 and the person being massaged is appropriate, it controls the rotating part 71 at the end of the mechanical arm 7 to drive the mounting frame 72 to rotate and reset so that the impact massage head 1 faces forward to the person being massaged. After the reset, Figure 1 As shown, the controller controls the mechanical arm 7 to drive the impact massage head 1 to do a back-and-forth reciprocating motion, and performs an impact massage on the body of the massage recipient, so that the muscles of the massage recipient are relaxed. During this process, the negative pressure rolling massage head 2 is located behind the impact massage head 1 and will not hinder the massage recipient. After the impact massage, the muscles of the massage recipient are prone to soreness. The controller controls the mechanical arm 7 to drive the negative pressure rolling massage head 2 to perform negative pressure suction massage and rolling massage on the human body. The specific process is as follows: first, the rotating part 71 at the end of the mechanical arm 7 is controlled to drive the mounting frame 72 to rotate and reverse so that the negative pressure rolling massage head 2 faces forward and controls the negative pressure generator to generate negative pressure. After the reversal, Figure 3 As shown; since the negative pressure rolling massage head 2 is shorter than the impact massage head 1, the controller needs to control the mechanical arm 7 to drive the negative pressure rolling massage head 2 to move forward a short distance to the sore muscle of the massage recipient. The negative pressure rolling massage head 2 performs a negative pressure suction massage on the sore muscle of the massage recipient under the action of negative pressure. At the same time, the controller controls the mechanical arm 7 to drive the negative pressure rolling massage head 7 to move along the human skin for rolling massage, so that the sore muscles can be relieved.

[0034] See Figure 1 The mounting frame 72 has a detachable housing 720. After the housing 720 is removed, Figure 5 .See Figure 4 and Figure 5The negative pressure rolling massage head 2 has a mounting cavity 21, the cavity opening of the mounting cavity 21 is aligned with the mounting frame 72, the mounting frame 72 has a convex portion 721, the convex portion 721 extends into the mounting cavity 21, a single-sided force sensor 3 is arranged in the mounting cavity 21, the rear end face of the single-sided force sensor 3 is an elastic detection face 31, fixedly mounted on the convex portion 721 of the mounting frame 72, and the front end face 32 of the single-sided force sensor 3 is fixedly connected to the cavity wall of the mounting cavity 21 of the negative pressure rolling massage head 2. The impact massage head 1 is fixedly connected to the negative pressure rolling massage head 2, and is indirectly fixedly connected to the front end face 32 of the single-sided force sensor 3 via the negative pressure rolling massage head 2. When the impact massage head 1 impacts the human body forward, the impact massage head 1 applies forward pressure to the human body, and the human body applies a backward reaction force to the impact massage head 1. The impact massage head 1 drives the single-sided force sensor 3 to push the mounting bracket 72 backward through the negative pressure rolling massage head 2, and the mounting bracket 72 applies a forward thrust to the detection surface 31 of the single-sided force sensor 3. In this way, the single-sided force sensor 3 detects the reaction force of the impact massage head 1 and indirectly detects the pressure of the impact massage head 1 on the human body. When the negative pressure rolling massage head 2 is forward (such as Figure 3 ) When rolling against the human body for massage, the negative pressure rolling massage head 2 applies forward pressure to the human body, and the human body applies a backward reaction force to the negative pressure rolling massage head 2, causing the negative pressure rolling massage head 2 to pull the single-sided force sensor 3 backward, and the single-sided force sensor 3 pulls the mounting frame 72 backward, and the mounting frame 72 applies a forward pulling force to the detection surface 31 of the single-sided force sensor 3. In this way, the single-sided force sensor 3 detects the reaction force received by the negative pressure rolling massage head 2, thereby indirectly detecting the pressure of the negative pressure rolling massage head 2 on the human body. The controller is connected to the single-sided force sensor 3, and determines whether the pressure of the massage head on the human body is appropriate through the pressure value detected by the single-sided force sensor 3. If the pressure value is too large, the controller controls the mechanical arm 7 to drive the massage head backward to avoid injury to the human body due to excessive pressure.

[0035] Negative pressure rolling massage head 2 Figure 4 , including a mounting base 10 and a first massage head body 11 mounted on the mounting base 10. The first massage head body 11 is shown Figure 7 The first massage head body 11 is in the direction indicated by arrow C in the figure as the front, and in the direction indicated by arrow D in the figure as the left. The first massage head body 11 includes a shell 5 and a central negative pressure tube 6 installed inside the shell 5. The central negative pressure tube 6 is shown in FIG. Fig.13 , including a tube body 65, an intermediate tube 66 located in the housing 5, and a first air inlet nozzle 611. The front end of the tube body 65 is detachably connected to the rear end of the intermediate tube 66, and the first air inlet nozzle 611 is detachably mounted on the front end of the intermediate tube 66. Figure 7The first air inlet nozzle 611 serves as the air inlet end 61 of the central negative pressure tube 6, which extends forward to the end surface of the front end 51 of the shell 5, and is exposed forward and has a long strip air inlet 612 in the left and right directions. The rear end of the tube body 65 serves as the air outlet end 62 of the central negative pressure tube 6, which extends backward from the rear end 52 of the shell 5 to the outside of the shell 5 and then enters the mounting frame 72 (see Figure 1 ) Figure 3 The mounting frame 72 has a threading hole 76, and the rear end of the tube body 65 (see Figure 7 ) extends from the threading hole 76 of the mounting frame 72 and then connects to the negative pressure generator. When in use, the controller controls the negative pressure generator to generate negative pressure, and then controls the mechanical arm 7 to drive the first air inlet nozzle 611 of the air inlet end 61 of the central negative pressure tube 6 to lean against the muscle soreness of the human body, and the central negative pressure tube 6 performs negative pressure suction massage on the muscle soreness of the human body under the action of negative pressure. Fig.13 and Fig.14 The massage device includes a second air inlet nozzle 613. The user can pull out the original first air inlet nozzle 611 from the front end of the middle tube 66, and then install the second air inlet nozzle 613 to the front end of the middle tube 66. Fig.14 As shown, the second air inlet nozzle 613 is located behind the end surface of the front end 51 of the shell 5.

[0036] See Figure 7 The front end 51 of the shell 5 of the first massage head body 11 is provided with two massage wheel mechanisms 8 of the same structure, the massage wheel mechanism 8 includes a rolling massage wheel 9 with an axial direction in the left and right direction, the rolling massage wheel 9 is rotatably mounted at the front end 51 of the shell 5, and the two rolling massage wheels 9 of the two massage wheel mechanisms 8 are radially arranged and respectively located on both sides of the first air inlet nozzle 611 of the central negative pressure tube 6. Figure 8 The left end 901 of the rolling massage wheel 9 is the head end in the axial direction, and the right end 902 is the end in the axial direction. Two radially arranged drive motors 50 are installed on the housing 5. The two drive motors 50 drive the left ends 901 of the two rolling massage wheels 9 respectively through gear transmission. The controller controls the two drive motors 50. The controller controls the mechanical arm 7 (see Figure 3 ) drives the negative pressure rolling massage head 2 to move along the human skin, controls the two driving motors 50 to respectively drive the two rolling massage wheels 9 to rotate around the axes of the two rolling massage wheels 9, and the mechanical arm 7 (see Figure 3 ) cooperates with two drive motors 50 to make two rolling massage wheels 9 roll and massage on the human body, soothing the muscle soreness of the human body. The rolling directions of the two rolling massage wheels 9 can be the same or different.

[0037] See Fig. 9A negative pressure cavity 92 is formed at the axis of the rolling massage wheel 9. The cavity opening 921 of the negative pressure cavity 92 is axially connected to the right end 902 of the rolling massage wheel 9. Six negative pressure channel units arranged left and right and staggered are formed on the cavity wall of the negative pressure cavity 92. Each negative pressure channel unit includes ten radial negative pressure channels 93 arranged circumferentially. Correspondingly, six negative pressure groove units arranged left and right and staggered are formed on the wheel surface 90 of the rolling massage wheel 9. Each negative pressure groove unit includes ten negative pressure grooves 94 with large openings and small bottoms arranged circumferentially. The ends 931 of the sixty negative pressure channels 93 are connected to the sixty negative pressure grooves 94 respectively, and in this way, they are radially connected to the wheel surface 90 of the rolling massage wheel 9. The notch 941 of the negative pressure groove 94 is wider than the end 931 of the negative pressure channel 93. Fig.10 , Fig.11 and Fig.12 The massage wheel mechanism 8 includes an axial directional tube 85, which is located in the negative pressure chamber 92 but does not rotate with the rolling massage wheel 9. The directional tube 85 has an air inlet 851 facing forward. During the rotation of the rolling massage wheel 9, the ten negative pressure channels 93 of each negative pressure channel unit rotate forward in turn, and the ten negative pressure grooves 94 of each negative pressure groove unit also rotate forward in turn. The air inlet 851 passes through the front of the negative pressure chamber 92, the negative pressure channels 93 that have rotated forward, and the negative pressure grooves 94 to the wheel surface 90 of the rolling massage wheel 9. The end of the directional tube 85 is an air outlet 852, which extends axially to the right from the right end 902 of the rolling massage wheel 9 to the outside of the negative pressure chamber 92. The housing 5 includes a bracket 501, a left shell 502 installed on the left side of the bracket 501, and a right shell 503 installed on the right side of the bracket 501. The right shell 503 of the housing 5 is provided with an air guide cavity 53 with its cavity opening facing leftwards. The right part of the bracket 501 blocks the cavity opening of the air guide cavity 53. The air outlet end 852 of the directional tube 85 extends axially to the right into the air guide cavity 53 to connect with the air guide cavity 53. The cavity wall of the air guide cavity 53 is provided with an air guide channel 54. The end of the air guide channel 54 is connected to a roller negative pressure tube 55. The rear end of the roller negative pressure tube 55 is detachably connected to an air outlet pipe (not shown in the figure). The air outlet pipe extends backwards into the mounting frame 72 (see Figure 3 ) and then from the mounting frame 72 (see Figure 3 ) threading hole 76 (see Figure 3) extends outward and is connected to the negative pressure generator, which is indirectly connected to the air outlet end 852 of the directional tube 85 and is also indirectly connected to the negative pressure chamber 92 in this way. When the rolling massage wheel 9 performs rolling massage, the controller controls the negative pressure generator to generate negative pressure, then the air outlet pipe connected to the negative pressure generator and the roller negative pressure pipe 55 connected to the air outlet pipe, the air guide channel 54 connected to the roller negative pressure pipe 55, the air guide chamber 53 connected to the air guide channel 54, the directional tube 85 connected to the air guide chamber 53, the negative pressure chamber 92 connected to the air inlet end 851 of the directional tube 85, the negative pressure channel 93 connected to the negative pressure chamber 92, and the negative pressure groove 94 connected to the negative pressure channel 93 will also generate negative pressure. Under the action of negative pressure, the negative pressure groove 94 on the wheel surface 90 of the rolling massage wheel 9, which has been turned forward, will perform negative pressure suction on the human body when it is close to the human body, thereby performing a soothing massage.

[0038] The impact massage device includes a second massage head body 12 (see Fig.15 ), the second massage head body 12 is substantially the same as the first massage head body 11, except that: Fig. 9 and Fig.11 A negative pressure channel 93 is formed on the wall of the negative pressure chamber 92 of the rolling massage wheel 9 of the first massage head body 11, a negative pressure groove 94 is formed on the wheel surface 90 of the rolling massage wheel 9, and a terminal end 931 of the negative pressure channel 93 is connected to the negative pressure groove 94; Fig.15 The roller massage wheel 121 of the second massage head body 12 is not provided with a negative pressure channel and a negative pressure groove, but has convex points 129 evenly distributed on the wheel surface 120. This rolling massage wheel 121 no longer has a negative pressure massage effect, so the second massage head body 12 does not need to be provided with a roller negative pressure tube. Figure 6 The first massage head body 11 is detachably mounted on the mounting base 10 by means of a bolt 110. A silicone ring 111 is sleeved on the outer side of the bolt 110. The user removes the silicone ring 111 and then unscrews the bolt 110, and the first massage head body 11 can be removed from the mounting base 10. Figure 7 , Fig.13 and Fig.14 The first massage head body 11 and the second massage head body 12 share the same tube body 65. After the user removes the first massage head body 11, the tube body 65 of the central negative pressure tube 6 is pulled out from the rear end of the intermediate tube 66 of the first massage head body 11 and the air outlet pipe is pulled out from the roller negative pressure tube 55 of the first massage head body 11 (see Fig.11 ) and then connect the tube body 65 of the central negative pressure tube 6 to the middle tube 66 of the second massage head body 12 (see Fig.13 ) rear end, and then install the second massage head body 12 to the mounting base 10 (see Figure 6 ) and retighten bolt 110 (see Figure 6 ) and reinstall the silicone ring 111 (see Figure 6 ) can be used.

[0039] The above is only an implementation method of the invention, and does not limit the scope of patent protection. Those skilled in the art can make non-substantial changes or substitutions based on the invention, which still fall within the scope of patent protection.

Claims

1. A two-way mechanical arm massage device, characterized in that: The invention comprises a mechanical arm, a rotating part is provided at the end of the mechanical arm, a mounting frame is installed on the rotating part, and the mounting frame is provided with a first massage head and a second massage head with different massage modes, the first massage head faces forward and the second massage head faces backward, and the rotating part can drive the mounting frame to rotate and change direction so that the first massage head changes to face backward and the second massage head changes to face forward; the mechanical arm drives the forward massage head to approach the human body forward to apply pressure massage to the human body; the invention comprises a single-sided force sensor for detecting the pressure of the massage head on the human body, the rear end face of the single-sided force sensor is an elastic detection face, which is fixedly installed on the mounting frame, and the front end face is fixedly connected to the first massage head and the second massage head.

2. The bidirectional mechanical arm massage device according to claim 1, characterized in that: The first massage head is fixedly connected to the second massage head, and is specifically indirectly fixedly connected to the front end surface of the single-sided force sensor via the second massage head.

3. The bidirectional mechanical arm massage device according to claim 2, characterized in that: The second massage head is provided with an installation cavity, the opening of the installation cavity is aligned with the installation frame, the installation frame is provided with a convex portion extending into the installation cavity, the single-sided force sensor is located in the installation cavity, and its detection surface is fixedly mounted on the convex portion, and the cavity wall of the installation cavity of the second massage head is fixedly connected to the front end surface of the single-sided force sensor.

4. The bidirectional mechanical arm massage device according to claim 1, characterized in that: One of the massage heads is a negative pressure massage head, which is connected to a negative pressure generator.

5. The bidirectional mechanical arm massage device according to claim 4, characterized in that: The other massage head is an impact massage head.

6. The bidirectional mechanical arm massage device according to claim 4, characterized in that: The negative pressure massage head is equipped with a rolling massage wheel and a driving motor. The driving motor drives the rolling massage wheel to drive the rolling massage wheel to rotate around the axis of the roller massage wheel so as to perform rolling massage on the human body.

7. The bidirectional mechanical arm massage device according to claim 6, characterized in that: The rolling massage wheel has a left-right axial direction, a negative pressure cavity is opened at the axis of the rolling massage wheel, a negative pressure generator is connected to the negative pressure cavity, a radial negative pressure channel is opened on the wall of the negative pressure cavity, and the end of the negative pressure channel radially connects to the wheel surface of the rolling massage wheel.

8. The bidirectional mechanical arm massage device according to claim 7, characterized in that: There are multiple negative pressure channels arranged circumferentially, including an axial directional tube, which is located in the negative pressure chamber but does not rotate with the rolling massage wheel. The axial directional tube is provided with an air inlet facing forward. When the rolling massage wheel rotates, multiple negative pressure channels rotate forward in turn. The air inlet passes through the front of the negative pressure chamber and the negative pressure channel that has rotated forward to the wheel surface of the rolling massage wheel. The end of the directional tube is the air outlet, which extends axially from the right end of the rolling massage wheel to the outside of the negative pressure chamber. The negative pressure generator is connected to the air outlet of the directional tube, and is indirectly connected to the negative pressure chamber in this way.

9. The bidirectional mechanical arm massage device according to claim 6, characterized in that: A negative pressure groove with a large opening and a small bottom is opened on the wheel surface of the rolling massage wheel, and the end of the negative pressure channel specifically leads to the negative pressure groove, and the opening of the negative pressure groove is wider than the end of the negative pressure channel.

10. The bidirectional mechanical arm massage device according to claim 4, characterized in that: The rolling massage wheel surface is provided with convex points.

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