Massage head and massage robot

Abstract

The utility model provides a massage head and a massage robot, and the massage head comprises a base which is used for being connected with the tail end of a mechanical arm of the massage robot; the massage head body is arranged on the base, and the massage head body and the base can move relatively in the vertical direction; the contact switch is arranged on the base, and the contact switch is used for sending an electric signal to the massage robot when making contact with the massage head body. According to the massage head, the massage comfort can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to massage technical field especially, a kind of massage head and massage robot. BACKGROUND

[0002] Massage is also called tuina, which refers to the behavior of pressing or stretching the muscles under the skin through body contact to dredge meridians and joints and promote blood circulation. With the progress of modern civilization, robots have been well known and recognized by people. Robots have moved from the narrow industrial and other special fields to the service field closely related to human beings. In recent years, service robots, as members of the robot family, have developed rapidly. Medical, rehabilitation, cleaning, construction, disaster relief and other types of service robots have entered our lives. The massage industry is no exception. Massage robots integrating high technology have also entered people's lives.

[0003] Currently, the massage head of the massage robot is fixed at the end of the mechanical arm, i.e., the massage head and the mechanical arm are relatively stationary during the massage process. Although the massage head of this structure can realize the massage function, the massage force exerted by the massage head on the massage object completely depends on the pre-set motion trajectory of the mechanical arm. For example, when the massage head contacts the massage object, if the mechanical arm continues to move downward, the massage head will move downward synchronously with the mechanical arm, which leads to the continuous increase of the pressing force of the massage head on the massage object, thereby making the massage object feel uncomfortable during the massage process. Therefore, how to improve the massage comfort is a technical problem to be solved. SUMMARY

[0004] In view of this, the utility model embodiment provides a massage head and a massage robot to eliminate or improve one or more defects in the prior art.

[0005] One aspect of the utility model provides a massage head, which comprises:

[0006] a base for connecting with the end of the mechanical arm of the massage robot;

[0007] a massage head body provided on the base, wherein the massage head body and the base are relatively movable in the vertical direction;

[0008] a contact switch provided on the base, wherein the contact switch is used to send an electrical signal to the massage robot when contacting with the massage head body.

[0009] In some embodiments of the utility model, the massage head further comprises an elastic component, which is arranged between the base and the massage head body.

[0010] In some embodiments of the utility model, the base has an axle hole, the massage head includes a spring seat, the spring seat is located in the axle hole, the end of the massage head body is located in the axle hole, and the massage head body and the spring seat are relatively movable in the axial direction of the base.

[0011] In some embodiments of the utility model, the massage head body includes a massage ball and a pressure head, the first end of the pressure head is gap-fitted with the spring seat, and the massage ball is detachably connected with the second end of the pressure head.

[0012] In some embodiments of the utility model, the elastic component is a spring, the spring is sleeved outside the spring seat, and the first end of the pressure head is in contact with the spring.

[0013] In some embodiments of the utility model, the massage ball has a jacking rod, the jacking rod extends from the second end of the pressure head to the inside of the axle hole of the pressure head, and the end of the jacking rod is used for being in contact with the contact switch.

[0014] In some embodiments of the utility model, the contact switch is fixed at one end of the spring seat close to the massage ball.

[0015] In some embodiments of the utility model, the massage head includes a fixing sleeve, the fixing sleeve is arranged at one end of the base close to the massage ball, the end wall of the fixing sleeve has a through hole, the pressure head passes through the through hole, the first end of the pressure head has an end protruding edge, and the end protruding edge is located at the side of the end wall of the fixing sleeve away from the massage ball.

[0016] In some embodiments of the utility model, the spring seat is gap-fitted with the base; and / or,

[0017] The spring seat and the base are circumferentially positioned through a key.

[0018] According to another aspect of the utility model, a massage robot is also provided, the massage robot includes the massage head as any one of the above embodiments.

[0019] The massage head body and the base are relatively movable in the vertical direction, and when the massage head body contacts the contact switch, the contact switch can send an electric signal to the massage robot.

[0020] In addition, the massage head body of the massage head comprises a pressing head and a massage ball, and the massage ball and the pressing head are connected through a detachable connection mode, so that the massage ball can be replaced, thereby improving the massage efficiency.

[0021] The additional advantages, objects, and features of the present application will become apparent to those skilled in the art upon reading the following detailed description in conjunction with the drawings.

[0022] Those skilled in the art will understand that the objects and advantages of the present application are not limited to the above specific description, and the above and other objects of the present application can be more clearly understood according to the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0023] The drawings described herein are used to provide further understanding of the present application, form part of the present application, and do not constitute a limitation of the present application. The components in the drawings are not drawn to scale, but are only used to illustrate the principles of the present application. In order to facilitate the illustration and description of some parts of the present application, the corresponding parts in the drawings can be enlarged, that is, they can become larger than other components in the exemplary device actually manufactured according to the present application. In the drawings:

[0024] Figure 1 The structure diagram of the massage head of an embodiment of the present application.

[0025] Figure 2 The structure diagram of the massage head of an embodiment of the present application. Figure 1 The front view of the massage head.

[0026] Figure 3 The structure diagram of the massage head of an embodiment of the present application. Figure 1 The top view of the massage head.

[0027] Figure 4 The structure diagram of the massage head of an embodiment of the present application.Figure 2 B-B sectional view of the massage head shown.

[0028] Reference signs:

[0029] Base 100 Contact switch 200 Elastic component 300 Spring seat 400 Massage ball 510 Press head 520 Jack 511 Fixed sleeve 600 DETAILED DESCRIPTION

[0030] To make the objectives, technical solutions and advantages of the present application clearer, the present application will be described in further detail below with reference to the embodiments and drawings. Here, the exemplary embodiments of the present application and the descriptions thereof are used to explain the present application, but are not intended to limit the present application.

[0031] Here, it should also be noted that, in order to avoid obscuring the present application due to unnecessary details, only the structures and / or processing steps closely related to the solutions according to the present application are shown in the drawings, and other details not closely related to the present application are omitted.

[0032] It should be emphasized that the term "comprises / comprising" as used herein indicates the presence of the stated features, elements, steps or components, but does not exclude the presence or addition of one or more other features, elements, steps or components.

[0033] Here, it should also be noted that the directional terms such as "left end", "right end" and the like appearing in the content of the present specification are relative to the position direction shown in the drawings; if not otherwise specified, the term "connected" as used herein can not only mean direct connection, but also indirect connection with the presence of an intermediate.Direct connection is the connection between two parts without the aid of intermediate parts, and indirect connection is the connection between two parts with the aid of other parts.

[0034] In the following, embodiments of the present application will be described with reference to the drawings. In the drawings, the same reference signs represent the same or similar parts.

[0035] Figure 1 The structure of the massage head of an embodiment of the present application is shown in the drawing, as shown, the massage head at least includes a base 100, a massage head body and a contact switch 200. Figure 1

[0036] The base 100 is used to connect with the end of the mechanical arm of the massage robot; the massage head body is arranged on the base 100, and the massage head body is relatively movable with the base 100 in the vertical direction; the contact switch 200 is arranged on the base 100, and the contact switch 200 is used to send an electrical signal to the massage robot when contacting with the massage head body. In this embodiment, the base 100 can realize the connection of the mechanical arm and the massage head, that is, in order to facilitate the disassembly of the massage head, the base 100 and the mechanical arm are connected by a detachable connection mode.

[0037] For example, the base 100 and the mechanical arm can be connected by screws or bolts; as Figure 1 and Figure 3 shown, the base 100 as a whole can be flange-shaped, and a plurality of mounting holes are arranged on the flange, and the plurality of mounting holes are arranged in a circumferential direction and uniformly. It can be understood that the connection mode of the base 100 and the end of the mechanical arm listed in this embodiment is only an example, and in other embodiments, the base 100 and the end of the mechanical arm can also be connected by other detachable connection modes.

[0038] In addition, the massage head body is movably arranged on the base 100, that is, the massage head body is relatively movable with the base in the vertical direction. In the massage process, when the mechanical arm of the massage robot moves to the position and the massage head body contacts the massage object, if the mechanical arm continues to move downward, at this time, since the massage head body and the base 100 are relatively movable, the contact force between the massage head body and the massage object does not change with the continuous downward movement of the base 100, thereby avoiding the phenomenon of excessive massage force and ensuring the massage comfort in the massage process. And when the mechanical arm continues to move downward until the massage head body contacts the contact switch 200, at this time, the contact switch 200 sends an electrical signal to the massage robot, and the electrical signal can be further used to control the massage robot to perform actions such as stopping, thereby further ensuring the safety of the massage.

[0039] In some embodiments of this utility model, the massage head further includes an elastic component 300, which is disposed between the base 100 and the massage head body. In this embodiment, the elastic component 300 is disposed between the base 100 and the massage head body. That is, when the robotic arm moves to the target position and continues to move downward, the base 100 moves downward toward the massage object along with the robotic arm. At this time, the contact force between the massage head body and the massage object remains unchanged, so the base 100 moves along the massage head body. At this time, the elastic component 300 located between the base 100 and the massage head body is compressed. Conversely, if the base 100 moves upward with the robotic arm, the elastic component 300 located between the base 100 and the massage head body is released. Optionally, the elastic component 300 may specifically be a spring, and the specific type of spring can be set according to actual needs.

[0040] Furthermore, the base 100 has a shaft hole, and the massage head may include a spring seat 400 located within the shaft hole. The end of the massage head body is located within the shaft hole, and the massage head body and the spring seat 400 are movable relative to each other in the axial direction along the base. Figure 4 As shown, the base 100 has a shaft hole extending through its thickness. In this case, the thickness of the spring seat 400 can be the same as the thickness of the base 100, and the spring seat 400 is entirely located within the shaft hole of the base 100, and the spring seat 400 is coaxial with the base 100. It can be understood that the thickness direction of the base 100 and the spring seat 400 refers to... Figure 4 In this embodiment, the end of the massage head body extends from the end of the base 100 away from the end of the robotic arm toward the shaft hole of the base 100, that is, a portion of the massage head body is located within the shaft hole of the base 100; additionally, the bottom end of the massage head body also has a shaft hole, and the top shaft section of the spring seat 400 is located within the shaft hole of the massage head body, and there is a clearance fit between the spring seat 400 and the massage head body, thereby allowing the massage head body and the spring seat 400 to move relative to each other in their axial direction. Figure 4As shown, the spring seat 400 as a whole can also be flange-shaped, that is, the spring seat 400 includes a first shaft section and a second shaft section, the radial dimension of the first shaft section is greater than that of the second shaft section, and the end of the second shaft section is in clearance fit with the massage head body; similarly, the first shaft section can also be in clearance fit with the shaft hole of the base 100, and the structure of the massage head ensures that the force sensor at the end of the mechanical arm works reliably; and in this embodiment, the sliding amplitude of the spring seat 400 in the base 100 is small and can be ignored based on the use scenario of the massage head. In addition, for the structure in which the base 100 and the spring seat 400 are in clearance fit, in order to further position the spring seat 400 circumferentially, a key groove can also be arranged on the base 100 and the spring seat 400 accordingly, that is, the spring seat 400 and the base 100 are positioned circumferentially by a key, and the key structure can also avoid that the signal line of the contact switch is subjected to a tangential force. It can be understood that for some massage robots that do not need to use a force sensor, the base 100 and the spring seat 400 can also be fixedly connected.

[0041] Further, the massage head body specifically includes a massage ball 510 and a pressure head 520, the first end of the pressure head 520 is in clearance fit with the spring seat 400, and the massage ball 510 is detachably connected to the second end of the pressure head 520. Figure 4 The first end and the second end of the pressure head 520 respectively refer to the bottom end and the top end of the pressure head 520 in the pressure head 520, Figure 4 As shown, the top end of the spring seat 400 is located in the shaft hole of the pressure head 520, and in order to ensure that the pressure head 520 and the spring seat 400 can move relative to each other, the fitting mode between the pressure head 520 and the spring seat 400 can be specifically clearance fit. In addition, the spring is specifically sleeved outside the spring seat 400, and the first end of the pressure head 520 is in contact with the spring; as shown in Figure 4 The spring is located between the bottom end of the pressure head 520 and the first shaft section of the spring seat 400.

[0042] In some embodiments of the utility model, the massage ball 510 has a top rod 511, the top rod 511 extends from the second end of the pressure head 520 to the inside of the shaft hole of the pressure head 520, and the end of the top rod 511 is used for contacting the contact switch 200. In this embodiment, the top rod 511 and the massage ball 510 can be an integral structure, and the outer periphery of the top rod 511 can be provided with external threads accordingly, that is, the top rod 511 and the pressure head 520 can be connected through threads, and the threaded connection between the top rod and the pressure head also realizes the detachable connection of the massage ball 510 and the pressure head 520. In this embodiment, the massage ball 510 and the pressure head 520 are arranged in a detachable connection structure, so that the massage ball 510 can be replaced conveniently, thereby improving the massage efficiency.

[0043] Further, the contact switch 200 can be fixed at one end of the spring seat 400 close to the massage ball 510, that is, in this embodiment, the contact switch 200 is specifically located in the shaft hole of the pressure head 520, that is, when the base 100 and the spring seat 400 are lowered to the preset position, the end of the top rod 511 away from the massage ball 510 can be in contact with the contact switch 200, so that the contact switch 200 sends an electrical signal to the massage robot. Exemplarily, the contact switch 200 and the spring seat 400 can be connected in a manner of adhesion, detachable connection, and the like. In addition, in order to facilitate the extension of the signal line of the contact switch 200 located in the shaft hole of the pressure head 520 to the outside of the massage head, a shaft hole penetrating the thickness of the spring seat 400 can be further formed at the center position of the spring seat 400, and a wire passing hole perpendicular to the shaft hole of the spring seat 400 can be further formed in the base 100 and the spring seat 400.

[0044] In some embodiments of the utility model, the massage head further comprises a fixing sleeve 600, the fixing sleeve 600 is arranged at one end of the base 100 close to the massage ball 510, the end wall of the fixing sleeve 600 has a through hole, the pressure head 520 passes through the through hole, and the first end of the pressure head 520 has an end flange, and the end flange is located at the side of the end wall of the fixing sleeve 600 away from the massage ball. Wherein, the end wall of the fixing sleeve 600 is used for axially positioning the end flange on the pressure head, and the fixing sleeve 600 is connected with the base 100 in a threaded manner, that is, the inner thread is arranged on the hole wall of the inner hole of the fixing sleeve 600, and the outer thread is correspondingly arranged on the outer peripheral wall of the base 100. Figure 2 And Figure 4 As shown in the drawings, the fixing sleeve 600 is sleeved on the outside of the base 100, and the fixing sleeve 600 and the base 100 are connected in a threaded manner, that is, the inner thread is arranged on the hole wall of the inner hole of the fixing sleeve 600, and the outer thread is correspondingly arranged on the outer peripheral wall of the base 100. Figure 4 As shown in the drawings, the fixing sleeve 600 is sleeved on the outside of the base 100, and the fixing sleeve 600 and the base 100 are connected in a threaded manner, that is, the inner thread is arranged on the hole wall of the inner hole of the fixing sleeve 600, and the outer thread is correspondingly arranged on the outer peripheral wall of the base 100.

[0045] In the above embodiment, since the pressure head needs to slide in the base, and the spring seat needs to slide in the pressure head, therefore, the base, the spring seat and the pressure head are all connected in a clearance fit manner. In the specific processing process, the fitting degree of the hole and the shaft can be controlled by using the tolerance band, the tolerance grade of the hole is close to the basic size, and the tolerance grade of the shaft is slightly smaller than the basic size. Since the size of the hole is slightly larger than the basic size, and the size of the shaft is slightly smaller than the basic size, therefore, the clearance fit is realized.

[0046] Correspondingly, the utility model also provides a massage robot, the massage robot includes the massage head as any one of the above embodiments.

[0047] It can be found through the above embodiment that the massage head in the massage process, when the massage head contacts the massage object, if the mechanical arm continues to move downward due to the failure and the like out-of-control phenomenon, the massage head body can move in the vertical direction relative to the base, so that even if the displacement amount of the mechanical arm exceeds the preset value, the pressing force applied by the massage head body to the massage object will not continue to increase, thereby improving the comfort in the massage process, and thus the massage object has a better massage experience in the massage process.

[0048] In addition, the massage head body of the massage head body includes a pressing head and a massage ball, and the massage ball and the pressing head are connected through a detachable connection mode, and the massage ball of the structure can be replaced, thereby improving the massage efficiency.

[0049] In the present application, the features described and / or illustrated for one embodiment can be used in the same way or in an analogous way in one or more other embodiments, and / or in combination with other characteristics of the other embodiments or instead of other characteristics of the other embodiments.

[0050] The above is only the preferred embodiment of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement and the like within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A massage head, characterized by, The massage head comprises: a base for connecting with an end of a mechanical arm of a massage robot; a massage head body arranged on the base, the massage head body being movable relative to the base in a vertical direction; a contact switch arranged on the base, the contact switch being used for sending an electrical signal to the massage robot when in contact with the massage head body.

2. The massage head of claim 1, wherein The massage head further comprises an elastic component arranged between the base and the massage head body.

3. The massage head of claim 2, wherein The base has a shaft hole, the massage head comprises a spring seat located in the shaft hole, an end of the massage head body is located in the shaft hole, and the massage head body is movable relative to the spring seat in an axial direction of the base.

4. The massage head of claim 3, wherein The massage head body comprises a massage ball and a pressure head, a first end of the pressure head is in clearance fit with the spring seat, and the massage ball is detachably connected with a second end of the pressure head.

5. The massage head of claim 4, wherein The elastic component is a spring, the spring is sleeved outside the spring seat, and a first end of the pressure head is in contact with the spring.

6. The massage head of claim 4, wherein, The massage ball has a top rod, the top rod extends from a second end of the pressure head to inside a shaft hole of the pressure head, and an end of the top rod is used for being in contact with the contact switch.

7. The massage head of claim 6, wherein The contact switch is fixed at an end of the spring seat close to the massage ball.

8. The massage head of claim 5, wherein, The massage head comprises a fixing sleeve arranged at an end of the base close to the massage ball, an end wall of the fixing sleeve has a through hole, the pressure head passes through the through hole, a first end of the pressure head has an end protrusion, and the end protrusion is located at a side of the end wall of the fixing sleeve away from the massage ball.

9. The massage head of claim 8, wherein, The spring seat is in clearance fit with the base; and / or, The spring seat and the base are circumferentially positioned by a key.

10. A massaging robot characterized by comprising: The massage robot comprises the massage head according to any one of claims 1 to 9.

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