Connecting mechanism of mechanical arm and massage head and massage device

Abstract

The utility model provides a kind of connecting mechanism of mechanical arm and massage head and massage device.Connection mechanism includes mechanical arm connection module and massage head connection module, and mechanical arm connection module includes snap ring, circumferential force unit, circumferential locking unit, and massage head connection module is equipped with unlocking buckle joint part.Massage device includes mechanical arm and massage head, and further include connecting mechanism, and connecting mechanism is as described above.The utility model's connecting structure does not need to disassemble and assemble multiple bolts and multiple nuts as background technology when disassembling and assembling, and it is convenient to disassemble and assemble.When installing, only need to let the unlocking buckle joint part of massage head connection module be axially inserted into the snap ring of mechanical arm connection module backwards.Dismounting, only need to rotate snap ring reversely to release its buckling with the unlocking buckle joint part of massage head connection module.

Description

Technical Field

[0001] This utility model relates to the field of massage device technology, specifically to a connection mechanism between a robotic arm and a massage head, and a massage device. Background Technology

[0002] The massage device includes a robotic arm and a massage head, as well as a connecting mechanism. The robotic arm connecting module of the connecting mechanism is installed at the front end of the robotic arm, and the massage head connecting module of the connecting mechanism is installed at the rear end of the massage head. The massage head connecting module is fixedly connected to the robotic arm connecting module, thereby fixing the massage head to the robotic arm. Currently, bolts and nuts are commonly used for fixing. Specifically, the robotic arm connecting module has a first mounting hole, and the massage head connecting module has a corresponding second mounting hole. During assembly, the first mounting hole is aligned with the second mounting hole, and bolts are passed through the two mounting holes in sequence and tightened with nuts to achieve a fixed connection between the modules. There are usually multiple first mounting holes, and correspondingly, multiple second mounting holes. Therefore, multiple bolts and nuts are required during installation and removal, making the process cumbersome. Utility Model Content

[0003] The technical problem this invention aims to solve is to provide a connection mechanism between a robotic arm and a massage head, which is easy to assemble and disassemble. This invention also provides a massage device, in which the connection mechanism between the robotic arm and the massage head is easy to assemble and disassemble.

[0004] To solve the above-mentioned technical problems, the connection mechanism between the robotic arm and the massage head of this utility model includes a robotic arm connection module and a massage head connection module distributed axially in the front and rear directions. The massage head connection module is fixedly connected to the robotic arm connection module in the rear direction. The robotic arm connection module includes a buckle, a circumferential force application unit that applies circumferential force to the buckle, and a circumferential locking unit that locks the buckle. The unlocking part of the circumferential locking unit is located inside the buckle. The massage head connection module is provided with an unlocking buckle part. The unlocking buckle part is inserted axially into the buckle in the rear direction and pushes the unlocking part of the circumferential locking unit. When the circumferential locking unit releases the lock on the buckle, the circumferential force application unit drives the buckle to rotate circumferentially, thereby engaging with the unlocking buckle part to achieve a fixed connection between the massage head connection module and the robotic arm connection module. The buckle is exposed for the user to rotate in the opposite direction to release the engagement with the unlocking buckle part.

[0005] Furthermore, the robotic arm connection module includes a circumferential positioning structure and an axial limiting structure. When the unlocking buckle of the massage head connection module is inserted axially into the buckle ring with the back facing outwards, the circumferential positioning structure positions the massage head connection module circumferentially, while the axial limiting structure blocks the massage head connection module from behind and limits its axial movement. After the buckle ring rotates circumferentially, it is specifically fastened in front of the unlocking buckle of the massage head connection module to limit its axial movement. In this way, the massage head connection module and the robotic arm connection module are fixedly connected.

[0006] Furthermore, the buckle extends inward with a first fastening block, and the unlocking fastening part of the massage head connecting module extends outward with a second fastening block. When the buckle rotates circumferentially, the first fastening block rotates synchronously until it is fastened to the front of the second fastening block and axially limited.

[0007] Furthermore, the rear edge of the first snap-fit ​​block is a bevel, with the end closer to the second snap-fit ​​block positioned forward and the end further away from the second snap-fit ​​block positioned backward; the front edge of the second snap-fit ​​block is a bevel, with the end closer to the first snap-fit ​​block positioned backward and the end further away from the first snap-fit ​​block positioned forward.

[0008] Furthermore, the buckle includes an inner ring and an outer ring, with a connecting part between the inner and outer rings to connect them together. The robotic arm connection module includes at least two circumferentially parallel limiting posts, which extend into the space between the inner and outer rings of the buckle and are located on opposite sides of the connecting part in the circumferential direction. When the buckle rotates circumferentially, the connecting part rotates synchronously toward the first circumferential limiting post until it is blocked by the first circumferential limiting post. The first circumferential limiting post thus limits the buckle circumferentially. When the buckle rotates in the opposite direction, the connecting part rotates synchronously in the opposite direction toward the second circumferential limiting post until it is blocked by the second circumferential limiting post. The second circumferential limiting post thus limits the buckle circumferentially.

[0009] Furthermore, there are three circumferentially arranged connecting parts, with an installation cavity between each pair of adjacent connecting parts. There are also three circumferentially arranged limiting posts, which are inserted into the three installation cavities respectively. When the buckle rotates circumferentially, each circumferentially limiting post acts as the first circumferentially limiting post, and when the buckle rotates in the opposite direction, each circumferentially limiting post acts as the second circumferentially limiting post.

[0010] Furthermore, the circumferential force-applying mechanism includes a circumferential spring, which is sandwiched between the connecting portion and the second circumferential limiting post.

[0011] Furthermore, a through-hole is provided at the center of the rear wall of the buckle, and a circumferential positioning groove with a rearward opening is formed by the lateral extension of the rear part of the through-hole. The circumferential locking unit includes a circumferential locking block, which is embedded in the circumferential positioning groove and blocks the side wall of the circumferential positioning groove to circumferentially lock the buckle. The circumferential locking block has a cylindrical protrusion extending forward, which passes through the through-hole and extends to the inside of the buckle. The massage head connecting module is inserted axially into the buckle and pushes the cylindrical protrusion of the circumferential locking block axially backward, causing the circumferential locking block to exit backward and out of the circumferential positioning groove, thereby releasing the circumferential lock on the buckle.

[0012] Furthermore, it includes an axial spring that drives the circumferential locking block to move forward and return to its original position.

[0013] The massage device of this utility model includes a robotic arm and a massage head, and also includes a connecting mechanism. The robotic arm connecting module of the connecting mechanism is installed at the front end of the robotic arm, and the massage head connecting module of the connecting mechanism is installed at the rear end of the massage head. The massage head connecting module is fixedly connected to the robotic arm connecting module at the rear, thereby fixing the massage head on the robotic arm. The connecting mechanism is as described above.

[0014] The connection structure of this utility model eliminates the need to disassemble and assemble multiple bolts and nuts as required by the prior art, making assembly and disassembly convenient. Specifically:

[0015] When installing a massage head on a robotic arm using the connection structure, simply insert the unlocking latch of the massage head connection module axially into the buckle of the robotic arm connection module with the unlocking latch facing backward. Then, push the unlocking part of the circumferential locking unit backward with the unlocking latch to release the circumferential locking unit from locking the buckle. The buckle will then rotate circumferentially under the drive of the circumferential force application unit, thereby engaging with the unlocking latch of the massage head connection module to achieve a fixed connection of the massage head connection module. The massage head is thus fixedly installed on the robotic arm.

[0016] When disassembling the massage head, simply rotate the buckle in the opposite direction to release the locking mechanism of the massage head connection module, thereby releasing the fixed connection of the massage head connection module. Then, the massage head connection module can be detached from the robotic arm connection module, thus removing the massage head from the robotic arm. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a massage device.

[0018] Figure 2 This is a schematic diagram showing the first bolt, the front end cap of the robotic arm, the robotic arm connecting module, the massage head connecting module, and the rear end of the massage head after disassembly.

[0019] Figure 3 This is a diagram of the buckle.

[0020] Figure 4 This is a schematic diagram showing the four components—fixed block, circumferential locking block, buckle, and retaining ring—after they have been disassembled.

[0021] Figure 5 This is a schematic diagram of the robotic arm connection module after the second bolt, circumferential spring, and fixing block have been removed.

[0022] Figure 6 This is a schematic diagram of the robotic arm connection module after the second bolt and fixing block have been removed.

[0023] Figure 7 This is a schematic diagram of the massage head connecting module after it has been inserted into the robotic arm connecting module. The second bolt, circumferential spring, and fixing block of the robotic arm connecting module have been removed.

[0024] Figure 8 This is a cross-sectional view of the massage head connection module inserted into the robotic arm connection module. In the figure, the circumferential locking unit locks the buckle.

[0025] Figure 9 yes Figure 8 A magnified view of a portion of the image, showing a larger area. Figure 8 Part A.

[0026] Figure 10 This is a schematic diagram of the massage head connection module being inserted into the robotic arm connection module. In the diagram, the circumferential locking unit has unlocked the buckle.

[0027] Figure 11 yes Figure 10 A magnified view of a portion of the image, showing a larger area. Figure 10 Part B.

[0028] Figure 12 This is a schematic diagram of the massage head connecting block and the second fastening block. In the diagram, the first fastening block and the second fastening block of the massage head connecting block are offset.

[0029] Figure 13 This is a schematic diagram of the second fastening block of the massage head connecting block and the buckle. In the diagram, the second fastening block has been rotated circumferentially to the front of the first fastening block of the massage head connecting block.

[0030] Figure 14 This is a schematic diagram of a fixed block. Detailed Implementation

[0031] The present invention will be further described in detail below with reference to specific embodiments.

[0032] Massage device Figure 1 The device includes a robotic arm 10 (the front end of the robotic arm is schematically shown in the figure) and a massage head 20. The rear end 202 of the massage head 20 is mounted on the front end 101 of the robotic arm 10. In use, the robotic arm 10 drives the massage head 20 to massage the human body. This is prior art. See [link to previous document]. Figure 1 and Figure 2 The robotic arm 10 has a robotic arm connection module 30 mounted on its front end 101, and a massage head connection module 40 mounted on its rear end 202. The massage head connection module 40 and the robotic arm connection module 30 are axially distributed front-back, forming a connection mechanism between the robotic arm 10 and the massage head 20. When the operator installs the massage head 20 onto the robotic arm 10, the massage head connection module 40 is fixedly connected to the robotic arm connection module 30 with its rear facing direction, thereby fixing the massage head 20 onto the robotic arm 10.

[0033] In this embodiment, the front side is the bottom side, and the rear side is the top side. See Figure 3 The robotic arm connection module 30 includes a retaining ring 1, which includes inner and outer circular rings 11 and 12. The rear edge of the outer ring 12 (e.g., Figure 8 (As shown) Extending beyond the inner ring body 11, a circular cavity 131 is left at the rear end of the buckle 1. An annular cavity 132 is left between the rear parts of the inner and outer ring bodies 11 and 12. The circular cavity 131 and the annular cavity 132 together form the fixing block mounting position 13. Three circumferentially parallel connecting strips 141 are provided between the front parts of the inner and outer ring bodies 11 and 12, connecting the inner ring body 11 and the outer ring body 12 together. Three circumferentially parallel connecting blocks 142 are provided between the front edges of the inner and outer ring bodies 11 and 12, connecting the front edges of the inner ring body 11 and the outer ring body 12 together. The connecting strips 141 and the connecting blocks 142 together form the connecting part. The three connecting strips 141 together divide the space between the front parts of the inner and outer ring bodies 11 and 12 into three circumferentially parallel annular mounting cavities 15. The annular mounting cavity 15 is divided into a head 151 and a tail 152 along its circumference. Two connecting strips 141 corresponding to the annular mounting cavity 15 form the head sidewall 153 and the tail sidewall 154, respectively. The head 151 of the annular mounting cavity 15 is left empty, and three connecting blocks 142 are respectively located at the front edge of the three tails 152 of the annular mounting cavities 15, forming the front wall 155 of the tail 152 of the annular mounting cavity 15. See... Figure 2 and Figure 8 The robotic arm connection module 30 also includes a fixing block 2 and a fixing ring 3. The fixing block 2 is located at the fixing block mounting position 13 inside the buckle 1. The fixing block 2 is fixedly mounted on the end cap 102 of the front end 101 of the robotic arm 10 by a first bolt 91. The fixing ring 3 is located in front of the buckle 1, with three circumferentially parallel connecting posts 31 extending backward. See Figure 5 and Figure 8 The three connecting posts 31 pass backward through the heads 151 of the three annular mounting cavities 15 and are then fixed to the front of the fixing block 2 by three second bolts 92. See Figure 6 A circumferential spring 5, under compression, is installed in the annular mounting cavity 15. The circumferential spring 5 is sandwiched between the connecting post 31 and the tail side wall 154 of the annular mounting cavity 15, serving as a circumferential force-applying unit to apply circumferential elastic force to the tail side wall 154 of the annular mounting cavity 15 of the retaining ring 1. A circumferential locking unit 6 is provided at the front center of the fixing block 2. Under normal conditions, the circumferential locking unit 6 locks the retaining ring 1, so the retaining ring 1 will not rotate circumferentially under the elastic force of the circumferential spring 5. The unlocking part 61 of the circumferential locking unit 6 (see...) Figure 4 It is located inside the inner ring 11 of the buckle 1. See Figure 4 The inner ring 11 of the buckle 1 has three circumferentially arranged first fastening blocks 111 extending inward, with a clearance groove 112 between each two adjacent first fastening blocks 111. The fixing ring 3 has three circumferentially arranged circumferential positioning posts 32 and three circumferentially arranged axial limiting posts 33 extending forward. The circumferential positioning posts 32 are longer than the axial limiting posts 33. The circumferential positioning posts 32 serve as circumferential positioning structures, and the axial limiting posts 33 serve as axial limiting structures.

[0034] See Figure 2 The massage head connecting module 40 is specifically a massage head connecting block 4, which is fixedly installed on the rear end 202 of the massage head 20. In this embodiment, the massage head connecting block 4 is fixedly installed on the rear end 202 of the massage head 20 by snap-fit. Other embodiments may use other fixing methods, such as bonding or welding. The massage head connecting block 4 has three circumferentially parallel, through-holes 42, and also has three circumferentially parallel, rearward-facing axial limiting holes 43. Figure 8 One of the axial limiting holes is shown. (See...) Figure 2 and Figure 8 The massage head connecting block 4 has a circumferential unlocking part 44 extending rearward from its center and a fastening part 45 located outside the circumferential unlocking part 44. The fastening part 45 has three circumferentially arranged second fastening blocks 451 extending outward from its side. The circumferential unlocking part 44 and the fastening part 45 together form the unlocking fastening part of the massage head connecting module 40.

[0035] Unlike the prior art, the connection structure eliminates the need to disassemble and reassemble multiple bolts and nuts, making assembly and disassembly convenient. Specifically:

[0036] When the operator installs the massage head 20 onto the robotic arm 10 using the connecting structure, the operation is as follows:

[0037] See Figure 2 and Figure 8 Holding the massage head 20, align the circumferential positioning hole 42 of the massage head connecting block 4 with the circumferential positioning post 32 at the front of the fixing ring 3, and align the axial limiting hole 43 of the massage head connecting block 4 with the axial limiting post 33 at the front of the fixing ring 3. In this state, the three second fastening blocks 451 of the fastening part 45 are respectively aligned with the three clearance grooves 112 of the fixing ring 3. Move the massage head 20 backward toward the front end 101 of the robotic arm 10. During this process: the circumferential positioning post 32 is inserted into the circumferential positioning hole 42; the axial limiting post 33 is inserted into the axial limiting hole 43; the circumferential unlocking part 44 of the massage head connecting block 4 is axially inserted backward into the inner side of the inner ring body 11 of the buckle ring 1, pushing the unlocking part 61 of the circumferential locking unit 6 backward; the fastening part 45 is axially inserted backward into the inner side of the inner ring body 11 of the buckle ring 1, and the three second fastening blocks 451 on it pass backward through the three clearance grooves 112 of the buckle ring 1.

[0038] The massage head 20 continues to move backward until the axial limiting post 33 presses against the front wall 431 of the axial limiting hole 43. Figure 10 As shown, in this state:

[0039] Axial limiting post 33 blocks the massage head connecting block 4 from behind. The massage head connecting block 4 is axially limited by the axial limiting post 33 and cannot move backward relative to the robotic arm connecting module 30. It is also circumferentially positioned by the axial positioning post 32 (see...). Figure 4 Circumferential positioning, not circumferentially rotating relative to the robotic arm connection module 30. The circumferential locking unit 6 releases its circumferential lock on the retaining ring 1 under the pushing of the circumferential unlocking part 44, thus the retaining ring 1 rotates circumferentially under the drive of the circumferential spring 5, as... Figure 6 and Figure 7 As shown, the head sidewalls 153 of the three annular mounting cavities 15 are moved closer to the corresponding three connecting posts 31, and the three first fastening blocks 111 are moved synchronously closer to the front of the three second fastening blocks 451, as shown. Figure 12 and Figure 13 As shown.

[0040] See Figure 7 and Figure 13 When the head sidewalls 153 of the three annular mounting cavities 15 rotate to abut against the three connecting posts 31, the three first fastening blocks 111 rotate just in front of the three second fastening blocks 451. In this state: the head sidewalls 153 of the three annular mounting cavities 15 are blocked by the three connecting posts 31 respectively. The three connecting posts 31 all act as circumferential limiting posts to circumferentially limit the buckle 1; the buckle 1 of the robotic arm connecting module 30 is engaged with the fastening part 45 of the massage head connecting block 4. Specifically, the three first fastening blocks 111 of the buckle 1 are fastened in front of the three second fastening blocks 451 of the fastening part 45 to axially limit it; the massage head connecting block 4 is circumferentially positioned by the circumferential positioning post 32 and cannot rotate circumferentially relative to the robotic arm connecting module 30. On the other hand, it is axially limited by the axial limiting post 33 and the second fastening block 451 and cannot move back and forth relative to the robotic arm connecting module 30. The massage head connecting module 40 is fixedly connected to the robotic arm connecting module 30 in this way.

[0041] See Figure 12 and Figure 13 Taking one of the first fastening blocks 111 and the corresponding second fastening block 451 as an example: when the buckle 1 does not rotate circumferentially, the first end 113 of the rear edge of the first fastening block 111 is close to the second fastening block 451 and the end 114 is far away from the second fastening block 451. The first end 453 of the front edge of the second fastening block 451 is close to the first fastening block 111 and the end 454 is far away from the first fastening block 111. The rear edge 115 of the first fastening block 111 is a bevel, with its first end 113 in front and its end 114 in back. The front edge 455 of the second fastening block 451 is a bevel, with its first end 453 in back and its end 454 in front. When the buckle 1 rotates circumferentially, the rear edge 115 of the first fastening block 111 rotates toward the second fastening block 451. During this process, since the rear edge 115 of the first fastening block 111 and the front edge 455 of the second fastening block 451 are both inclined, the first fastening block 111 can smoothly rotate to the front of the second fastening block 451 without being hindered by the frictional force applied by the second fastening block 451.

[0042] See Figure 1 The retaining ring 1 is exposed. When the operator needs to remove the massage head 20, they should gently hold the massage head 20 with one hand and hold the retaining ring 1 with the other hand, rotating it in the opposite direction. This will cause the first retaining block 111 to move away from the front of the second retaining block 451 (see...). Figure 12 and Figure 13 Simultaneously, the rear sidewall 154 of the annular mounting cavity 15 overcomes the elastic force of the circumferential spring 5 and approaches the connecting post 31 located at the head 151 of the annular mounting cavity 15 (see...). Figure 6 and Figure 7 ).See Figure 12 When the first latching block 111 is completely away from the front of the second latching block 451, the latching ring 1 is released from the latching part 45, and the second latching block 451 is no longer blocked by the first latching block 111. In this state: the massage head 10 (see...) Figure 1 Falling forward under the influence of gravity, see Figure 8 The circumferential unlocking part 44 of the massage head connecting block 4 moves forward and no longer pushes against the unlocking part 61 of the circumferential locking unit 6. The operator can then catch the massage head 10 falling forward with their first hand and remove it. See Figure 6 and Figure 7 The front wall 155 of the annular mounting cavity 15 is blocked by the connecting post 31 located at the head 151 of the mounting cavity 15. The three connecting posts 31 act as circumferential limiting posts, circumferentially limiting the buckle 1. Since the unlocking part 61 of the circumferential locking unit 6 is no longer pushed by the circumferential unlocking part 44, the circumferential locking unit 6 restores the lock on the buckle 1. When the operator releases the second hand, the buckle 1 will not rotate circumferentially under the elastic force of the circumferential spring 5.

[0043] See Figure 3 The inner ring 11 of the buckle 1 has a rear wall 116 at its rear edge. A circular through-hole 117 is formed at the center of the rear wall 116. The rear part of the through-hole 117 extends to the left and right to form two circumferential positioning grooves 118 and 119 with their rear openings facing backwards. See... Figure 2 and Figure 14 The fixing block 2 has a forward-facing mounting groove 21 at its center. The circumferential locking unit 6 includes a circumferential locking block 62, the rear of which is embedded in the mounting groove 21 and is prevented from rotating circumferentially by the groove wall. See [link / reference] Figure 8 and Figure 9The front halves 623 and 624 of the left and right side portions 621 and 622 of the circumferential locking block 62 are embedded in the left and right circumferential positioning grooves 118 and 119, respectively, blocking the side walls of the left and right circumferential positioning grooves 118 and 119, thereby circumferentially positioning the buckle 1 and locking the buckle 1 in this way. A cylindrical protrusion 627 extends forward from the middle of the circumferential locking block 62. The protrusion 627 passes forward through the through-hole 117 and extends to the front of the rear wall 116 of the inner ring body 11 of the buckle 1, extending to the inner side of the inner ring body 11 of the buckle 1, serving as the aforementioned unlocking part 61. The circumferential locking block 62 has an axial mounting cavity 628 with the cavity opening facing backward, and a guide shaft 629 is provided at the center of the axial mounting cavity 628. A guide portion 215 extends forward from the rear wall of the mounting groove 21, and extends forward into the axial mounting cavity 628. A guide hole 216 is opened at the center of the guide portion 215. The guide shaft 629 is inserted into the guide hole 216 and can move back and forth under the guidance of the wall of the guide hole 216. An axial spring 63 is sleeved on the outside of the guide shaft 629, and the axial spring 63 is clamped between the guide portion 215 and the front wall 6281 of the axial mounting cavity 628.

[0044] See Figure 8 and Figure 9 During the installation of the massage head 20, the circumferential unlocking part 44 is inserted into the inner side of the inner ring 11 of the buckle 1, pushing the protrusion 627 of the circumferential locking block 62 backward, causing the circumferential locking block 62 to move backward against the elastic force of the axial spring 63, until the front half 623, 624 of its left and right side parts 621, 622 are pulled back out to the left and right circumferential positioning grooves 118, 119 and enter the mounting groove 21. In this state, if Figure 10 and Figure 11 As shown, the front halves 623 and 624 of the left and right side portions 621 and 622 no longer block the side walls of the left and right circumferential positioning grooves 118 and 119, thus no longer circumferentially positioning the retaining ring 1. Therefore, the circumferential locking unit 6 releases its circumferential locking of the retaining ring 1. After the circumferential locking unit 6 is unlocked, the retaining ring 1 rotates circumferentially under the elastic force of the circumferential spring 5. After rotation, see... Figure 7 The left and right circumferential positioning grooves 118 and 119 are respectively misaligned with the left and right side portions 621 and 622 of the circumferential locking block 62. In this state, the left and right side portions 621 and 622 of the circumferential locking block 62 are pressed against the rear end face 110 of the retaining ring 1 and will not move forward to reset under the elastic force of the axial spring 63. During the disassembly of the massage head 20, see... Figure 8 and Figure 9 The buckle 1 rotates in the opposite direction under manual operation. After rotation, the left and right circumferential positioning grooves 118 and 119 align with the left and right side portions 621 and 622 of the circumferential locking block 62. The massage head 20 (see...) Figure 1If the massage head connecting block 4 falls forward under the action of gravity, the circumferential unlocking part 44 of the massage head connecting block 4 will no longer push the protrusion 627 of the circumferential locking block 62 backward. The circumferential locking block 62 will move forward and reset under the elastic force of the axial spring 63. The front half parts 623 and 624 of its left and right side parts 621 and 622 will be embedded again into the left and right circumferential positioning grooves 118 and 119, thereby circumferentially locking the buckle 1 again.

[0045] See Figure 5 The buckle 1 has a side protrusion of a lever 16. When the operator rotates the buckle 1 in the reverse direction, the buckle 1 can be rotated in the reverse direction by moving the lever 16.

[0046] The above description is merely an embodiment of the present invention and does not limit the scope of patent protection. Any non-substantial changes or substitutions made by those skilled in the art based on the present invention will still fall within the scope of patent protection.

Claims

1. A connection mechanism between a robotic arm and a massage head, comprising a robotic arm connection module and a massage head connection module axially distributed front-rear, wherein the massage head connection module is fixedly connected to the robotic arm connection module rearward, characterized in that: The robotic arm connection module includes a buckle, a circumferential force application unit that applies circumferential force to the buckle, and a circumferential locking unit that locks the buckle. The unlocking part of the circumferential locking unit is located inside the buckle. The massage head connection module is provided with an unlocking buckle. The unlocking buckle is inserted axially into the buckle and pushes the unlocking part of the circumferential locking unit. When the circumferential locking unit releases the buckle, the circumferential force application unit drives the buckle to rotate circumferentially, thereby engaging with the unlocking buckle to achieve a fixed connection between the massage head connection module and the robotic arm connection module. The buckle is exposed for the user to rotate in the opposite direction to release the engagement with the unlocking buckle.

2. The connecting mechanism according to claim 1, characterized in that: The robotic arm connection module includes a circumferential positioning structure and an axial limiting structure. When the unlocking buckle of the massage head connection module is inserted axially into the buckle, the circumferential positioning structure positions the massage head connection module circumferentially, while the axial limiting structure blocks the massage head connection module from behind and limits its axial movement. After the buckle rotates circumferentially, it is specifically fastened to the front of the unlocking buckle of the massage head connection module to limit its axial movement. In this way, the massage head connection module and the robotic arm connection module are fixedly connected.

3. The connecting mechanism according to claim 2, characterized in that: The buckle extends inward with a first fastening block, and the unlocking fastening part of the massage head connecting module extends outward with a second fastening block. When the buckle rotates circumferentially, the first fastening block rotates synchronously until it is fastened to the front of the second fastening block and axially limited.

4. The connecting mechanism according to claim 3, characterized in that: The rear edge of the first snap-fit ​​block is beveled, with the end closer to the second snap-fit ​​block positioned forward and the end further away from the second snap-fit ​​block positioned backward; the front edge of the second snap-fit ​​block is beveled, with the end closer to the first snap-fit ​​block positioned backward and the end further away from the first snap-fit ​​block positioned forward.

5. The connecting mechanism according to claim 1, characterized in that: The buckle includes an inner ring and an outer ring, with a connecting part between them to connect them together. The robotic arm connection module includes at least two circumferentially parallel limiting posts. The two circumferential limiting posts extend between the inner and outer rings of the buckle and are located on both sides of the connecting part in the circumferential direction. When the buckle rotates circumferentially, the connecting part rotates synchronously and approaches the first circumferential limiting post until it is blocked by the first circumferential limiting post. The first circumferential limiting post thus limits the buckle circumferentially. When the buckle rotates in the opposite direction, the connecting part rotates synchronously in the opposite direction and approaches the second circumferential limiting post until it is blocked by the second circumferential limiting post. The second circumferential limiting post thus limits the buckle circumferentially.

6. The connecting mechanism according to claim 5, characterized in that: There are three circumferentially parallel connecting parts, and an installation cavity is left between each pair of adjacent connecting parts. There are three circumferentially parallel limiting posts, and the three circumferential limiting posts are inserted into the three installation cavities respectively. When the buckle rotates circumferentially, each circumferential limiting post acts as the first circumferential limiting post mentioned above. When the buckle rotates in the opposite direction, each circumferential limiting post acts as the second circumferential limiting post mentioned above.

7. The connecting mechanism according to claim 5, characterized in that: The circumferential force application mechanism includes a circumferential spring, which is sandwiched between the connecting part and the second circumferential limiting post.

8. The connecting mechanism according to claim 1, characterized in that: A through-hole is opened at the center of the rear wall of the buckle. The rear part of the through-hole extends laterally to form a circumferential positioning groove with the opening facing backward. The circumferential locking unit includes a circumferential locking block. The circumferential locking block is embedded in the circumferential positioning groove and blocks the side wall of the circumferential positioning groove to circumferentially lock the buckle. The circumferential locking block has a cylindrical protrusion extending forward. The cylindrical protrusion passes through the through-hole and extends to the inside of the buckle. The massage head connecting module is inserted axially into the buckle and pushes the cylindrical protrusion of the circumferential locking block axially backward, causing the circumferential locking block to move backward and out of the circumferential positioning groove, thereby releasing the circumferential lock on the buckle.

9. The connecting mechanism according to claim 8, characterized in that: Includes an axial spring that drives the circumferential locking block to move forward and return to its original position.

10. A massage device, comprising a robotic arm and a massage head, and further comprising a connecting mechanism, wherein a robotic arm connecting module of the connecting mechanism is mounted on the front end of the robotic arm, and a massage head connecting module of the connecting mechanism is mounted on the rear end of the massage head, the massage head connecting module being fixedly connected to the robotic arm connecting module rearward, thereby fixing the massage head onto the robotic arm, characterized in that: The connecting mechanism is as described in any one of claims 1 to 9.

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