An adaptive flexible massage head

Abstract

The utility model discloses a self -adaptation flexible massage head belongs to massage device technical field. Including base and setting up the contact of base, the side away from the contact of base rotatoryly connected with elastic buffer chamber, be equipped with support adapter stem and a plurality of elastic buffer components in elastic buffer chamber, support adapter stem one end rotatoryly connected with base. Massage head is not rigid structure, but with support adapter stem as the rotation axis, and the elastic buffer chamber is the flexible shell, constitutes a can swing in many directions'suspended' system. Through setting double buffering mechanism: elastic buffer chamber as main buffering, constitutes the main elastic element of system, and the both ends of support adapter stem are connected as secondary buffering through joint bearing, and the support adapter stem is allowed to swing in any direction within a certain angle, and not only is the rotation in single plane, and this provides great flexibility for the inclination of base, realizes 'universal' self -adaptation.

Description

Technical Field

[0001] This utility model belongs to the field of massage device technology, specifically an adaptive flexible massage head. Background Technology

[0002] There are two existing methods for adapting robotic arm massage heads to human body use: one is using six-dimensional force control, and the other is using flexible materials such as silicone or airbags to adapt to the human body surface. However, existing robotic arm massage heads have the following shortcomings: The six-dimensional force control structure is complex, resulting in high costs. Furthermore, the force control feedback to the robotic arm has a long response time, leading to a poor user experience. It is made of silicone and airbag materials, but it cannot be rotated or tilted for self-adaptation. Utility Model Content

[0003] To solve the above problems, the technical solution provided by this utility model is as follows: This utility model discloses an adaptive flexible massage head, including a base and contact points disposed on the base. An elastic buffer cavity is rotatably connected to the side of the base away from the contact points. The elastic buffer cavity is provided with a support adapter rod and several elastic buffer components. One end of the support adapter rod is rotatably connected to the base.

[0004] Preferably, an upper adapter support plate is fixedly connected to the side of the elastic buffer cavity away from the base, and the two ends of the support adapter rod are rotatably connected to the base and the upper adapter support plate, respectively.

[0005] Preferably, the elastic buffer component is a spring, and the length of the spring in the unloaded state is 60-130% of the thickness of the elastic buffer cavity; the upper adapter support plate is provided with a plurality of spring fixing parts one, and the base is provided with a plurality of spring fixing parts two, and the spring fixing parts one and spring fixing parts two are correspondingly arranged to fix the spring.

[0006] Preferably, the base is provided with a spherical bearing that is rotatably connected to the end of the support adapter rod, and the rotation angle is less than 30° in the circumferential direction; the spherical bearing is fixed in the base by a limiting plate, and the end of the support adapter rod passes through the spherical bearing and is fixed to the pad by a fastener.

[0007] Preferably, the contact point is provided with a protrusion, and the base is provided with a groove for accommodating and fixing the protrusion.

[0008] Preferably, the elastic buffer assembly can also be a hydraulic buffer connecting rod.

[0009] Preferably, a plurality of the elastic buffer components are evenly arranged along the circumference of the support adapter rod.

[0010] Preferably, the base is provided with a ring plate for limiting the lower end of the elastic buffer cavity.

[0011] Preferably, the base is provided with a ring-shaped control plate.

[0012] Preferably, the upper end of the elastic buffer cavity is locked and limited to the upper transition support plate by a fixing plate. Beneficial effects

[0013] Compared with the prior art, the technical solution provided by this utility model has the following advantages: This invention discloses an adaptive flexible massage head, comprising a base and contact points disposed on the base. An elastic buffer cavity is rotatably connected to the side of the base away from the contact points. The elastic buffer cavity contains a support adapter rod and several elastic buffer components. One end of the support adapter rod is rotatably connected to the base. The massage head is not a rigid structure, but rather a "floating" system with the support adapter rod as its rotation axis and the elastic buffer cavity as its flexible shell, allowing for multi-directional oscillation. By employing a dual buffering mechanism: the elastic buffer cavity acts as the primary buffer, forming the main elastic element of the system; the two ends of the support adapter rod are connected by joint bearings as secondary buffers, allowing the support adapter rod to oscillate in any direction within a certain angle, rather than just rotating within a single plane. This provides great flexibility for the tilting of the base, achieving "omnidirectional" self-adaptation. When the massage head contacts the human body, external force is transmitted to the base through the contact points, forcing the base to overcome the force of the elastic buffer components and deflect around the axis of the support adapter rod. Simultaneously, the deformation of the elastic buffer components ensures that the contact points always adhere to the skin and maintain a relatively constant contact pressure, avoiding excessive local pressure. Attached Figure Description

[0014] Figure 1 This is a cross-sectional view of an adaptive flexible massage head according to the present invention; Figure 2 This is a schematic diagram of the structure of an adaptive flexible massage head according to the present invention; Figure 3 This is a schematic diagram of the contact structure of this utility model; Figure 4 This is a three-dimensional view of an adaptive flexible massage according to the present invention; Figure 5 This is a perspective view of the contact point of this utility model.

[0015] Explanation of the labels in the diagram: 110. Upper adapter support plate; 120. Elastic buffer cavity; 121. Fixing plate; 130. Base; 140. Ring plate; 150. Annular control plate; 160. Contact point; 161. Protrusion; 171. Spring fixing part one; 172. Spring; 173. Spring fixing seat; 181. Support adapter rod; 182. Pad; 183. Fixing part; 184. Spherical bearing. Detailed Implementation

[0016] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0017] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0018] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0019] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0020] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments. Example

[0022] See attached document Figure 1 - Appendix Figure 5 This embodiment of an adaptive flexible massage head includes a base 130 and contact points 160 disposed on the base 130. An elastic buffer cavity 120 is rotatably connected to the side of the base 130 away from the contact points 160. The elastic buffer cavity 120 contains a support adapter rod 181 and several elastic buffer components. One end of the support adapter rod 181 is rotatably connected to the base 130. The massage head of this embodiment is not a rigid structure, but rather uses the support adapter rod 181 as a rotation axis and the elastic buffer cavity 120 as a flexible shell, forming a "floating" system that can swing in multiple directions. By setting a dual buffering mechanism: the elastic buffer cavity 120 acts as the primary buffer, constituting the main elastic element of the system; the two ends of the support adapter rod 181 are connected by joint bearings as secondary buffers, allowing the support adapter rod 181 to swing in any direction within a certain angle, rather than just rotating in a single plane. This provides great flexibility for the tilting of the base 130, achieving "omnidirectional" self-adaptation. When the massage head contacts the human body, external force is transmitted to the base 130 through the contact point 160, forcing the base 130 to overcome the force of the elastic buffer component and deflect around the axis of the support adapter rod 181. At the same time, the deformation of the elastic buffer component ensures that the contact point can always conform to the skin and maintain a basically constant contact pressure, avoiding excessive local pressure.

[0023] The elastic buffer cavity 120 is made of silicone, TPU, natural rubber, liquid silicone or other flexible materials.

[0024] An upper transition support plate 110 is fixedly connected to the side of the elastic buffer cavity 120 away from the base 130. The two ends of the support transition rod 181 are rotatably connected to the base 130 and the upper transition support plate 110, respectively. The elastic buffer assembly is a spring 172, and the length of the spring 172 in its unloaded state is 60-130% of the thickness of the elastic buffer cavity 120. The upper transition support plate 110 is provided with several spring fixing members 171, and the base 130 is provided with several spring fixing members 173. The spring fixing members 171 and 173 are correspondingly arranged to fix the spring 172. This ensures that the spring 172 provides elastic buffering within a certain range.

[0025] The base 130 is provided with a spherical bearing 184, which is rotatably connected to the end of the support adapter rod 181, with a rotation angle of less than 30° in the circumferential direction. The spherical bearing 184 is fixed within the base 130 by a limiting plate, and the end of the support adapter rod 181 passes through the spherical bearing 184 and is fixed to the pad 182 by a fixing member 183. The contact point 160 is provided with a protrusion 161, and the base 130 is provided with a groove for accommodating and fixing the protrusion 161.

[0026] The elastic buffer assembly can also be a hydraulic buffer connecting rod.

[0027] Several of the aforementioned elastic cushioning components are evenly arranged circumferentially along the support adapter rod 181. The evenly distributed circumferential elastic cushioning components ensure that a uniform and symmetrical restoring force is provided regardless of the direction in which the base 130 is tilted. This guarantees that the massage head will not experience jamming or unilateral failure during adaptive movement, resulting in smooth and fluid motion and good overall stability.

[0028] The base 130 is provided with a ring plate 140 for limiting the lower end of the elastic buffer cavity 120, and the base 130 is provided with an annular control plate 150. The function of the annular control plate 150 is to connect with the force control component to control the energy of the contact 160, and it can also control the heating, and then transfer the heat to the contact 160 through the fasteners, so that the contact 160 is kept warm. The upper end of the elastic buffer cavity 120 is locked and limited by the fixing plate 121 and the upper transition support plate 110.

[0029] The above-described embodiments are merely illustrative of certain implementations of this utility model, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. An adaptive flexible massage head, characterized in that: It includes a base (130) and a contact (160) disposed on the base (130). An elastic buffer cavity (120) is rotatably connected to the side of the base (130) away from the contact (160). The elastic buffer cavity (120) is provided with a support adapter rod (181) and several elastic buffer components. One end of the support adapter rod (181) is rotatably connected to the base (130).

2. The adaptive flexible massage head according to claim 1, characterized in that: The elastic buffer cavity (120) is fixedly connected to an upper adapter support plate (110) on the side away from the base (130), and the two ends of the support adapter rod (181) are rotatably connected to the base (130) and the upper adapter support plate (110) respectively.

3. The adaptive flexible massage head according to claim 2, characterized in that: The elastic buffer component is a spring (172), and the length of the spring (172) in the unstressed state is 60~130% of the thickness of the elastic buffer cavity (120); the upper adapter support plate (110) is provided with a plurality of spring fixing parts one (171), and the base (130) is provided with a plurality of spring fixing parts two (173), and the spring fixing parts one (171) and spring fixing parts two (173) are respectively arranged to fix the spring (172).

4. The adaptive flexible massage head according to claim 2, characterized in that: The base (130) is provided with a spherical bearing (184) which is rotatably connected to the end of the support adapter rod (181) with a rotation angle of less than 30° in the circumferential direction; the spherical bearing (184) is fixed in the base (130) by a limiting plate, and the end of the support adapter rod (181) passes through the spherical bearing (184) and is fixed on the pad (182) by a fixing member (183).

5. The adaptive flexible massage head according to claim 1, characterized in that: The contact (160) is provided with a protrusion (161), and the base (130) is provided with a groove for accommodating and fixing the protrusion (161).

6. The adaptive flexible massage head according to claim 1, characterized in that: The elastic buffer assembly can also be a hydraulic buffer connecting rod.

7. The adaptive flexible massage head according to claim 1, characterized in that: Several of the elastic buffer components are evenly arranged along the circumference of the support adapter rod (181).

8. The adaptive flexible massage head according to claim 1, characterized in that: The base (130) is provided with a ring plate (140) for limiting the lower end of the elastic buffer cavity (120).

9. The adaptive flexible massage head according to claim 1, characterized in that: The base (130) is provided with a ring control plate (150).

10. The adaptive flexible massage head according to claim 1, characterized in that: The upper end of the elastic buffer cavity (120) is locked and limited by the fixing plate (121) and the upper transition support plate (110).

Images