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CN-121971281-A - Intelligent head massage instrument

CN121971281ACN 121971281 ACN121971281 ACN 121971281ACN-121971281-A

Abstract

The invention discloses an intelligent head massager, which relates to the technical field of massagers and comprises a base, a multi-degree-of-freedom mechanical arm, a massaging module, a 3D vision acquisition module and a controller, wherein the massaging module comprises a base and a plurality of massaging mechanisms, one end of the multi-degree-of-freedom mechanical arm is connected with the base, the other end of the multi-degree-of-freedom mechanical arm is connected with one side of the base, the massaging mechanisms are sequentially arranged on the other side of the base along the circumferential direction, the massaging mechanisms comprise massaging claws, driving parts and end massaging parts, the driving parts are arranged on the base and are used for driving the massaging claws to gather towards the center of the base or swing outwards, one end of the massaging claws far away from the base is connected with the end massaging parts, and the 3D vision acquisition module is arranged on the other side of the base. The intelligent head massager avoids arm ache, fatigue and even damage caused by long-time holding of the massager, and solves the problems of fixed massage area, single function and dead massage function of the traditional head massager.

Inventors

  • GUO YONGZHI
  • GUO FU

Assignees

  • 山西卡每特工业机械有限公司
  • 郭勇智
  • 郭芙

Dates

Publication Date
20260505
Application Date
20260402

Claims (10)

  1. 1. The utility model provides an intelligent head massage appearance, its characterized in that includes base, multi freedom arm, massage module, 3D vision acquisition module and controller, massage module includes base and a plurality of massage mechanism, multi freedom arm one end with the base is connected, the multi freedom arm other end with one side of base is connected, a plurality of massage mechanism along circumference set gradually in the opposite side of base, massage mechanism includes massage claw, drive part and tip massage part, drive part install in on the base, and be used for the drive the massage claw orientation the center of base gathers together or outwards opens the swing, the one end that the massage claw was kept away from the base with tip massage part is connected, 3D vision acquisition module set up in the opposite side of base, multi freedom arm 3D vision acquisition module, drive part and tip massage part all with the controller is connected.
  2. 2. The intelligent head massager of claim 1, further comprising a first force sensor, wherein an end of the multi-degree-of-freedom mechanical arm remote from the base is connected to one side of the base through the first force sensor, and wherein the first force sensor is connected to the controller.
  3. 3. The intelligent head massager of claim 1 wherein the massage mechanism further comprises a second force sensor, wherein an end of the massage claw remote from the base is connected to the end massage component via the second force sensor, and wherein the second force sensor is connected to the controller.
  4. 4. The intelligent head massager according to claim 1, wherein the end massage part comprises a housing, a plurality of electric universal joints and a plurality of magnetic therapy vibration massage heads, one end of the housing is connected with one end of the massage claw away from the base, the other end of the housing is provided with a plurality of openings, a plurality of electric universal joints are installed in the housing, each electric universal joint is connected with one magnetic therapy vibration massage head, each magnetic therapy vibration massage head extends to the outside of the housing through one opening, and each magnetic therapy vibration massage head can swing in the opening under the drive of one electric universal joint, and the electric universal joints and the magnetic therapy vibration massage heads are connected with the controller.
  5. 5. The intelligent head massager of claim 1, wherein the multi-degree of freedom mechanical arm comprises a rotating base, a first arm, a second arm, a third arm, a fourth arm, a first rotating motor, a second rotating motor, a third rotating motor, a first swinging motor and a second swinging motor, wherein the first rotating motor is fixed on the base, the first rotating motor is used for driving the rotating base to rotate relative to the base, one end of the first arm is hinged on the rotating base, the first swinging motor is fixed on the rotating base and used for driving the first arm to swing relative to the rotating base, the second rotating motor is fixed on the other end of the first arm, the second rotating motor is used for driving the second arm to rotate relative to the first arm, one end of the third arm is hinged on one end of the second arm far away from the first arm, the second swinging motor is fixed on the second arm and used for driving the third arm to rotate relative to the second arm, one end of the third arm is hinged on the third arm, and the third swinging motor is connected with the third arm and the fourth rotating motor and the fourth arm is connected with the first arm, the second arm and the fourth rotating motor and the fourth arm.
  6. 6. The intelligent head massager of claim 5, wherein the rotating base comprises a turntable and a mounting bracket fixed on the upper portion of the turntable, the first rotating motor is used for driving the turntable to rotate relative to the base, one end of the first arm is hinged to the mounting bracket, and the first swing motor is fixed on the mounting bracket.
  7. 7. The intelligent head massager of claim 1, wherein a walking mechanism is arranged at the bottom of the base, the walking mechanism comprises a plurality of walking wheels, and each walking wheel is mounted at the bottom of the base.
  8. 8. The intelligent head massager of claim 7, wherein the base comprises a bottom plate and a support column fixed on the upper portion of the bottom plate, each traveling wheel is mounted on the bottom of the bottom plate, and one end of the multi-degree-of-freedom mechanical arm is connected with the top of the support column.
  9. 9. The intelligent head massager of claim 1, wherein the 3D vision acquisition module comprises a plurality of 3D vision cameras, the 3D vision cameras are arranged in one-to-one correspondence with the massage claws, each 3D vision camera is fixed on one side of the base away from the multi-degree-of-freedom mechanical arm and is positioned on the inner side of one massage claw, and each 3D vision camera is connected with the controller.
  10. 10. The intelligent head massager of claim 1 wherein the controller has an operating panel.

Description

Intelligent head massage instrument Technical Field The invention relates to the technical field of massage instruments, in particular to an intelligent head massage instrument. Background The existing head massager is characterized in that a human arm holds the massager to perform head massage, so that rest cannot be performed during massage, other things cannot be simultaneously performed, and if the massage time is long, fatigue damage can be generated on the human arm. The other is a head-wearing type massage device, the massage device is brought to the head to massage, the massage position is fixed, only a certain specific position can be massaged, and the massage function is relatively dead. Disclosure of Invention In order to solve the technical problems, the invention provides the intelligent head massager, which avoids arm ache, fatigue and even damage caused by holding the massager for a long time and solves the problems of fixed massage area, single function and dead massage function of the traditional head massager. In order to achieve the above object, the present invention provides the following solutions: The invention provides an intelligent head massager which comprises a base, a multi-degree-of-freedom mechanical arm, a massaging module, a 3D vision acquisition module and a controller, wherein the massaging module comprises a base and a plurality of massaging mechanisms, one end of the multi-degree-of-freedom mechanical arm is connected with the base, the other end of the multi-degree-of-freedom mechanical arm is connected with one side of the base, the plurality of massaging mechanisms are sequentially arranged on the other side of the base along the circumferential direction, the massaging mechanisms comprise massaging claws, a driving part and an end massaging part, the driving part is arranged on the base and is used for driving the massaging claws to gather towards the center of the base or swing outwards, one end of the massaging claws far away from the base is connected with the end massaging part, the 3D vision acquisition module is arranged on the other side of the base, and the multi-degree-of-freedom mechanical arm, the driving part and the end massaging part are all connected with the controller. Preferably, the multi-degree-of-freedom mechanical arm further comprises a first force sensor, one end, far away from the base, of the multi-degree-of-freedom mechanical arm is connected with one side of the base through the first force sensor, and the first force sensor is connected with the controller. Preferably, the massage mechanism further comprises a second force sensor, wherein one end of the massage claw away from the base is connected with the end massage component through the second force sensor, and the second force sensor is connected with the controller. Preferably, the end massage component comprises a shell, a plurality of electric universal joints and a plurality of magnetic therapy vibration massage heads, one end of the shell is connected with one end, far away from the base, of the massage claw, a plurality of openings are formed in the other end of the shell, a plurality of electric universal joints are arranged in the shell, each electric universal joint is connected with one magnetic therapy vibration massage head, each magnetic therapy vibration massage head extends to the outside of the shell through one opening, and each magnetic therapy vibration massage head can swing in the opening under the driving of one electric universal joint, and each electric universal joint and each magnetic therapy vibration massage head are connected with the controller. Preferably, the multi-degree-of-freedom mechanical arm comprises a rotating base, a first arm, a second arm, a third arm, a fourth arm, a first rotating motor, a second rotating motor, a third rotating motor, a first swinging motor and a second swinging motor, wherein the first rotating motor is fixed on the base, the first rotating motor is used for driving the rotating base to rotate relative to the base, one end of the first arm is hinged on the rotating base, the first swinging motor is fixed on the rotating base and used for driving the first arm to swing relative to the rotating base, the second rotating motor is fixed on the other end of the first arm, the second rotating motor is used for driving the second arm to rotate relative to the first arm, one end of the third arm is hinged on one end of the second arm far away from the first arm, the second swinging motor is fixed on the second arm and used for driving the third arm to swing relative to the second arm, the third rotating motor is fixed on the rotating base, the second swinging motor is fixed on the third arm, the third swinging motor is far from the third arm, and the third swinging motor is connected with the first arm, the fourth swinging motor is far from one end of the rotating base, and the third arm is connected with the fourth rotating moto