CN103859759A - Vertical automatic massaging and hair washing machine - Google Patents
Vertical automatic massaging and hair washing machine Download PDFInfo
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- CN103859759A CN103859759A CN201410124898.3A CN201410124898A CN103859759A CN 103859759 A CN103859759 A CN 103859759A CN 201410124898 A CN201410124898 A CN 201410124898A CN 103859759 A CN103859759 A CN 103859759A
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Abstract
The invention discloses a vertical automatic massaging and hair washing machine which is used for massaging the head and washing the hair and belongs to massaging and hair washing tools. The vertical automatic massaging and hair washing machine comprises a supporting frame, a controller, a mechanical arm and a mechanical arm driving motor. The controller is installed on the supporting frame. The supporting frame is connected with the mechanical arm driving motor. The tail end of an output shaft of the mechanical arm driving motor is connected with an obliquely-arranged driving plate. The driving plate and the mechanical arm are connected through an eccentrically-arranged driving lever. Mechanical fingers, hot water nozzles and shampoo nozzles are evenly distributed on the inner surface of the mechanical arm. The hot water nozzles and the shampoo nozzles are communicated with a water supplying system and a shampoo supplying system respectively through pipelines. The controller is respectively connected with the mechanical arm driving motor, the water supplying system and the shampoo supplying system. According to the hair washing machine, the hair can be washed, cleaned and massaged automatically and the hair washing machine is used by special groups who are old or weak or ill or disabled conveniently and rapidly. The hair washing machine is simple in structure, low in price and capable of being widely applied to common families and avoiding knotting of the hair when the long hair is washed.
Description
Technical field
A kind of vertical automatic massage hair washing machine, for the massage of head and the cleaning of hair, belongs to a kind of massage hair washing instrument.
Background technology
In daily life, hair washing is a quotidian thing, and the daily hair washing of people is washed hair by craft and machine is washed first two mode, manual hair washing is applicable to family mostly, and machine hair washing is difficult to because it is expensive in the universal places such as barber shop, hotel or bath center that are widely used in of family.Manual hair washing is mostly by doing it yourself or complete hair washing action under other people help, but for specific groups such as some the old,weak,sick and disableds, they just must just can complete according to the resistance to help in other people in hair washing, can under the help that there is no other people, only paddle one's own canoe and just can complete hair washing action for the ease of people specific groups such as (especially) the old,weak,sick and disableds, thereby develop this vertical automatic massage hair washing machine.The utility model that is 201220346864.5 as application number discloses a kind of fully-automatic intelligent hair washing machine, comprise front body, rear body, glass mask, described front body is installed seat shank gripper shoe, seat thigh gripper shoe, backrest successively by inner side, body lateral, seat thigh gripper shoe both sides are respectively arranged with a handrail, be positioned at backrest one side and be connected with rear body, master control case is equipped with in rear body below; Be positioned at one of them side of rear body along computer board controller is installed, be positioned at a rear body center position wave supporting plate of installation and this wave supporting plate both sides and be respectively arranged with puma manipulator, described wave supporting plate top is provided with glass mask.This hair washing machine, by simulation manipulator hair washing is set, realize automatically completing of whole hair washing operation, but this hair washing machine is horizontal type hair washing machine, needs people to lie on backrest, especially uses extremely inconvenience for the old,weak,sick and disabled Deng Zhe class specific group; And this class autoamtic hair washing machine is expensive, can only be applicable to the places such as barber shop, hotel or bath center, cannot in average family, popularize.
Summary of the invention
For overcoming above-mentioned defect, the object of the present invention is to provide a kind of especially vertical automatic massage hair washing machine of the specific group such as the old,weak,sick and disabled of people of washing hair conveniently, can be widely used in.
For achieving the above object, technical scheme of the present invention is:
A kind of vertical automatic massage hair washing machine, comprise bracing frame, controller, for holding manipulator, the robot drives motor of head, it is characterized in that: bracing frame is connected with robot drives motor, robot drives motor is connected with the driver plate being obliquely installed, driver plate is connected by the driving lever of eccentric setting with manipulator, and controller is connected with robot drives motor.
Further, manipulator inner surface is evenly equipped with mechanical finger, hot-water nozzle and shampoo shower nozzle, hot-water nozzle is connected with water system by pipeline, and shampoo shower nozzle is connected with confession shampoo system by pipeline, and controller is connected with water system, confession shampoo system respectively.
Further, on manipulator, symmetry offers at least three openings, and the extended line of described opening is intersected in same point.
Further, also comprise the lowering or hoisting gear for regulating manipulator height, described lowering or hoisting gear comprises screw mandrel, nut and support, screw mandrel is located in bracing frame by bearing holder (housing, cover), and nut sleeve is located on screw mandrel, and support one end connects and moves up and down along screw mandrel axis with nut with nut through the groove of bracing frame, the support other end is connected with robot drives motor, bracing frame is provided with screw mandrel drive motors, and screw mandrel drive motors and screw mandrel are by gear drive, and screw mandrel drive motors is connected with controller.
Further, between support and manipulator, eccentric setting has two retainer springs for limit mechanical hand amplitude of fluctuation, and two retainer springs are symmetrical arranged, and driving lever is arranged with the spring being connected with driver plate and manipulator outward.
Further, groove two ends are equipped with limit switch in the extreme position of support, and described limit switch is connected with controller.
Further, support is provided with the adjustment screw for regulating driver plate inclination angle, and adjustment screw is connected with robot drives motor by tilt adjustment spring.
Further, the inclination angle of driver plate and horizontal plane is 15 ° ~ 45 °.
Further, water system comprises constant temperature water tank, pumping motor I, constant temperature water tank is communicated with hot-water nozzle by pumping motor I, pipeline, comprise shampoo feedway, water feeder, shampoo mixing arrangement for shampoo system, shampoo feedway, water feeder are all communicated with shampoo mixing arrangement, the liquid outlet of shampoo mixing arrangement by taking out shampoo motor, pipeline is communicated with shampoo shower nozzle, pumping motor I, take out shampoo motor and be connected with controller.
Further, shampoo feedway comprises shampoo container, shampoo container top is provided with the extrusion device for extruding shampoo, the agent mouth that goes out of extrusion device is communicated with shampoo mixing arrangement, extrusion device top is provided with the cam mechanism for pressing extrusion device, and cam mechanism is connected with the actuated by cams motor for driving cam means, water feeder comprises pumping motor II, baffle plate and distance rod, baffle plate is positioned at constant temperature water tank hinged with thermostatted water tank wall, between baffle plate and thermostatted water tank wall, be positioned at pin joint top and be provided with Compress Spring, thermostatted water tank wall is upper offers liquid outlet I from top to bottom successively in pin joint below, the distance rod opening that arch thrust bar passes, liquid outlet II, liquid outlet I is communicated with shampoo mixing arrangement by pipeline, liquid outlet II is communicated with pumping motor II by pipeline, distance rod passes distance rod opening and moves along the axis direction of distance rod opening under the hydraulic-driven of pumping motor II, baffle plate is provided with the chock for shutoff liquid outlet I, shampoo mixing arrangement comprises housing, on housing, offer charging aperture and discharging opening, charging aperture with go out agent mouth, liquid outlet I is communicated with, discharging opening with take out shampoo motor and be communicated with, in housing, be provided with shaft, shaft is provided with stirring vane, and shaft is connected with the shaft drive motors of being located at case top, actuated by cams motor, pumping motor II, shaft drive motors are all connected with controller.
Compared with prior art, beneficial effect of the present invention is:
1, this hair washing machine is vertical hair washing machine, and people is sitting on chair, stool or wheelchair, manipulator is enclosed within to head upper, by controlling controller, can realize autoamtic hair washing, cleaning and massage, and the people especially specific group such as the old,weak,sick and disabled are easy to use, quick; This hair washing machine is made up of parts such as bracing frame, controller, manipulator and robot drives motors, simple in structure, and approximately 800 yuan of cost prices are cheap, can be widely used in average family; The output shaft end of robot drives motor is connected with the driver plate being obliquely installed, driving lever by eccentric setting between driver plate and manipulator is connected, robot drives motor drives dial rotation, rotating disk is by driving lever driving mechanical hands movement, the mechanical finger of manipulator inside moves with manipulator, manipulator orientation in motion is substantially constant, the movement locus of mechanical finger is similar to oval sieving, and be not to move in a circle around the axis of manipulator, thereby can not make hair tangle in the time cleaning compared with long hair.
2, this hair washing machine is also provided with the lowering or hoisting gear being made up of screw mandrel, nut and support, makes the height of manipulator adjustable, thereby is applicable to different height crowds, has improved the scope of application of this hair washing machine.
3, on manipulator, symmetry offers at least three openings, and the extended line of described opening is intersected in same point, makes the space of manipulator adjustable, and the crowd that head size is different is all applicable; And by offering opening at manipulator, can alleviate the impact to head of manipulator in motion, make massage, the wash effect of mechanical finger to head better.
4, between support and manipulator, be arranged with two retainer springs, make mechanical finger with head contact portion near among a small circle in be similar to oval sieving, this retainer spring is the amplitude of fluctuation of limit mechanical hand effectively, between driver plate and the manipulator seat of honour, be connected with spring, manipulator can slide around driving lever with the moving and upper and lower elasticity of head, improves the comfortableness of hair washing machine.
5, groove two ends are equipped with limit switch in the extreme position of support, described limit switch is connected with controller, support triggers limit switch in the time that screw mandrel axis moves up and down and reaches the limit of position, the upset of controller control screw mandrel drive motors, support counter motion, can effectively avoid, because of the support hair washing machine breakage causing of moving, improving the service life of hair washing machine.
6, support is provided with the adjustment screw for regulating driver plate inclination angle, adjustment screw is connected with driver plate by tilt adjustment spring, the inclination angle of driver plate and horizontal plane is remained in the scope of 15 ° ~ 45 °, inclination angle is larger, mechanical finger is less to the active force of head, feeling of experiencer is more comfortable, more comfortable, realizes dynamics adjustable, thereby applicable to different crowd.
7, can realize the automatic supply of hot water, shampoo by water system, confession shampoo system.
8, in controller, be provided with mechanical timer, mechanical timer respectively with pumping motor I, pumping motor II, take out shampoo motor, actuated by cams motor, shaft drive motors and be connected, pass through mechanical timer, can be communicated with different motors in different time sections, make different machine operation, final realization is taken out hot water, is taken out the action of shampoo, thereby realizes on time automatically supplying with of hot water, shampoo.
Accompanying drawing explanation
Fig. 1 is front view of the present invention;
Fig. 2 is left view of the present invention;
Fig. 3 is the structural scheme of mechanism of manipulator in the present invention;
Fig. 4 is water system in the present invention, the structural representation that supplies shampoo system;
Fig. 5 is the partial sectional view at A-A place in Fig. 4;
Fig. 6 is the partial schematic diagram of shampoo feedway in the present invention;
Fig. 7 is the structural representation sketch of middle controller of the present invention;
Fig. 8 is and the structural representation of the matching used waterproof muffler of the present invention;
Wherein, Reference numeral is: 1-bracing frame, 2-controller, 3-manipulator, 4-robot drives motor, 5-support, 6-driver plate, 7-driving lever, 8-spring, 9-retainer spring, 10-mechanical finger, 11-screw mandrel, 12-nut, 13-screw mandrel drive motors, 14-groove, 15-limit switch, 16-adjustment screw, 17-constant temperature water tank, 18-pumping motor I, 19-shampoo feedway, 20-water feeder, 21-shampoo mixing arrangement, 22-take out shampoo motor, 23-pumping motor II, 24-baffle plate, 25-Compress Spring, 26-distance rod, 27-chock, 28-hair-dryer, 29-tilt adjustment spring, 30-robot base, 31-opening, 171-liquid outlet I, 172-distance rod opening, 191-shampoo container, 192-extrusion device, 193-cam mechanism, 194-actuated by cams motor, 211-mechanical timer, 212-hair washing control button.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention will be further described:
Embodiment mono-
A kind of vertical automatic massage hair washing machine, for the massage of head and the cleaning of hair, comprises bracing frame, controller, for holding the manipulator of head and the robot drives motor for driving device hand.Controller is installed on bracing frame, and bracing frame is connected with robot drives motor, and robot drives motor is tilted to be installed on bracing frame, and this robot drives motor is variable speed electric motors, particularly, and its rotating speed is 1.0 ~ 1.5rad/s.Robot drives motor is flexibly connected with bracing frame, angle between robot drives motor and bracing frame is adjustable, the output shaft end of robot drives motor is connected with driver plate, and because robot drives motor is obliquely installed, thereby driver plate is also obliquely installed, the inclination angle of driver plate and horizontal plane is 15 ° ~ 45 °, inclination angle is larger, and mechanical finger is less to the active force of head, and feeling of experiencer is more comfortable, more comfortable, realize dynamics adjustable, thereby applicable to different crowd.The periphery symmetry of manipulator offers at least three openings, many opening is not communicated with by Bing summit, the summit place of manipulator, but the upwards extended line of this opening is by the summit of manipulator, and be communicated with at the summit place of manipulator, thereby make the space size of manipulator adjustable.Manipulator is provided with cylindrical mechanical hand pedestal, between driver plate and robot base, be connected by the driving lever of eccentric setting and the spring being set in outside driving lever, the so-called eccentric tie point that refers to driving lever and driver plate that connects is at the circle centre position of driver plate, and the tie point of driving lever and robot base is not also at the circle centre position (as shown in Figure 2) of robot base.Manipulator inner surface is evenly equipped with some mechanical fingers, hot-water nozzle and shampoo shower nozzle.This mechanical finger is made up of silica gel, its diameter is 3 ~ 5mm, its length is 3 ~ 5cm, the number of mechanical finger is 90 ~ 110, part mechanical finger is fixedly connected with manipulator inwall, part mechanical finger is flexibly connected with manipulator by coil tension spring and forms telescopic mechanical finger (as shown in Figure 3), and telescopic mechanical finger is positioned at position, the crown; Hot-water nozzle, shampoo shower nozzle by pipeline respectively with water system, for shampoo system connectivity, in the present embodiment, water system, the utensil of selecting water heater or the principle based on water heater to manufacture for shampoo system, provide hot water, shampoo to manipulator.Controller is connected with robot drives motor, water system, confession shampoo system respectively, and the controller in the present embodiment is selected single-chip microcomputer, is independently controlled robot drives motor, water system, is supplied the work of shampoo system and stop by controller.
When hair washing machine work, support the use waterproof muffler, waterproof mask, waterproof muffler is provided with discharge outlet, and this discharge outlet is communicated with drainpipe, waterproof muffler center offers for head and passes and overlap house in the hole of neck, and the part contacting with neck in waterproof muffler is that annular retractable material is made.When hair washing, people is sitting on chair, stool or wheelchair, and waterproof muffler is set on neck, brings waterproof mask, and head is sheathed in manipulator, and the mechanical finger in manipulator fully contacts with head surface; Adjustment control, robot drives machine operation, robot movement, mechanical finger is massaged head; After massage a period of time, adjustment control, water system, confession shampoo system intermittence ground spray hot water, shampoo on head, due to this section of time robot drives motor continuous firing, mechanical finger continues to wash by rubbing with the hands to head, effectively remove head dirt, cleaning performance is good, and cleaning efficiency is high; To be cleaned complete, a disengaging manipulator, takes off waterproof mask, waterproof muffler, and hair is dried.By controlling controller, can realize autoamtic hair washing, cleaning and massage, people specific groups such as (especially) the old,weak,sick and disableds are easy to use, quick; This hair washing machine is made up of parts such as bracing frame, controller, manipulator and robot drives motors, simple in structure, and approximately 800 yuan of cost prices are cheap, can be widely used in average family; The output shaft end of robot drives motor is connected with the driver plate being obliquely installed, driving lever by eccentric setting between driver plate and manipulator is connected, robot drives motor drives dial rotation, rotating disk is by driving lever driving mechanical hands movement, the mechanical finger of manipulator inside moves with manipulator, manipulator orientation in motion is substantially constant, the movement locus of mechanical finger is similar to oval sieving, and be not to move in a circle around the axis of manipulator, thereby can not make hair tangle in the time cleaning compared with long hair.
Embodiment bis-
On the basis of embodiment mono-, bracing frame is hollow structure, in bracing frame, is connected with screw mandrel by bearing, is arranged with nut on screw mandrel; Bracing frame upper end offers groove, the about 30cm of length of groove, and groove two ends are equipped with limit switch in the extreme position of support.Support one end is connected with nut through the groove of bracing frame; support can move up and down along the axis of screw mandrel together with nut; the support other end is with hinged for the protection of the protective cover of robot drives motor box driver plate; protective cover inwall is connected with robot drives motor; protective cover can be rotated around jointed shaft, thereby it is adjustable to realize the inclination angle of robot drives motor and driver plate.Screw mandrel, nut and support are formed for regulating the lowering or hoisting gear of manipulator height.Support is provided with the adjustment screw for regulating driver plate inclination angle, and adjustment screw is connected with protective cover by tilt adjustment spring; Turn adjustment screw, adjustment screw pulls or pushes driver plate by tilt adjustment spring, and the inclination angle of driver plate changes, and in the present embodiment, the inclination angle of driver plate and horizontal plane is 25 °.If protective cover is not set in the present embodiment; robot drives motor directly and support hinged; now tilt adjustment spring is directly connected with robot drives motor; by regulating adjustment screw; thereby drive tilt adjustment spring pulls or promotion robot drive motors rotates around jointed shaft, and the inclination angle of realizing robot drives motor and driver plate is adjustable.Between support and manipulator, symmetrical eccentric setting has two retainer springs for limit mechanical hand amplitude of fluctuation, and the so-called eccentric tie point that refers to retainer spring and robot base that connects is not also at the circle centre position (as shown in Figure 1) of robot base.On bracing frame, be connected with screw mandrel drive motors, between this screw mandrel drive motors and screw mandrel by gear drive.Limit switch, screw mandrel drive motors are connected with controller.Driver plate top is provided with hair-dryer, and hair-dryer is connected with controller, and the position of this hair-dryer as shown in Figure 2.
When hair washing, if when the position of manipulator is higher or on the low side, adjustment control, the work of screw mandrel drive motors, and by gear drive, power is passed to screw mandrel, screw mandrel circular motion drives nut, support together along moving or move down on screw mandrel axis, in the time that support-moving arrives its extreme position, triggers limit switch, the upset of controller control screw mandrel drive motors, support counter motion, thus can effectively avoid, because of the support hair washing machine breakage causing of moving, improving the service life of hair washing machine.Support is provided with the adjustment screw for regulating driver plate inclination angle, and adjustment screw is connected with driver plate by tilt adjustment spring, makes the inclination angle of driver plate and horizontal plane remain 25 °.Between support and manipulator, be arranged with two retainer springs, make mechanical finger with head contact portion near among a small circle in be similar to oval sieving, this retainer spring is the amplitude of fluctuation of limit mechanical hand effectively, the comfortableness of raising hair washing machine.After treating that hair cleans, the work of controller control hair-dryer, the hot blast that hair-dryer blows out is dried damp hair.
Embodiment tri-
On the basis of embodiment mono-or embodiment bis-, be 30 ° by the Inclination maneuver of driver plate and horizontal plane, and water system, the utensil of not selecting water heater or the principle based on water heater to manufacture for shampoo system.
Water system comprises constant temperature water tank, pumping motor I, and constant temperature water tank is communicated with the hot-water nozzle of manipulator inner surface by pumping motor I, pipeline, and pumping motor I is connected with controller.This constant temperature water tank is the constant temperature water tank that can realize automatic water filling, water tank is directly communicated with outside water supply pipe or tap by pipeline, the water outlet being communicated with external water supply pipe or tap in water tank is provided with plunger, and this plunger end is connected with ball float.When in water tank without hot water or hot water when less, ball float under self gravitation effect, plunger is extracted in delivery port (or ball float under self gravitation effect, drop to certain altitude and plunger is communicated with plunger control module form closed-loop path, control module passes through motor, transmission mechanism is extracted plunger in delivery port), running water enters in constant temperature water tank by delivery port, ball float rises with the water level in water tank, in the time that the water level in water tank rises to certain position, plunger blocks delivery port that (or ball float is elevated to certain altitude under buoyancy and plunger and plunger control module are disconnected and form open circuit, control module passes through motor, plunger is put into delivery port by transmission mechanism), running water cannot enter in constant temperature water tank by delivery port, the now water in heated constant temperature water tank again.
Comprise shampoo feedway, water feeder, shampoo mixing arrangement for shampoo system.
Shampoo feedway comprises shampoo container, shampoo container top is provided with the extrusion device for extruding shampoo, the extrusion device of this base apparatus and liquid detergent is same or similar, the agent mouth that goes out of extrusion device is communicated with shampoo mixing arrangement, extrusion device top is provided with the cam mechanism for pressing extrusion device, and cam mechanism is connected with the actuated by cams motor for driving cam means.Controller control actuated by cams electric machine rotation, and cam in driving cam means rotates, the frequency of cam is 0.5s/rad ~ 1s/rad, specifically determine according to the distance of cam and extrusion device, cam is periodically pressed extrusion device, the same with extruding liquid detergent, shampoo is extruded to enter in shampoo mixing arrangement and is mixed to form shampoo with water from shampoo container.
The water source of water feeder can come from constant temperature water tank, also can come from other water receptacles, in the present embodiment, the water source of water feeder comes from constant temperature water tank, this water feeder comprises pumping motor II, baffle plate and distance rod, baffle plate is positioned at constant temperature water tank hinged with thermostatted water tank wall, between baffle plate and thermostatted water tank wall, be positioned at pin joint top and be provided with Compress Spring, thermostatted water tank wall offers successively liquid outlet I from top to bottom below interface point, the distance rod opening that arch thrust bar passes, liquid outlet II, liquid outlet I is communicated with shampoo mixing arrangement, liquid outlet II is communicated with pumping motor II, the distance rod opening that distance rod passes also moves along the axis direction of distance rod opening under the hydraulic-driven of pumping motor II, baffle plate is provided with the chock for shutoff liquid outlet I, pumping motor II is connected with controller.Controller control pumping motor II work, water in constant temperature water tank is extracted out by liquid outlet II, distance rod moves along the axis direction of distance rod opening under the hydraulic-driven of pumping motor II, distance rod applies active force to baffle plate, baffle plate rotates around pin joint, because baffle plate rotates, thereby also rotates around pin joint with the chock that baffle plate is connected as a single entity, chock is separated with liquid outlet I, and the water in constant temperature water tank is flow in shampoo mixing arrangement and is mixed to form shampoo with shampoo by liquid outlet I.
Shampoo mixing arrangement comprises housing, on housing, offer charging aperture and discharging opening, charging aperture with go out agent mouth, liquid outlet I is communicated with, discharging opening by taking out shampoo motor, pipeline is communicated with the shampoo shower nozzle of manipulator inner surface, in housing, be provided with shaft, shaft is provided with stirring vane, and shaft is connected with the shaft drive motors of being located at case top.Actuated by cams motor, pumping motor I, pumping motor II, take out shampoo motor, shaft drive motors is connected with controller.The shampoo that comes from shampoo feedway stirs, dilutes with the water that comes from water feeder in the housing of shampoo mixing arrangement, and form certain density shampoo, shampoo is delivered to by the road shampoo shower nozzle under the effect of taking out shampoo motor, thereby is sprayed on hair.
When hair washing, controller is first controlled pumping motor II, shaft drive motors, actuated by cams motor and is worked simultaneously, and distance rod supports and opens baffle plate under the hydraulic action of pumping motor II, and hot water flows in the housing of shampoo mixing arrangement through liquid outlet I; Cam, under the effect of actuated by cams motor, is periodically pressed extrusion device, and the shampoo in extrusion device is got in the housing of shampoo mixing arrangement; Stirring vane, under the effect of stirring vane drive motors, fully stirs hot water and shampoo, dilutes, and forms shampoo, and shampoo is delivered to by the road shampoo shower nozzle under the effect of taking out shampoo motor, thereby is sprayed on hair.After manipulator is to head work a period of time, the hot water in constant temperature water tank is delivered to by the road sprinkler head under pumping motor effect, cleans thereby be sprayed on hair.After manipulator is to head work a period of time, system repetitive sequence on hair, is namely washed hair shampoo, hot water spray twice, and within this period, manipulator control motor continuous firing, mechanical finger constantly carries out " washing by rubbing with the hands " action to hair, and finally hair is cleaned up.
When hair washing, controller is first controlled pumping motor I work, and the hot water in constant temperature water tank is delivered to by the road hot-water nozzle and is sprayed on hair, and hair is fully drenched.After a period of time, pumping motor I quits work, controller control pumping motor II, shaft drive motors, actuated by cams motor are worked simultaneously, and distance rod supports and opens baffle plate under the hydraulic action of pumping motor II, and hot water flows in the housing of shampoo mixing arrangement through liquid outlet I; Cam, under the effect of actuated by cams motor, is periodically pressed extrusion device, and the shampoo in extrusion device is got in the housing of shampoo mixing arrangement; Shaft is under the effect of shaft drive motors, drive stirring vane rotates, and hot water is drunk to shampoo and fully stir, dilute, and forms shampoo, shampoo is delivered to by the road shampoo shower nozzle under the effect of taking out shampoo motor, thereby is sprayed on hair.After manipulator is to head work a period of time, the hot water in automatic water filling adjustable temperature formula constant temperature water tank is delivered to by the road sprinkler head under pumping motor 18 effects, cleans thereby be sprayed on hair.After manipulator is to head work a period of time, system repetitive sequence on hair, is namely washed hair shampoo, hot water spray twice, and within this period, manipulator control motor continuous firing, mechanical finger constantly carries out " washing by rubbing with the hands " action to hair, and finally hair is cleaned up.
Embodiment tetra-
On the basis of embodiment mono-, embodiment bis-or embodiment tri-, it is 35 ° by the Inclination maneuver of driver plate and horizontal plane, and the controller using is not selected single-chip microcomputer, but on controller, be provided with the control buttons such as elevating control button, hair washing control button, hair-dryer control button, massage control button.This elevating control button and screw mandrel drive motors, limit switch, power supply form closed-loop path, press elevating control button and can realize the rotation of screw mandrel drive motors and stop operating.Hair-dryer control button and hair-dryer, power supply form closed-loop path, press hair-dryer control button and can realize the work of hair-dryer and quit work.Massage control button and robot drives motor, power supply form closed-loop path, can realize the rotation of robot drives motor and stop operating, thereby realize the work of manipulator and quit work by pressing massage control button, realize massage effect.Hair washing control button and mechanical timer, multiple connector lugs of mechanical timer respectively with robot drives motor, pumping motor I, pumping motor II-shaft drive motors-actuated by cams motor, take out the motors such as shampoo motor one by one corresponding connection form many closed-loop paths, in different time sections, mechanical timer is communicated with and controls corresponding motor or group of motors work from different motor or group of motors, thereby realizes the motion of manipulator, the conveying of hot water, the action such as configuration, the conveying of shampoo of shampoo.These actions are worked the regular hour smoothly according to certain priority, can complete the action of whole hair washing.
Embodiment five
On the basis of embodiment bis-, embodiment tri-or embodiment tetra-, this support is support collapsible or bending.This support forms by two parts are hinged, and wherein a part is connected with nut, and another part is connected with robot drives, and two parts of support can be locked in hinged place.In the time that needs are washed hair, two parts of support are locked in hinged place, and now two-part angle is about 180 °, and support is deployed condition; Complete if wash hair, remove the locking state of hinged place, the part being connected with robot drives is together with the manipulator placement of together hanging down, two-part angle is less than 90 °, support is folding or bending state, thereby can effectively dwindle hair washing machine locus and take up an area size, is convenient to place or collection.
In sum, the machine profile of this vertical automatic massage hair washing machine is as follows: 1, body: high approximately 140 ㎝, and the heavily about 20kg of machine, floor space is less than 0.5 ㎡.2, function (1): this machine is applicable to the specific group such as big-age-child and above crowd hair washing, especially the old,weak,sick and disabled, and it is upper that hair washing person is sitting in chair (stool or wheelchair), touches the button and can realize autoamtic hair washing.This machine has following feature: easy-when hair washing does not undress and is sitting on chair; When safety-hair washing, face neck is not intake, and does not need to close one's eyes, and hair does not tangle; Fast-can be free bob long hair hair washing pattern, about 3 ~ 5 minutes time; Comfortable clean-over one hundred mechanical finger perseveration is thoughtfully clean, more puts in place more comfortable than manual hair washing.Function (2): can use the hair dryer being arranged on hair washing machine after washing hair, dry up hair convenient and swift.Function (3): all groups can arbitrarily set time, scavenging period that head is massaged, and the adjusting of can following one's inclinations of the dynamics of mechanical finger, promote head blood circulation, carries out head health care.3, applicability: this machine construction is simple, and quality is light, takes up an area less, and easy to use, price is low, suitable general family, barber shop, hotel, the home for the aged, army, hospital, school etc.
Claims (10)
1. a vertical automatic massage hair washing machine, comprise bracing frame (1), controller (2), for holding manipulator (3), the robot drives motor (4) of head, it is characterized in that: bracing frame (1) is connected with robot drives motor (4), robot drives motor (4) is connected with the driver plate (6) being obliquely installed, driver plate (6) is connected by the driving lever (7) of eccentric setting with manipulator (3), and controller (2) is connected with robot drives motor (4).
2. vertical automatic massage hair washing machine as claimed in claim 1, it is characterized in that: manipulator (3) inner surface is evenly equipped with mechanical finger (10), hot-water nozzle and shampoo shower nozzle, hot-water nozzle is connected with water system by pipeline, shampoo shower nozzle is connected with confession shampoo system by pipeline, and controller (2) is connected with water system, confession shampoo system respectively.
3. vertical automatic massage hair washing machine as claimed in claim 1, is characterized in that: the upper symmetry of manipulator (3) offers at least three openings (31), and the extended line of described opening (31) is intersected in same point.
4. vertical automatic massage hair washing machine as claimed in claim 1, it is characterized in that: also comprise the lowering or hoisting gear for regulating manipulator height, described lowering or hoisting gear comprises screw mandrel (11), nut (12) and support (5), screw mandrel (11) is located in bracing frame (1) by bearing holder (housing, cover), nut (12) is sheathed on screw mandrel (11), support (5) one end connects and moves up and down along screw mandrel (11) axis with nut (12) with nut (12) through the groove (14) of bracing frame (1), support (5) other end is connected with robot drives motor (4), bracing frame (1) is provided with screw mandrel drive motors (13), screw mandrel drive motors (13) and screw mandrel (11) are by gear drive, screw mandrel drive motors (13) is connected with controller (2).
5. vertical automatic massage hair washing machine as claimed in claim 4, it is characterized in that: between support (5) and manipulator (3), eccentric setting has two retainer springs (9) for limit mechanical hand (3) amplitude of fluctuation, two retainer springs (9) are symmetrical arranged, and driving lever is arranged with the spring being connected with driver plate (6) and manipulator (3) outward.
6. vertical automatic massage hair washing machine as claimed in claim 4, is characterized in that: groove (14) two ends are equipped with limit switch (15) in the extreme position of support (5), and described limit switch (15) is connected with controller (2).
7. vertical automatic massage hair washing machine as claimed in claim 1, it is characterized in that: support (5) is provided with the adjustment screw (16) for regulating driver plate (6) inclination angle, adjustment screw (16) is connected with robot drives motor (4) by tilt adjustment spring (29).
8. vertical automatic massage hair washing machine as claimed in claim 1, is characterized in that: driver plate (6) is 15 ° ~ 45 ° with the inclination angle of horizontal plane.
9. vertical automatic massage hair washing machine as claimed in claim 1, it is characterized in that: water system comprises constant temperature water tank (17), pumping motor I(18), constant temperature water tank (17) is by pumping motor I(18), pipeline is communicated with hot-water nozzle, comprise shampoo feedway (19) for shampoo system, water feeder (20), shampoo mixing arrangement (21), shampoo feedway (19), water feeder (20) is all communicated with shampoo mixing arrangement (21), the liquid outlet of shampoo mixing arrangement (21) is by taking out shampoo motor (22), pipeline is communicated with shampoo shower nozzle, pumping motor I(18), taking out shampoo motor (22) is connected with controller (2).
10. vertical automatic massage hair washing machine as claimed in claim 9, it is characterized in that: shampoo feedway (19) comprises shampoo container (191), shampoo container (191) top is provided with the extrusion device (192) for extruding shampoo, the agent mouth that goes out of extrusion device (192) is communicated with shampoo mixing arrangement (21), extrusion device (192) top is provided with the cam mechanism (193) for pressing extrusion device (192), and cam mechanism (193) is connected with the actuated by cams motor (194) for driving cam means (193), water feeder (20) comprises pumping motor II(23), baffle plate (24) and distance rod (26), baffle plate (24) is positioned at constant temperature water tank (17) hinged with constant temperature water tank (17) wall, between baffle plate (24) and constant temperature water tank (17) wall, be positioned at pin joint top and be provided with Compress Spring (25), on constant temperature water tank (17) wall, be positioned at pin joint below and offer successively liquid outlet I(171 from top to bottom), the distance rod opening (172) that arch thrust bar (26) passes, liquid outlet II(172), liquid outlet I(171) be communicated with shampoo mixing arrangement (21) by pipeline, liquid outlet II(172) by pipeline and pumping motor II(23) be communicated with, distance rod (26) through distance rod opening (172) and at pumping motor II(23) hydraulic-driven under move along the axis direction of distance rod opening (172), baffle plate (24) is provided with for shutoff liquid outlet I(171) chock (27), shampoo mixing arrangement (21) comprises housing, on housing, offer charging aperture and discharging opening, charging aperture with go out agent mouth, liquid outlet I(171) be communicated with, discharging opening with take out shampoo motor (22) and be communicated with, in housing, be provided with shaft, shaft is provided with stirring vane, and shaft is connected with the shaft drive motors of being located at case top, actuated by cams motor, pumping motor II(23), shaft drive motors is all connected with controller (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410124898.3A CN103859759B (en) | 2014-03-31 | 2014-03-31 | Vertical automatic massage hair washing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410124898.3A CN103859759B (en) | 2014-03-31 | 2014-03-31 | Vertical automatic massage hair washing machine |
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| Publication Number | Publication Date |
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| CN103859759A true CN103859759A (en) | 2014-06-18 |
| CN103859759B CN103859759B (en) | 2017-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410124898.3A Expired - Fee Related CN103859759B (en) | 2014-03-31 | 2014-03-31 | Vertical automatic massage hair washing machine |
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| CN (1) | CN103859759B (en) |
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| CN105108759A (en) * | 2015-10-09 | 2015-12-02 | 新昌县泽宇智能科技有限公司 | Kneading part of intelligent hair washing robot |
| CN105212496A (en) * | 2015-10-23 | 2016-01-06 | 袁志军 | Sitting formula automatic shampoo machine |
| CN106510168A (en) * | 2016-11-17 | 2017-03-22 | 余伊翔 | Head-washing-and-massaging integrated machine |
| CN107114896A (en) * | 2017-05-22 | 2017-09-01 | 杭州电子科技大学 | A kind of automatic shuffling machine |
| CN107157086A (en) * | 2017-05-22 | 2017-09-15 | 杭州电子科技大学 | A kind of tentacle mechanism of automatic shuffling machine |
| CN107594841A (en) * | 2017-09-22 | 2018-01-19 | 北京航天光华电子技术有限公司 | A kind of autoamtic hair washing machine |
| CN108005415A (en) * | 2017-11-30 | 2018-05-08 | 傅峰峰 | Between a kind of Intelligent sanitary |
| CN108244805A (en) * | 2018-02-10 | 2018-07-06 | 南安市文发电子科技有限公司 | The dedicated bathroom hair washing machine of disabled person |
| CN108402634A (en) * | 2018-02-10 | 2018-08-17 | 南安市文发电子科技有限公司 | Bathroom hair washing machine for disabled |
| CN108464611A (en) * | 2018-02-10 | 2018-08-31 | 黄志诚 | Disabled person's bathroom hair washing machine |
| CN109549320A (en) * | 2018-12-13 | 2019-04-02 | 苟斌 | A kind of hair washing manipulator |
| CN109907458A (en) * | 2019-03-22 | 2019-06-21 | 浙江理工大学 | A kind of intelligence discrete autoamtic hair washing machine |
| CN111109810A (en) * | 2020-01-23 | 2020-05-08 | 智慧式控股有限公司 | Intelligent multifunctional liftable hair washing equipment |
| CN111208739A (en) * | 2020-01-23 | 2020-05-29 | 智慧式控股有限公司 | Intelligent control method for intelligent bath cleaning equipment |
| CN112568576A (en) * | 2021-01-04 | 2021-03-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Hindbrain massage arm and shampoo machine |
| CN112568574A (en) * | 2021-01-04 | 2021-03-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Hand massage and hair washing machine |
| CN112690550A (en) * | 2021-01-04 | 2021-04-23 | 哈工大机器人(中山)无人装备与人工智能研究院 | Hindbrain massage hand lifting drive device and hair washing machine |
| CN112806690A (en) * | 2021-01-04 | 2021-05-18 | 哈工大机器人(中山)无人装备与人工智能研究院 | Afterbrain massage hand swing drive arrangement and shampoo machine |
| CN112932915A (en) * | 2021-01-23 | 2021-06-11 | 吴瑕 | Department of neurology is massage device for rehabilitation and nursing |
| CN114392082A (en) * | 2021-12-24 | 2022-04-26 | 四川大学华西医院 | Shared automatic nursing hair washing device |
| WO2022213884A1 (en) * | 2021-04-09 | 2022-10-13 | 广东海洋大学 | Vertical household hair washing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105108759A (en) * | 2015-10-09 | 2015-12-02 | 新昌县泽宇智能科技有限公司 | Kneading part of intelligent hair washing robot |
| CN105212496A (en) * | 2015-10-23 | 2016-01-06 | 袁志军 | Sitting formula automatic shampoo machine |
| CN106510168A (en) * | 2016-11-17 | 2017-03-22 | 余伊翔 | Head-washing-and-massaging integrated machine |
| CN107114896A (en) * | 2017-05-22 | 2017-09-01 | 杭州电子科技大学 | A kind of automatic shuffling machine |
| CN107157086A (en) * | 2017-05-22 | 2017-09-15 | 杭州电子科技大学 | A kind of tentacle mechanism of automatic shuffling machine |
| CN107157086B (en) * | 2017-05-22 | 2023-08-29 | 杭州电子科技大学 | Tentacle mechanism of automatic hair washing machine |
| CN107114896B (en) * | 2017-05-22 | 2023-08-29 | 杭州电子科技大学 | Automatic hair washing machine |
| CN107594841A (en) * | 2017-09-22 | 2018-01-19 | 北京航天光华电子技术有限公司 | A kind of autoamtic hair washing machine |
| CN107594841B (en) * | 2017-09-22 | 2020-09-18 | 北京航天光华电子技术有限公司 | Automatic hair washing machine |
| CN108005415A (en) * | 2017-11-30 | 2018-05-08 | 傅峰峰 | Between a kind of Intelligent sanitary |
| CN108634529A (en) * | 2018-02-10 | 2018-10-12 | 陈阳阳 | A kind of special hair washing machine of disabled person |
| CN108464611A (en) * | 2018-02-10 | 2018-08-31 | 黄志诚 | Disabled person's bathroom hair washing machine |
| CN108402634A (en) * | 2018-02-10 | 2018-08-17 | 南安市文发电子科技有限公司 | Bathroom hair washing machine for disabled |
| CN108244805A (en) * | 2018-02-10 | 2018-07-06 | 南安市文发电子科技有限公司 | The dedicated bathroom hair washing machine of disabled person |
| CN109549320A (en) * | 2018-12-13 | 2019-04-02 | 苟斌 | A kind of hair washing manipulator |
| CN109907458A (en) * | 2019-03-22 | 2019-06-21 | 浙江理工大学 | A kind of intelligence discrete autoamtic hair washing machine |
| CN109907458B (en) * | 2019-03-22 | 2023-11-10 | 浙江理工大学 | Intelligent discrete automatic hair washing machine |
| CN111208739A (en) * | 2020-01-23 | 2020-05-29 | 智慧式控股有限公司 | Intelligent control method for intelligent bath cleaning equipment |
| CN111109810A (en) * | 2020-01-23 | 2020-05-08 | 智慧式控股有限公司 | Intelligent multifunctional liftable hair washing equipment |
| CN112568576A (en) * | 2021-01-04 | 2021-03-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Hindbrain massage arm and shampoo machine |
| CN112568574A (en) * | 2021-01-04 | 2021-03-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Hand massage and hair washing machine |
| CN112690550A (en) * | 2021-01-04 | 2021-04-23 | 哈工大机器人(中山)无人装备与人工智能研究院 | Hindbrain massage hand lifting drive device and hair washing machine |
| CN112806690A (en) * | 2021-01-04 | 2021-05-18 | 哈工大机器人(中山)无人装备与人工智能研究院 | Afterbrain massage hand swing drive arrangement and shampoo machine |
| CN112568574B (en) * | 2021-01-04 | 2022-10-28 | 哈工大机器人(中山)无人装备与人工智能研究院 | Hand massage and hair washing machine |
| CN112932915A (en) * | 2021-01-23 | 2021-06-11 | 吴瑕 | Department of neurology is massage device for rehabilitation and nursing |
| WO2022213884A1 (en) * | 2021-04-09 | 2022-10-13 | 广东海洋大学 | Vertical household hair washing robot |
| CN114392082A (en) * | 2021-12-24 | 2022-04-26 | 四川大学华西医院 | Shared automatic nursing hair washing device |
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