CN105167380A - Washing device of intelligent hair washing robot - Google Patents
Washing device of intelligent hair washing robot Download PDFInfo
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- CN105167380A CN105167380A CN201510647499.XA CN201510647499A CN105167380A CN 105167380 A CN105167380 A CN 105167380A CN 201510647499 A CN201510647499 A CN 201510647499A CN 105167380 A CN105167380 A CN 105167380A
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Abstract
A washing device of an intelligent hair washing robot comprises an installation frame with two cleaning parts. Each cleaning part comprises a swinging unit, a pushing unit, a transmission unit and a rubbing unit. Each pushing unit comprises a shell, two parallel swinging shafts are connected to each shell in a bridging mode, a gear is fixed to the middle of each swinging shaft, a swinging arm is fixed to the end, extending out of the corresponding shell, of each swinging shaft, two motors are fixed in each shell, and worms on power output shafts of the motors are meshed with the gears. Each swinging unit comprises a connecting base, and a swinging rod is connected to each connecting base. Each pushing unit is integrally fixed to one end of the corresponding swinging rod. Motors of the swinging units are connected with the swinging rods in a transmission mode. The transmission units are connected with the swinging arms. The rubbing units are assembled at the outer ends of the transmission units and have forward pushing movement and downward pressing movement. The rubbing units have a large action area in the three-dimensional space, miniaturization design of the rubbing units can be achieved, dead zones of hair washing can be avoided, and the washing device can well simulate manual hair washing.
Description
Technical field
The present invention relates to a kind of hair washing robot, particularly relating to a kind of cleaning device for cleaning hair of having one's hair wash in robot.
Background technology
Under normal circumstances, hair needs often to clean, and existing cleaning hair is mainly undertaken by manual, and manual to carry out cleaning amount to hair large, and cleaning operation bothers, and cleaning performance can not ensure.In some cosmetology places, because client is relatively many, only with manually carrying out hair washing operation, operating efficiency is relatively low, and when human cost is high, industry operating cost is high.
Also there is some devices that hair is cleaned on the market now, these cleaning devices have required arranging some rubs functional unit, to rub cleaning to hair.But rub unit itself to rub region relatively limited, and the head dummy of different people varies, and this just requires that rubbing unit needs mobile, and in moving process, also will adapt to the curved surface of head and press down, to rub unit being close to scalp.
Summary of the invention
The technical issues that need to address of the present invention are: provide a kind of intelligence hair washing robot cleaning device, and this cleaning device makes to rub unit zone of action on three dimensions greatly, can simulate operation of manually having one's hair wash well, and hair washing effect can ensure.
For solveing the technical problem, technical scheme of the present invention: a kind of intelligence hair washing robot cleaning device, comprise installing rack, with two cleaning parts on installing rack, these two cleaning parts stretch out toward each other, and cleaning part has:
Rub unit, hair is rubbed;
Gear unit, driving coupling rubs unit and pushing unit;
Pushing unit, drives gear unit action, makes to rub before unit has simultaneously to push away and pressing action;
Swing unit, comprises connection seat, and connection seat is fixed on installing rack, swing arm bridge joint is on connection seat and installing rack, pushing unit is fixed on the outer end of swing arm, under the drive of swing unit, rubs unit, gear unit and the pushing unit circuit oscillation along swing arm;
Swing unit, pushing unit and rub on unit and be provided with motor;
Pushing unit comprises the shell that truncation surface is Qian shape, on shell, bridge joint has two balance staffs be arranged in parallel, the medium position place of balance staff is fixed with gear, the end that balance staff reaches shell is fixed with swing arm, two motors on pushing unit are fixing in the enclosure, this motor power output shaft is fixed with worm screw, worm screw and gears meshing.
In this cleaning device, left cleaning part and right cleaning part work simultaneously, and in use, people is in lying posture, towards this cleaning device.This cleaning device is mainly used for carrying out kneader type cleaning to the both sides of human body head and the hair at top.This is rubbed cleaning and rubs except an action except rubbing in unit, under the drive of gear unit, also rub unit can push away in the past, namely promote to rub unit towards head, gear unit also can drive to be rubbed unit and presses down, making to rub the crown is pressed onto on scalp, and carry out the degree of depth and rub, swing unit impels and rubs unit and swing in addition, can simulate finger well and rub cleaning to hair.
Motor one end on pushing unit and the bottom surface of shell are fixed, and are crimped with pressing plate in the enclosure in the other end place of this motor, and motor power output shaft is through pressing plate, and pressing plate is fixed on the medial surface of shell; Swing arm through the interval on the diapire of shell and pushing unit two motors, and connects and is fixed on pressing plate.By the setting of pressing plate, make the positional stability of motor in shell good, and facilitate being connected and fixed of swing arm.
And be convenient to realize being connected and fixed between pushing unit and swing arm, between swing arm with pushing unit to connect fastness good.
On swing unit, the relative both sides of two motor one end have been connected and fixed second line of a couplet extension bar respectively, and the relative both sides of these two motor other ends have been connected and fixed upper coupling bar respectively, and upper coupling bar and second line of a couplet extension bar are all connected and fixed on the inner surface of shell.By two coupling bars being fixedly connected to two motors, make two motors form an entirety, the power uniformity of two motor outputs is good, and is convenient to be fixed the position of motor in shell.Coupling bar is fixed on housing, also makes to be convenient to be fixed the position of motor in shell, and the positional stability of motor in shell is good.
The both end sides of balance staff is respectively equipped with two fast pulleys, fast pulley is fixed on the sidewall of shell.Be provided with fast pulley, be convenient to limit the axial location of balance staff on shell, effectively can ensure the axial location of balance staff on shell.
The driving shaft of bridge joint on connection seat and installing rack is parallel to swing arm, is fixed with gear at the medium position place of driving shaft, and the motor power output shaft on swing unit is provided with the worm screw be meshed with gear; Driving shaft reaches on the end outside connection seat and is fixed with swing arm, and swing arm reaches on the end outside connection seat and is fixed with escapement, and the both ends of crank are hinged on the eccentric position place of escapement and the outer end of this swing arm respectively.This structure is simple, and the circumference conveniently realizing swing arm is rotated.
On connection seat one-body molded have protrude upward stretch out plate, the motor on swing unit is fixed on and stretches out on plate, and worm screw is positioned at the upside of gear.Be provided with and stretch out plate, decrease the use doses of connection seat on the one hand, be also convenient to provide firmly pull-out capacity to motor on the other hand, make the good stability of motor itself.
Connection seat is Qian shape, and connection seat snaps onto on side plate, and side plate laminating is fixed on the lateral surface of installing rack; Driving shaft and swing arm are all fixed with two spaced apart fast pulleys, and fast pulley is positioned at connection seat, and a fast pulley is fixed on the medial surface of connection seat, and another fast pulley is fixed on the medial surface of side plate.Fast pulley adapts to the axial location to driving shaft and swing arm well, is convenient to be fixed driving shaft and swing arm.
Rub unit and comprise housing, face is provided with rubbing on housing actively somely rubs head, and rub head and be actively connected on coupling spindle, coupling spindle is provided with gear piece through the inner end place of housing; Be provided with slide block in housing, one-body molded on slide block have connected body, and the lateral margin place of slide block is formed with some driving cogs engaged with gear piece; The motor rubbed on unit connects with rotating shaft transmission, and one end of pull bar is hinged on the eccentric position place of roller end, and the other end is hinged on connected body.This structure to rub cellular construction compactedness good, what be convenient to realize to rub head rubs action.
Gear unit is two covers, and they divide the relative both sides being listed in pushing unit shell, and the outer end bridge joint of two gear units has coupling bar, is connected on coupling bar with rubbing unit activity.Two cover gear units can improve pushing unit to rubbing unit transmission stability, are convenient to rub the outer end place that unit is stably connected in gear unit.
Gear unit has front pushed section and pressing down section; Front pushed section comprises principal arm, intermediate and push jack, one end of intermediate is hinged on shell, the inner of the other end and principal arm is hinged, and on one end of push jack and pushing unit, the outer end of a balance staff top link is hinged, and the other end is hinged on the medium position place of intermediate; Pressing down section comprises auxiliary and pulling-on piece, and the inner of auxiliary is hinged on shell, and on one end of pulling-on piece and pushing unit, the outer end of another root balance staff top link is hinged, and the other end is hinged on the interior side of auxiliary; Have plate at principal arm and auxiliary outer end bridge joint, in the two panels plate of coupling bar bridge joint on two gear units, the housing rubbed in unit is socketed on coupling bar.This gear unit structure is simple, is convenient to the action required for realizing.
Beneficial effect of the present invention is: this scrubbing part pushes away and pressing action before operationally can having, and when carrying out hair washing operation, making to rub unit and can be close to head surface and rub hair, thus effectively can ensure effect when having one's hair wash.By arranging described shell, and motor is fixed in shell, the positional stability of motor in shell itself is good.And pushing unit can as a single entirety, accept the power of swing unit and the change of position occurs, making the working region of rubbing unit large, ensure the effect of hair washing.The region that this scrubbing part acts on head on three dimensions is large, can rub the Miniaturization Design of unit, avoid the cleaning blind area to hair, can simulate operation of manually having one's hair wash well, and hair washing effect can ensure.
Accompanying drawing explanation
Fig. 1 is the three-dimensional structure diagram in a cleaning part direction.
Fig. 2 is the three-dimensional structure diagram in another direction of this cleaning part.
Fig. 3 is the three-dimensional structure diagram that gear unit and pushing unit are assembled together.
Fig. 4 is that gear unit and pushing unit are assembled together and three-dimensional structure diagram after removing shell.
Fig. 5 is that gear unit and pushing unit are assembled together and three-dimensional structure diagram after removing part enclosure.
Fig. 6 is the front view of swing unit.
Fig. 7 is the top view of swing unit.
Fig. 8 is the three-dimensional structure diagram of swing unit.
Fig. 9 is the three-dimensional structure diagram be assembled together with gear unit and the pushing unit of coupling bar.
Figure 10 is the three-dimensional structure diagram of this cleaning device.
Figure 11 is the three-dimensional structure diagram rubbing unit.
Figure 12 rubs unit to remove top view after housing.
Figure 13 is the side view after rubbing unit removal housing.
Detailed description of the invention
See in figure, the present invention's intelligence hair washing robot cleaning device comprises installing rack 30, and be respectively fitted with two cleaning parts in the left and right sides of installing rack 30, i.e. left cleaning part and right cleaning part, left and right cleaning part stretches out toward each other.The structure of cleaning part comprises swing unit, pushing unit, gear unit 2 and rubs unit 1, swing unit, pushing unit and rub on unit 1 and be provided with motor 5, rubs unit 1 and on three dimensions, action occurs when having one's hair wash operation.Pushing unit is connected by gear unit 2 rubs unit 1, pushing unit and swing unit be driving coupling by swing arm 11, under the drive of the motor 5 on swing unit, pushing unit drives pushing unit, gear unit 2 and rubs unit 1 and occurs along the swing in swing arm 11 circumference.
The structure of pushing unit comprises shell 3, and shell 3 is in Qian shape, and shell 3 internal fixtion has two motors, 5, two motors 5 to provide forward thrust and downforce by gear unit 2 for rubbing unit 1, makes to rub the oblique head pressing to human body of unit 1.
Corresponding with two motors 5, on shell 3, bridge joint has two balance staffs, 17, two balance staffs 17 to be parallel to each other.The both ends of balance staff 17 all reach the outside of shell 3, swing arm 7 is fixed with at the both ends of balance staff 17, together with the gear unit 2 be hinged on shell 3 is hinged with the outer end of swing arm 7, after swing arm 7 is rotated under the drive of balance staff 17, swing arm 7 impels gear unit 2 to do reciprocating action.
The medium position place of balance staff 17 is fixed with gear 12, and gear 12 is positioned at shell 3, and this gear 12 is generally angular gear.Motor 5 power output shaft is fixed with worm screw 14, and worm screw 14 is meshed with gear 12.For limiting the axial location of balance staff 17 on shell 3, a balance staff 17 is socketed with two fast pulleys 10, balance staff 17 is relative to fast pulley 10 axial restraint, and fast pulley 10 laminating is fixed on the medial surface of shell 3, and two fast pulleys 10 axially have interval at balance staff 17.
One end of motor 5 and the inner bottom surface of shell 3 are fitted fixing, and have pressing plate 19 at shell 3 internal fixtion, pressing plate 19 is crimped on the other end of motor 5, and the power output shaft of motor 5 is through pressing plate 19, and pressing plate 19 is fixed together with the sidewall of shell 3.In order to increase the positional stability of motor 5 in shell 3 further, the relative both sides of motor 5 one end have been fixedly connected a second line of a couplet extension bar 16 respectively, the relative both sides of motor 5 other end have been fixedly connected respectively one and have gone up coupling bar 15, and upper coupling bar 15 and second line of a couplet extension bar 16 make two motors 5 be fixed to one.By the mode of fastening bolt or welding, and make on coupling bar 15 and the coupled sidewall being fixed on shell 3 of second line of a couplet extension bar 16.
The structure of swing unit comprises connection seat 6, and the motor 5 on swing unit is connected and fixed on connection seat 6, and connection seat 6 is in Qian shape, and connection seat 6 snapping is fixed on side plate 4, and side plate 4 laminating is fixed on the lateral surface of installing rack 30.Motor 5 is fixed on an end of connection seat 6, be provided with in this end of connection seat 6 be connected as a single entity with it stretch out plate 13, stretch out plate 13 and stretch out towards the top of connection seat 6, motor 5 is fixedly fitted in this simultaneously and stretches out on plate 13.Motor 5 power output shaft extend in connection seat 6, and motor 5 power output shaft is provided with worm screw 14.
Driving shaft 22 runs through side plate 4 and connection seat 6, driving shaft 22 is perpendicular to the power output shaft of motor 5, the medium position place of driving shaft 22 is fixed with gear 12, this gear 12 is also angular gear, gear 12 is arranged in connection seat 6, worm screw 14 on motor 5 power output shaft is meshed with gear 12, and this worm screw 14 is positioned at the upside of gear 12.Driving shaft 22 is fixed with two fast pulleys 10, and these two fast pulleys 10 interval on driving shaft 22 is arranged, fast pulley 10 is positioned at connection seat 6.
Swing arm 11 is parallel with driving shaft 22, swing arm 11 runs through side plate 4, installing rack 30 and connection seat 6, swing arm 11 is provided with two fast pulleys 10, these two fast pulleys 10 are positioned at connection seat 6, two fast pulley 10 intervals on swing arm 11 are arranged, and two fast pulleys 10 are separately fixed on connection seat 6 and side plate 4.
The end that swing arm 11 stretches out connection seat 6 is fixed with escapement 9, the end that driving shaft 22 stretches out connection seat 6 is fixed with swing arm 7, together with curved crank 8 both ends are hinged with the eccentric position place of escapement 9 outer surface with the outer end of this swing arm 7 respectively.Motor 5 power output shaft rotates, impel worm gear to continue to rotate by worm screw 14, after swing arm 7 is rotated, the existence due to crank 8 makes escapement 9 reciprocally swinging, and then make swing arm 11 produce reciprocating rotation, finally make the unit 1 of rubbing on swing arm 11 produce wobbling action.
For ensureing the fastness of connection seat 6 on side plate 4, the both sides of connection seat 6 oral area are formed with export-oriented flange 21 respectively, and flange 21 is generally fitted by the mode of welding or bolted to be fixed on side plate 4.
Realize the driving coupling between pushing unit and swing unit, the bottom surface of pushing unit shell 3 is provided with open-work 18, above-mentioned pressing plate 19 is provided with connection holes 20, swing arm 11 is plugged in this connection holes 20 through behind the interval on open-work 18, pushing unit two motors 5, and swing arm 11 is connected and fixed on pressing plate 19.
Coupling bar 24 is positioned at the outer end place of gear unit, rubbing unit 1 is assemblied on coupling bar 24, on the shell 3 that gear unit 2 is hinged on pushing unit and with swing arm 7 driving coupling, rub before unit 1 has under the drive of swing arm 7 by gear unit 2 and push away and pressing action.
Gear unit 2 has front pushed section and pressing down section, and front pushed section is impelled to rub before unit 1 performs and promoted to do, and pressing down section impels to be rubbed unit 1 and perform pressing action.In the operation of reality, front promotion work and the pressing action of rubbing unit 1 carry out simultaneously.Front pushed section comprises principal arm 26, intermediate 27 and push jack 28, and one end of intermediate 27 is hinged on pushing unit, and the other end is hinged on the inner end of principal arm 26; Together with one end of push jack 28 is hinged with the outer end of the swing arm 7 on a balance staff 17 on pushing unit, the other end is hinged on the medium position place of intermediate 27.Push jack 28 is arc, and principal arm 26 medium position is formed with the bending in " Z " shape on the thickness direction of principal arm 26, and in principal arm 26, side and pushing unit are pressed close to, and the outer side of principal arm 26 is departed from towards outside because of the existence of " Z " shape bending.
The structure of pressing down section comprises auxiliary 23 and pulling-on piece 29, the inner end of auxiliary 23 is hinged on pushing unit, one end of pulling-on piece 29 together with on pushing unit, the outer end of another root balance staff 17 top link 7 is hinged, together with the other end of pulling-on piece 29 is hinged with the interior side of auxiliary 23.Pulling-on piece 29 has arc fold bending, and this arc fold bending is near auxiliary 23.
The outer end of principal arm 26 and auxiliary 23 is all stretched out to same direction, is provided with plate 25 at the outer end place of both principal arm 26 and auxiliary 23, and the two ends of plate 25 are hinged on the outer end place of principal arm 26 and auxiliary 23 respectively.
Described gear unit is two covers, and two cover gear units divide the relative both sides being listed in pushing unit, in the plate 25 of coupling bar 24 bridge joint on two cover gear units.After assembling, be socketed on coupling bar 24 with rubbing the body clearance in unit.
The structure of rubbing unit 1 comprises housing 31, somely rubs head and rub mechanism.Housing 31 is hood-like, and what have arc rubs face, rubs organization establishes in housing 31.Rubbing head is Qian shape, rubs the outside of two outer ends towards the face of rubbing of head, and the inner of rubbing head is connected and fixed on coupling spindle 37, coupling spindle 37 through the face of rubbing on housing 31 with rub mechanism and realize driving coupling.
Rubbing head is split-type structural, and body 33, two end cap 34 comprising two end caps 34 and Qian shape is positioned at the outside of rubbing head, and is socketed in actively on body 33.The outer face of end cap 34 is sphere, and body 33 is socketed with two springs 32, and the both ends of spring 32 act on body 33 and end cap 34 respectively, and make end cap 34 form floating structure on body 33.
Rub mechanism and comprise rotating shaft 35, rotating shaft 35 to be arranged in housing 31 in integrated gripper shoe rotationally.Gear 12 is fixed with at the medium position place of rotating shaft 35.Fixed head is provided with in housing 31, rotating shaft 35 is positioned at the inner side of fixed head, the motor rubbed on unit is fixed on the outer surface of fixed head, and the outer side of rubbing the power output shaft of the motor 5 on unit is worm screw 14, and worm screw 14 is meshed along the direction perpendicular to rotating shaft 35 with gear 12.
Be provided with trundle prejudicially respectively at the both ends of rotating shaft 35, an end of pull bar 41 is hinged on trundle.Be provided with guide pillar 39 along the direction perpendicular to rotating shaft 35 in housing 31, guide pillar 39 is provided with slide block, and the other end and the slide block of pull bar 41 are hinged.
Slide block has socket part 42, and socket part 42 is socketed on guide pillar 39 with gap.The one-body molded connected body 40 having protrusion on the outer peripheral face of socket part 42, the other end of pull bar 41 is hinged on connected body 40.In socket part 42, relative both sides divide another body formedly to have protuberance, between two protuberances and connected body 40 three are
tshape is arranged on the outer peripheral face of socket part 42, protuberance lateral surface forms some driving cogs 38, and these driving cogs 38 are arranged along the axial direction of guide pillar 39.
The inner end of above-mentioned coupling spindle 37 extend in housing 31, and in coupling spindle 37, side is fixed with gear piece 36, and gear piece 36 engages with aforesaid driving cog 38.Gear piece 36 is not whole discoid, and gear piece 36 is in fan-shaped.
Show in figure, rub in unit for one and have four and rub head, rub head one group and corresponding two guide pillars 39 and two slide blocks between two for these four, one group of gear piece 36 rubbed on two coupling spindles 37 in head is meshed with the driving cog 38 on a slide block.
After rubbing the machine operation on unit, drive rub an action by rotating shaft 35, trundle, pull bar 41, slide block, driving cog 38, gear piece 36, coupling spindle 37, because trundle is positioned at the eccentric position place of rotating shaft 35, rotating shaft 35 makes pull bar 41 back and forth pull slide block when rotating, and then make to rub head and produce reciprocal swing, simulate the action of finger hair washing.
Claims (10)
1. an intelligence hair washing robot cleaning device, comprise installing rack, with two cleaning parts on installing rack, these two cleaning parts stretch out toward each other, and cleaning part has:
Rub unit, hair is rubbed;
Gear unit, driving coupling rubs unit and pushing unit;
Pushing unit, drives gear unit action, makes to rub before unit has simultaneously to push away and pressing action;
Swing unit, comprises connection seat, and connection seat is fixed on installing rack, swing arm bridge joint is on connection seat and installing rack, pushing unit is fixed on the outer end of swing arm, under the drive of swing unit, rubs unit, gear unit and the pushing unit circuit oscillation along swing arm;
Swing unit, pushing unit and rub on unit and be provided with motor;
Pushing unit comprises the shell that truncation surface is Qian shape, on shell, bridge joint has two balance staffs be arranged in parallel, the medium position place of balance staff is fixed with gear, the end that balance staff reaches shell is fixed with swing arm, two motors on pushing unit are fixing in the enclosure, this motor power output shaft is fixed with worm screw, worm screw and gears meshing.
2. cleaning device according to claim 1, it is characterized in that, the motor one end on pushing unit and the bottom surface of shell are fixed, and are crimped with pressing plate in the enclosure in the other end place of this motor, motor power output shaft is through pressing plate, and pressing plate is fixed on the medial surface of shell; Swing arm through the interval on the diapire of shell and pushing unit two motors, and connects and is fixed on pressing plate.
3. cleaning device according to claim 1, it is characterized in that, on swing unit, the relative both sides of two motor one end have been connected and fixed second line of a couplet extension bar respectively, the relative both sides of these two motor other ends have been connected and fixed upper coupling bar respectively, and upper coupling bar and second line of a couplet extension bar are all connected and fixed on the inner surface of shell.
4. cleaning device according to claim 1, is characterized in that, the both end sides of balance staff is respectively equipped with two fast pulleys, fast pulley is fixed on the sidewall of shell.
5. the cleaning device according to claim 1,2,3 or 4, it is characterized in that, the driving shaft of bridge joint on connection seat and installing rack is parallel to swing arm, is fixed with gear at the medium position place of driving shaft, and the motor power output shaft on swing unit is provided with the worm screw be meshed with gear; Driving shaft reaches on the end outside connection seat and is fixed with swing arm, and swing arm reaches on the end outside connection seat and is fixed with escapement, and the both ends of crank are hinged on the eccentric position place of escapement and the outer end of this swing arm respectively.
6. cleaning device according to claim 5, is characterized in that, on connection seat one-body molded have protrude upward stretch out plate, the motor on swing unit is fixed on and stretches out on plate, and worm screw is positioned at the upside of gear.
7. cleaning device according to claim 6, is characterized in that, connection seat is Qian shape, and connection seat snaps onto on side plate, and side plate laminating is fixed on the lateral surface of installing rack; Driving shaft and swing arm are all fixed with two spaced apart fast pulleys, and fast pulley is positioned at connection seat, and a fast pulley is fixed on the medial surface of connection seat, and another fast pulley is fixed on the medial surface of side plate.
8. the cleaning device according to claim 1,2,3 or 4, it is characterized in that, rub unit and comprise housing, face is provided with rubbing on housing actively somely rubs head, rubbing head is actively connected on coupling spindle, and coupling spindle is provided with gear piece through the inner end place of housing; Be provided with slide block in housing, one-body molded on slide block have connected body, and the lateral margin place of slide block is formed with some driving cogs engaged with gear piece; The motor rubbed on unit connects with rotating shaft transmission, and one end of pull bar is hinged on the eccentric position place of roller end, and the other end is hinged on connected body.
9. the cleaning device according to claim 1,2,3 or 4, is characterized in that, gear unit is two covers, and they divide the relative both sides being listed in pushing unit shell, and the outer end bridge joint of two gear units has coupling bar, is connected on coupling bar with rubbing unit activity.
10. cleaning device according to claim 9, is characterized in that, gear unit has front pushed section and pressing down section; Front pushed section comprises principal arm, intermediate and push jack, one end of intermediate is hinged on shell, the inner of the other end and principal arm is hinged, and on one end of push jack and pushing unit, the outer end of a balance staff top link is hinged, and the other end is hinged on the medium position place of intermediate; Pressing down section comprises auxiliary and pulling-on piece, and the inner of auxiliary is hinged on shell, and on one end of pulling-on piece and pushing unit, the outer end of another root balance staff top link is hinged, and the other end is hinged on the interior side of auxiliary; Have plate at principal arm and auxiliary outer end bridge joint, in the two panels plate of coupling bar bridge joint on two gear units, the housing rubbed in unit is socketed on coupling bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510647499.XA CN105167380B (en) | 2015-10-09 | 2015-10-09 | Intelligent hair washing robot cleaning device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510647499.XA CN105167380B (en) | 2015-10-09 | 2015-10-09 | Intelligent hair washing robot cleaning device |
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| CN105167380A true CN105167380A (en) | 2015-12-23 |
| CN105167380B CN105167380B (en) | 2023-01-10 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111772315A (en) * | 2020-06-23 | 2020-10-16 | 苏州市职业大学 | Intelligent hair washing machine |
| CN114128974A (en) * | 2020-10-19 | 2022-03-04 | 哈工大机器人(中山)无人装备与人工智能研究院 | Mechanical arm and hair washing machine |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012039111A1 (en) * | 2010-09-22 | 2012-03-29 | パナソニック株式会社 | Automatic head care device and automatic head-washing device |
| US20130160786A1 (en) * | 2010-09-24 | 2013-06-27 | Panasonic Corporation | Method for controlling automatic head care system and automatic hair washing system, and automatic head care system |
| CN104107136A (en) * | 2014-06-05 | 2014-10-22 | 宁波康福特健身器械有限公司 | Rubbing massage device |
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2015
- 2015-10-09 CN CN201510647499.XA patent/CN105167380B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012039111A1 (en) * | 2010-09-22 | 2012-03-29 | パナソニック株式会社 | Automatic head care device and automatic head-washing device |
| US20130160786A1 (en) * | 2010-09-24 | 2013-06-27 | Panasonic Corporation | Method for controlling automatic head care system and automatic hair washing system, and automatic head care system |
| CN104107136A (en) * | 2014-06-05 | 2014-10-22 | 宁波康福特健身器械有限公司 | Rubbing massage device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111772315A (en) * | 2020-06-23 | 2020-10-16 | 苏州市职业大学 | Intelligent hair washing machine |
| CN111772315B (en) * | 2020-06-23 | 2023-03-14 | 苏州市职业大学 | Intelligent hair washing machine |
| CN114128974A (en) * | 2020-10-19 | 2022-03-04 | 哈工大机器人(中山)无人装备与人工智能研究院 | Mechanical arm and hair washing machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105167380B (en) | 2023-01-10 |
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