CN105167382B - Intelligence hair washing robot - Google Patents
Intelligence hair washing robot Download PDFInfo
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- CN105167382B CN105167382B CN201510668486.0A CN201510668486A CN105167382B CN 105167382 B CN105167382 B CN 105167382B CN 201510668486 A CN201510668486 A CN 201510668486A CN 105167382 B CN105167382 B CN 105167382B
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Abstract
A kind of intelligence hair washing robot puts the mounting rack on head including two cleaning parts of band and one, and cleaning part structure includes swing unit, pushing unit, gear unit and rubbing unit, and putting also has rubbing unit on head, rubbing unit is mounted on translation unit.At work, in cleaning part, swing unit swings pushing unit, gear unit and rubbing unit, and pushing unit makes rubbing unit with being pushed forward and pressing action by gear unit；Translation unit drives rubbing unit to be translatable；Rubbing hair life on rubbing unit swings and rubs hair.It is big to rub the zone of action of the unit on three-dimensional space, the Miniaturization Design of unit can be rubbed, avoid the cleaning blind area to hair, manually hair washing operation can be simulated out well.
Description
Technical field
The intelligence hair washing robot that the present invention relates to a kind of for being cleaned to human hair.
Background technique
Under normal conditions, hair needs are often cleaned, existing to be cleaned mainly hair by carrying out by hand
, big to hair progress cleaning amount by hand, cleaning operation trouble, and cleaning effect cannot be guaranteed.In some beauty beauty
Place is sent out, since customer is relatively more, only with manually hair washing operation is carried out, working efficiency is relatively low, occupies in human cost high
In the case where not lower, industry operating cost is high.
Also occur the device that some pairs of hairs are cleaned on the market now, requires setting on these cleaning devices
Functional unit is rubbed, to carry out rubbing cleaning to hair.But the rubbing region for rubbing unit itself is relatively limited, and different
The head dummy of people is multifarious, and this requires rubbing units to need to move, and the curved surface on head is also adapted in moving process
And pushed, it is close to scalp to rub unit.
Summary of the invention
The technical problem to be solved in the invention is: providing a kind of intelligence hair washing robot, this hair washing robot can be very
Simulate artificial hair washing operation well, hair washing effect can guarantee.
To solve the technical problem, technical solution of the present invention: a kind of intelligence hair washing robot, the installation including Qian shape
Frame, the bottom of mounting rack, which is equipped with, puts head, installs a cleaning part on the both side plate of mounting rack respectively, the two cleaning parts that
This is stretched out in opposite directions, and cleaning part includes
Unit is rubbed, hair is rubbed；
Gear unit, driving coupling rub unit and pushing unit；
Pushing unit drives gear unit movement, makes to rub unit to have and is pushed forward and pressing action；
Swing unit, including connection seat, connection seat are fixed on mounting rack, and oscillating rod is bridged in connection seat and mounting rack
On, pushing unit is fixed on the outer end of oscillating rod, and under the drive of swing unit, rubbing unit, gear unit and promotion are single
Circuit oscillation of the member along oscillating rod；
Motor is provided on swing unit, pushing unit and rubbing unit；
Pushing unit includes shell, and bridge joint has two balance staffs disposed in parallel on shell, is fixed at the medium position of balance staff
There is gear, balance staff reaches and is fixed with swing arm on the end of shell, the outer end of swing arm and gear unit driving coupling；It pushes single
Two motors in member are fixed inside the shell, are fixed with worm screw on the motor power output shaft, worm screw engages with gear；
Putting head includes translation unit, has motor on the unit that is translatable, and is equipped with rubbing unit on the unit that is translatable.
Left cleaning part and right cleaning part work at the same time in this cleaning device, and when 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 two sides of human body head and the hair at top.The rubbing is clear
The rubbing head movement removed in rubbing unit is outer, and rubbing unit also under the drive of gear unit can be pushed forward, i.e., towards head
Portion pushes rubbing unit, and gear unit can also drive rubbing unit to push, and is pressed onto the rubbing crown on scalp, and carries out depth
Rubbing, swing unit promotes to rub unit swing in addition, can simulate finger out well and clean to the rubbing of hair.
The bottom surface of motor one end and shell on pushing unit is fixed, and is crimped at the other end of the motor inside the shell
Pressing plate, motor power output shaft pass through pressing plate, and pressing plate is fixed on the medial surface of shell；The bottom wall that oscillating rod passes through shell couples
It is fixed on pressing plate.By the setting of pressing plate, so that the positional stability of motor in the shell is good, and facilitate the connection of oscillating rod
It is fixed.And it is also convenient for realizing being connected and fixed between pushing unit and oscillating rod, coupling between oscillating rod and pushing unit
Fastness is good.
The opposite sides of two motor one end is connected and fixed respectively on swing unit second line of a couplet extension bar, and two motors are another
The opposite sides at end is connected and fixed respectively upper coupling bar, and upper coupling bar and second line of a couplet extension bar are connected and fixed in the inner surface of shell
On.It is fixedly connected by two coupling bars to two motors, so that two motors form an entirety, what two motors exported
Power consistency is good, and convenient for the position of motor in the shell is fixed.Coupling bar is fixed on shell, but also being convenient for
The position of motor in the shell is fixed, the positional stability of motor in the shell is good.
Translation unit includes pedestal, is equipped with installation cavity in pedestal, the motor power output shaft being translatable on unit extend into peace
In behaveing affectedly and with transmission mechanism driving coupling；Mounting base is set on the base, which is mounted in mounting base, mounting base with
Transmission mechanism driving coupling, under the drive of transmission mechanism, mounting base drives rubbing unit reciprocating translatory on the base.Put head
In, the setting of rubbing unit, so that the position of the rubbing unit is not fixed, can expand rubbing unit on translation unit well
Working region, rubbing unit itself can make Miniaturization Design, and rubbing unit can adapt to the hair washing requirement of head curved surface.
The truncation surface of pedestal is in " several " font, and the motor being translatable on unit is fixed on the outer bottom of pedestal, and translation is single
Motor power output shaft in member is extend into the installation cavity from the bottom surface of pedestal.This is convenient for forming installation in pedestal
Chamber, so that structural compactness is good.
The transmission mechanism includes the transmission shaft and rotation axis bridged on two sides of base wall, in transmission shaft in installation cavity
Medium position at be fixed with gear, gear is meshed with worm screw set on the motor power output shaft on translation unit, passes
Two outer ends of moving axis are respectively fixed with swing arm on the outside of pedestal；Two outer end of rotation axis is respectively fixed on the outside of pedestal
Balance wheel；Conjugation handle activity bridges at the eccentric position of swing arm outer end and balance wheel；Actively join respectively at two balance wheel eccentric positions
It is connected to a pull handle, two pull handles and mounting base driving coupling.The structural compactness of the transmission mechanism of this structure itself, is easy to implement
Rub movement of the unit on translation unit.
It is respectively fixed with an one slide rail in the opposite sides of oral area on the base, sliding rail is used to be supported pedestal,
It is respectively equipped with sliding mouth on the opposite side of two sliding rails, two slide bars vertical with sliding rail are at least fixed in mounting base, slide bar
Both ends are plugged on gap respectively in the cunning mouth on two sliding rails；Two pull handles are socketed in gap on same root slide bar.Slide bar exists
Positional stability in sliding rail is good, and structure is simple, convenient for setting.
Rubbing unit includes shell, and several rubbing heads are actively equipped on the rubbing face on shell, and rubbing head is actively coupled
On coupling spindle, coupling spindle, which passes through, is equipped with gear piece at the inner end of shell；Sliding block is equipped in shell, integrally formed with connection on sliding block
Junctor is formed with several driving cogs engaged with gear piece at the lateral margin of sliding block；Motor on rubbing unit couples with rotating shaft transmission,
One end of pull rod is hinged at the eccentric position of roller end, and the other end is hinged on connected body.The rubbing unit of this structure
Structural compactness is good, is easy to implement the rubbing movement of rubbing head.
Gear unit is two sets, they are arranged on the opposite sides of pushing unit shell, the outer end bridge of two gear units
It is connected to coupling bar, is connected on coupling bar to rubbing unit activity.It is single to rubbing that pushing unit can be improved in two sets of gear units
First transmission stability is stably coupled at the outer end of gear unit convenient for rubbing unit.
Gear unit has preceding pushed section and pressing down section；Preceding pushed section includes principal arm, intermediate and push jack, one end hinge of intermediate
It connects on the shell, the inner end of the other end and principal arm is hinged, and balance staff upper swing arm is outer on one end of push jack and pushing unit
End is hinged, and the other end is hinged on intermediate；Pressing down section includes auxiliary and pulling-on piece, and the inner end of auxiliary hingedly on the shell, is drawn
The outer end of another balance staff upper swing arm is hinged on one end of piece and pushing unit, and the other end is hinged on the interior end side of auxiliary；
There is plate in principal arm and auxiliary outer end bridge joint, coupling bar bridges in the two panels plate on two gear units, and rubbing is single
Shell in member is connected on coupling bar.This gear unit structure is simple, is easy to implement required movement.
The beneficial effects of the present invention are: there are two cleaning parts and one to put head for tool in robot, passes through three's
It works and rubbing operation is carried out to head, can spatially be well adapted for the cleaning requirement to hair.Robot is in work
When making, rubbing unit can be pushed forward and pressing action, when carrying out hair washing operation, rubbing unit is enabled to be close to head table
It is rubbed in face of hair, so as to which effect when hair washing is effectively ensured.By the way that the shell is arranged, and motor is fixed
In the shell, the positional stability of motor in the shell itself is good.And pushing unit can be used as a single entirety, connect
By swing unit power and the variation of position occurs so that the working region of rubbing unit is big, guarantee the effect of hair washing.Originally it rubs
The region that stranding portion acts on head on three-dimensional space is big, can rub the Miniaturization Design of unit, avoid to the clear of hair
Blind area is washed, manually hair washing operation can be simulated out well, hair washing effect can guarantee.
Detailed description of the invention
Fig. 1 is the three-dimensional structure diagram in one direction of cleaning part.
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 remove the three-dimensional structure diagram after shell.
Fig. 5 is that gear unit and pushing unit are assembled together and remove the three-dimensional structure diagram after part enclosure.
Fig. 6 is the main 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 that the gear unit with coupling bar is assembled together with pushing unit.
Figure 10 is the three-dimensional structure diagram of this hair washing robot.
Figure 11 is the three-dimensional structure diagram for rubbing unit.
Figure 12 is top view after rubbing unit removal shell.
Figure 13 is the side view rubbed after unit removal shell.
Figure 14 is main view after translation unit removal pedestal.
Figure 15 is the side view after being translatable unit removal pedestal.
Figure 16 is the three-dimensional structure diagram of translation unit.
Figure 17 is the three-dimensional structure diagram after being translatable unit removal pedestal.
Specific embodiment
See in figure, intelligently the have one's hair wash structure of robot of the present invention includes mounting rack 30, and mounting rack 30 is in Qian shape, in mounting rack
Two cleaning parts, i.e., left cleaning part and right cleaning part are respectively fitted in 30 left and right sides portion, left and right cleaning part is toward each other
It stretches out.The bottom that head is mounted on mounting rack 30 is put, for shelving head, the rubbing unit 1 put on head is used for people's hindbrain
Partial hair carries out rubbing cleaning.
The structure of cleaning part includes swing unit, pushing unit, gear unit 2 and rubbing unit 1, swing unit, promotion
Motor 5 is provided on unit and rubbing unit 1, rubbing unit 1 acts on three-dimensional space when having one's hair wash operation.It pushes
Unit by the connection rubbing unit 1 of gear unit 2, both pushing unit and swing unit by 11 driving coupling of oscillating rod,
Under the drive of motor 5 on swing unit, pushing unit drives pushing unit, gear unit 2 and rubbing unit 1 to occur along pendulum
Swing in 11 circumferential direction of lever.
The structure of pushing unit includes shell 3, and shell 3 is in Qian shape, is fixed with two motors 5, two motors 5 in shell 3
It is that rubbing unit 1 provides forward thrust and lower pressure by gear unit 2, makes to rub the oblique head for pressing to human body of unit 1.
Corresponding with two motors 5, bridge joint has two balance staffs 17 on shell 3, and two balance staffs 17 are parallel to each other.Balance staff 17
Both ends reach the outside of shell 3, be fixed with swing arm 7 at the both ends of balance staff 17, the transmission list being hinged on shell 3
Member 2 and the outer end of swing arm 7 are hinged together, and after swing arm 7 rotates under the drive of balance staff 17, swing arm 7 promotes gear unit 2
Make reciprocating action.
Gear 12 is fixed at the medium position of balance staff 17, gear 12 is located in shell 3, which is generally helical teeth tooth
Wheel.Worm screw 14 is fixed on 5 power output shaft of motor, worm screw 14 is meshed with gear 12.For the axis to balance staff 17 on shell 3
Be defined to position, two fast pulleys 10 be socketed on a balance staff 17, balance staff 17 relative to 10 axial restraint of fast pulley, Gu
The fitting of fixed wheel 10 is fixed on the medial surface of shell 3, and two fast pulleys 10 have interval in the axial direction of balance staff 17.
One end of motor 5 is bonded fixation with the inner bottom surface of shell 3, and pressing plate 19 is fixed in shell 3, and pressing plate 19 is crimped on
The power output shaft of the other end of motor 5, motor 5 passes through pressing plate 19, and pressing plate 19 and the side wall of shell 3 are fixed together.For
Positional stability of the motor 5 in shell 3 is further increased, the opposite sides of 5 one end of motor is fixedly connected has one respectively
Second line of a couplet extension bar 16, the opposite sides of 5 other end of motor is fixedly connected respectively a upper coupling bar 15, upper coupling bar 15 and the second line of a couplet
Extension bar 16 is integrally fixed two motors 5.By way of fastening bolt or welding, and make coupling bar 15 under
Coupling bar 16 is coupled to be fixed on the side wall of shell 3.
The structure of swing unit includes connection seat 6, and the motor 5 on swing unit is connected and fixed on connection seat 6, connection seat
6 be in Qian shape, and 6 snapping of connection seat is fixed on side plate 4, and the fitting of side plate 4 is fixed on the lateral surface of mounting rack 30.Motor 5 is fixed
In the one end of connection seat 6, it is equipped with the stretching plate 13 being linked together with it in the end of connection seat 6, stretches out plate 13 towards connection
The top of joint chair 6 is stretched out, and fixation is fitted on the stretching plate 13 motor 5 simultaneously.5 power output shaft of motor extend into connection seat 6
In, 5 power output shaft of motor is equipped with worm screw 14.
Driving shaft 22 run through side plate 4 and connection seat 6, driving shaft 22 perpendicular to motor 5 power output shaft, driving shaft 22
Gear 12 is fixed at medium position, which is also angular gear, and gear 12 is located in connection seat 6,5 power output of motor
Worm screw 14 on axis is meshed with gear 12, which is located at the upside of gear 12.Two are fixed on driving shaft 22 admittedly
Fixed wheel 10, this two fast pulleys 10 arranged for interval on driving shaft 22, fast pulley 10 are located in connection seat 6.
Oscillating rod 11 is parallel with driving shaft 22, and oscillating rod 11 is on side plate 4, mounting rack 30 and connection seat 6, oscillating rod 11
Equipped with two fast pulleys 10, this two fast pulleys 10 are located in connection seat 6, and two fast pulleys 10 are spaced cloth on oscillating rod 11
It sets, and two fast pulleys 10 are separately fixed on connection seat 6 and side plate 4.
Balance wheel 9 is fixed on the end of the stretching connection seat 6 of oscillating rod 11, driving shaft 22 stretches out solid on the end of connection seat 6
Surely there is swing arm 7, curved 8 both ends of crank are mutually cut with scissors at the eccentric position of 9 outer surface of the outer end of the swing arm 7 and balance wheel respectively
It is connected together.The rotation of 5 power output shaft of motor, promotes worm gear persistently to rotate by worm screw 14, after swing arm 7 rotates, due to crank 8
Presence make 9 reciprocally swinging of balance wheel, and then make oscillating rod 11 generate reciprocating rotation, finally make the rubbing unit on oscillating rod 11
1 generates wobbling action.
To guarantee fastness of the connection seat 6 on side plate 4, the both sides of 6 oral area of connection seat are respectively formed with export-oriented turn over
Side 21, flange 21 are bonded generally by the mode of welding or bolt fastening and are fixed on side plate 4.
It realizes the driving coupling between pushing unit and swing unit, is equipped on the bottom surface of pushing unit shell 3 saturating
Hole 18, above-mentioned pressing plate 19 are equipped with connection holes 20, and oscillating rod 11 is between on open-work 18, pushing unit two motors 5
It is plugged on after in the connection holes 20, oscillating rod 11 is connected and fixed on pressing plate 19.
Coupling bar 24 is located at the outer end of gear unit, and rubbing unit 1 is assemblied on coupling bar 24, and gear unit 2 is hinged
On the shell 3 of pushing unit and with 7 driving coupling of swing arm, rubbing unit 1 tool under drive of the swing arm 7 by gear unit 2
It is pushed forward and pressing action.
Gear unit 2 has preceding pushed section and pressing down section, and preceding pushed section promotes the rubbing execution of unit 1 to be pushed forward movement, and pressing down section promotees
Make to rub the execution pressing action of unit 1.In actual operation, rubbing unit 1 is pushed forward movement and pressing action while carrying out.
Preceding pushed section includes 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
On the inner end of principal arm 26；The outer end of swing arm 7 on one end of push jack 28 and pushing unit on a balance staff 17 is hinged
Together, the other end is hinged at the medium position of intermediate 27.Push jack 28 is arc, and 26 medium position of principal arm is in principal arm 26
The bending in Z-shaped is formed on thickness direction, end side and pushing unit are close to the outer end side of principal arm 26 is because of Z-shaped in principal arm 26
The presence of bending and towards outside deviate.
The structure of pressing down section includes auxiliary 23 and pulling-on piece 29, and the inner end of auxiliary 23 is hinged on pushing unit, pulling-on piece 29
One end and pushing unit on the outer end of another 17 upper swing arm 7 of balance staff be hinged together, the other end of pulling-on piece 29 and secondary
The interior end side of arm 23 is hinged together.There is arc fold bending, the arc fold bending is close to auxiliary 23 on pulling-on piece 29.
The outer end of principal arm 26 and auxiliary 23 is stretched out to the same direction, is set at the outer end of 23 the two of principal arm 26 and auxiliary
There is plate 25, the both ends of plate 25 are respectively hinged at the outer end of principal arm 26 and auxiliary 23.
The gear unit is two sets, and two sets of gear units are arranged on the opposite sides of pushing unit, 24 bridge of coupling bar
It connects in the plate 25 on two sets of gear units.After being assembled, it is socketed coupling bar with rubbing the body clearance in unit
On 24.
Putting head includes translation unit and rubbing unit 1, and rubbing unit 1 is assemblied on translation unit, and rubbing unit 1 is used for
Hair is rubbed in hair washing, translation unit drives rubbing unit 1 to be translatable.
The structure of translation unit includes mounting base 43, transmission mechanism, pedestal 53 and motor 5, has installation cavity in pedestal 53,
Motor 5 is fixed on the base 53,5 power output shaft of motor extend into installation cavity and with transmission mechanism driving coupling, be driven
Under the drive of mechanism, mounting base 43 realizes translation on the base 53.
The truncation surface shape of pedestal 53 is by plate by molding after folding, pedestal 53 has bottom in " several " font
Portion and opening.
Motor 5 is fixed on the outer bottom of pedestal 53, and 5 power output shaft of motor extend into base through the bottom of pedestal 53
In seat 53.Bridge joint has transmission shaft 49 on the two sidewalls of pedestal 53, and gear 12 is fixed at the medium position of transmission shaft 49, electricity
5 power output shaft of machine is equipped with the worm screw 14 being meshed with gear 12.The both ends of transmission shaft 49 reach 53 side wall of pedestal
Outside is respectively fixed with swing arm 7 at the both ends of transmission shaft 49, and swing arm 7 is located at the outside of pedestal 53.
Also bridge joint has a rotation axis 46 on the two sidewalls of pedestal 53, and rotation axis 46 is parallel to above-mentioned transmission shaft 49,
Two outer ends of rotation axis 46 also reach the outside of 53 side wall of pedestal.Pendulum is respectively fixed in two outer ends of rotation axis 46
Wheel 9, balance wheel 9 are located at the outside of pedestal 53, and the outer end of curved 5045 one end of conjugation handle and swing arm 7 is hinged, conjugation handle
5045 the other end is hinged at the eccentric position of 9 outer surface of balance wheel.In being fixed with two in installation cavity in rotation axis 46
Fast pulley 10 has interval between two fast pulleys 10, and the side wall of pedestal 53 is between fast pulley 10 and balance wheel 9, fast pulley 10
It is fixed on the side wall of pedestal 53.
An one slide rail 51, length direction cloth of the sliding rail 51 along pedestal 53 are respectively fixed in the two sides of opening on the base 53
It sets.A sliding mouth 48, the sliding semi-transparent sliding rail 51 of mouth 48 are respectively equipped on the opposite side of two sliding rails 51.Be fixed in mounting base 43 to
Few two slide bars 47, the both ends of slide bar 47 are respectively in grafting with gap two sliding mouths 48.
Oral area two sides on pedestal 53 in pedestal 53 are respectively equipped with mouth 52, and two pull handles 44 pass through two with gap respectively
Saturating mouth 52, is socketed on same root slide bar 47 to the end gap of two pull handles 44, the other end of two pull handles 44 is respectively articulated with
At the eccentric position on two balance wheels, 9 inner surface.
Mounting base 43 is in " several " font, and the bottom surface of mounting base 43 is towards pedestal 53, and the bottom of mounting base 43 is extend into
In installation cavity on pedestal 53, above-mentioned slide bar 47 is fixed on the outer bottom of mounting base 43.Mounting base 43 is passed through by plate
What bending was formed, be respectively equipped with penetrating notch in the two sides of 43 oral area of mounting base, the setting of notch but also mounting base 43 just
In molding.
The structure of rubbing unit 1 includes shell 31, several rubbing heads and rubs mechanism.Shell 31 be it is hood-like, have arc
Rubbing face, rub mechanism be arranged in shell 31.Rubbing head is in Qian shape, rubs the outside in the two outer ends direction rubbing face of head,
The inner end of rubbing head is connected and fixed on coupling spindle 37, and coupling spindle 37 passes through the rubbing face on shell 31 and realizes with mechanism is rubbed
Driving coupling.
Rubbing head is split type structure, and the ontology 33 including two end caps 34 and Qian shape, two end caps 34, which are located at, rubs the outer of head
Side, and be actively socketed on ontology 33.The outer end face of end cap 34 is spherical surface, and two springs 32, bullet are socketed on ontology 33
The both ends of spring 32 are respectively acting on ontology 33 and end cap 34, and end cap 34 is made to form floating structure on ontology 33.
Rubbing mechanism includes shaft 35, and shaft 35 is rotatably arranged in shell 31 in integrally formed support plate.?
Gear 12 is fixed at the medium position of shaft 35.Fixed plate is equipped in shell 31, shaft 35 is located at the inside of fixed plate, rubs
Motor on unit is fixed on the outer surface of fixed plate, and the outer end side for rubbing the power output shaft of the motor 5 on unit is snail
Bar 14, worm screw 14 are meshed along the direction perpendicular to shaft 35 with gear 12.
It is prejudicially equipped with trundle respectively at the both ends of shaft 35, the one end of pull rod 41 is hinged on trundle.Shell
It is equipped with guide post 39 along the direction perpendicular to shaft 35 in body 31, guide post 39 is equipped with sliding block, the other end and the sliding block phase of pull rod 41
Hingedly.
Sliding block has socket part 42, and socket part 42 is socketed in gap on guide post 39.One on the outer peripheral surface of socket part 42
The connected body 40 of protrusion is formed, the other end of pull rod 41 is hinged on connected body 40.In socket part, 42 opposite sides point is another
Integrally formed with protrusion, between 40 three of two protrusions and connected body on the T-shaped outer peripheral surface for being arranged in socket part 42, protrusion
Several driving cogs 38 are formed on portion's lateral surface, these driving cogs 38 are arranged along the axial direction of guide post 39.
The inner end of above-mentioned coupling spindle 37 is extend into shell 31, is fixed with gear piece 36, tooth in the interior end side of coupling spindle 37
Piece 36 is engaged with driving cog 38 above-mentioned.Gear piece 36 is not entire discoid, and gear piece 36 is fan-shaped.
Show that there are four rubbing heads in a rubbing unit in figure, this four rubbing heads are in pairs and two corresponding
Guide post 39 and two sliding blocks, the gear piece 36 on two coupling spindles 37 in one group of rubbing head and 38 phase of driving cog on a sliding block
Engagement.
After rubbing the motor work on unit 1, pass through shaft 35, trundle, pull rod 41, sliding block, driving cog 38, gear piece
36, coupling spindle 37 drives rubbing head movement, is located at the eccentric position of shaft 35 due to trundle, shaft 35 to draw when rotating
Bar 41 back and forth pulls sliding block, so that rubbing head generates reciprocal swing, simulates the movement of finger hair washing out.
Rubbing unit 1 is provided on cleaning part, the coupling bar 24 on cleaning part can be through shell 31, be also possible to lead to
It crosses wedge and is connected in coupling bar 24 on the surface of shell 31.
Put the rubbing unit 1 on head mainly makes shell 31 be connected and fixed with mounting base 43 by fixing screws, rubs
The motor 5 rubbed with the hands on unit 1 is resisted against on the inner bottom surface of mounting base 43.
Claims (6)
1. a kind of intelligence hair washing robot, the mounting rack including Qian shape, the bottom of mounting rack, which is equipped with, puts head, the two of mounting rack
One cleaning part is installed respectively, the two cleaning parts stretch out toward each other, and cleaning part includes on side plate
Unit is rubbed, hair is rubbed；
Gear unit, driving coupling rub unit and pushing unit；
Pushing unit drives gear unit movement, makes to rub unit to have and is pushed forward and pressing action；
Swing unit, including connection seat, connection seat are fixed on mounting rack, and oscillating rod bridges on connection seat and mounting rack, are pushed away
Moving cell is fixed on the outer end of oscillating rod, and under the drive of swing unit, rubbing unit, gear unit and pushing unit are along pendulum
The circuit oscillation of lever；
Motor is provided on swing unit, pushing unit and rubbing unit；
Pushing unit includes shell, and bridge joint has two balance staffs disposed in parallel on shell, and fixation is with teeth at the medium position of balance staff
Wheel, balance staff reach and are fixed with swing arm on the end of shell, the outer end of swing arm and gear unit driving coupling；On pushing unit
Two motors it is fixed inside the shell, be fixed with worm screw on the motor power output shaft, worm screw engages with gear；
Putting head includes translation unit, has motor on the unit that is translatable, and is equipped with rubbing unit on the unit that is translatable, and be translatable unit packet
Pedestal is included, is equipped with installation cavity in pedestal, the motor power output shaft being translatable on unit is extend into installation cavity and and transmission mechanism
Driving coupling；Mounting base is set on the base, which is mounted in mounting base, mounting base and transmission mechanism driving coupling,
Under the drive of transmission mechanism, mounting base drives rubbing unit reciprocating translatory on the base；
The transmission mechanism includes the transmission shaft and rotation axis bridged on two sides of base wall, in installation cavity in transmission shaft
Gear is fixed at portion position, gear is meshed with worm screw set on the motor power output shaft on translation unit, transmission shaft
Two outer ends swing arm is respectively fixed on the outside of pedestal；Two outer end of rotation axis is respectively fixed with pendulum on the outside of pedestal
Wheel；Conjugation handle activity bridges at the eccentric position of swing arm outer end and balance wheel；Actively couple respectively at two balance wheel eccentric positions
There are a pull handle, two pull handles and mounting base driving coupling.
2. robot according to claim 1, which is characterized in that be respectively fixed on the base in the opposite sides of oral area
One one slide rail, sliding rail are respectively equipped with sliding mouth for being supported to pedestal on the opposite side of two sliding rails, in mounting base at least
Two slide bars vertical with sliding rail are fixed with, the both ends of slide bar are plugged on gap respectively in the cunning mouth on two sliding rails；Two draw
Handle is socketed in gap on same root slide bar.
3. robot according to claim 1 or 2, which is characterized in that the bottom of motor one end and shell on pushing unit
Face is fixed, and is crimped with pressing plate at the other end of the motor inside the shell, and motor power output shaft passes through pressing plate, and pressing plate is fixed on
On the medial surface of shell；The bottom wall that oscillating rod passes through shell is connected and fixed on pressing plate.
4. robot according to claim 1 or 2, which is characterized in that rubbing unit includes shell, the rubbing face on shell
On actively be equipped with several rubbing heads, rubbing head be actively connected on coupling spindle, coupling spindle pass through shell inner end at be equipped with
Gear piece；It is equipped with sliding block in shell, integrally formed with connected body on sliding block, is formed at the lateral margin of sliding block and several to be engaged with gear piece
Driving cog；Motor on rubbing unit couples with rotating shaft transmission, and one end of pull rod is hinged at the eccentric position of roller end, separately
One end is hinged on connected body.
5. robot according to claim 1 or 2, which is characterized in that gear unit is two sets, and it is single that they are arranged on promotion
The opposite sides of first shell, the outer end bridge joint of two gear units have coupling bar, are connected on coupling bar to rubbing unit activity.
6. robot according to claim 5, which is characterized in that gear unit has preceding pushed section and pressing down section；Preceding pushed section
Including principal arm, intermediate and push jack, hingedly on the shell, the inner end of the other end and principal arm is hinged, push jack for one end of intermediate
One end and pushing unit on the outer end of a balance staff upper swing arm be hinged, the other end is hinged on intermediate；Pressing down section includes
Auxiliary and pulling-on piece, hingedly on the shell, another balance staff upper swing arm is outer on one end of pulling-on piece and pushing unit for the inner end of auxiliary
End is hinged, and the other end is hinged on the interior end side of auxiliary；There are plate, coupling bar bridge joint in principal arm and auxiliary outer end bridge joint
In the two panels plate on two gear units, the shell rubbed in unit is connected on coupling bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510668486.0A CN105167382B (en) | 2015-10-13 | 2015-10-13 | Intelligence hair washing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510668486.0A CN105167382B (en) | 2015-10-13 | 2015-10-13 | Intelligence hair washing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105167382A CN105167382A (en) | 2015-12-23 |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105595593A (en) * | 2016-03-08 | 2016-05-25 | 新昌县泽宇智能科技有限公司 | Washing portion of hair washer |
| CN106175020B (en) * | 2016-08-22 | 2023-06-20 | 杭州迅秀丽智能科技有限公司 | Hair washing device of hair washing machine |
| CN106175019B (en) * | 2016-08-22 | 2023-06-20 | 杭州迅秀丽智能科技有限公司 | Hair washing machine with deck chair |
| CN106165957B (en) * | 2016-08-24 | 2023-08-25 | 杭州迅秀丽智能科技有限公司 | Hair washing machine |
| CN107183897A (en) * | 2017-07-10 | 2017-09-22 | 杭州迅秀丽智能科技有限公司 | Intelligent hair washing machine back brain rubbing device |
| CN107319720A (en) * | 2017-07-13 | 2017-11-07 | 杭州迅秀丽智能科技有限公司 | Intelligent hair washing machine sidepiece rubbing device |
| CN107212561A (en) * | 2017-07-13 | 2017-09-29 | 杭州迅秀丽智能科技有限公司 | Intelligent hair washing machine kneader type flusher |
| CN107224079A (en) * | 2017-07-17 | 2017-10-03 | 杭州迅秀丽智能科技有限公司 | Kneader type intelligence hair washing machine |
| CN107373986A (en) * | 2017-08-31 | 2017-11-24 | 新昌县泽宇智能科技有限公司 | Nursing hair washing robot rubbing device |
| CN112890644A (en) * | 2019-03-27 | 2021-06-04 | 重庆好德译信息技术有限公司 | Bathing device suitable for waist is tensile |
| CN112656104B (en) * | 2021-01-04 | 2023-03-31 | 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 |
| CN112826201B (en) * | 2021-01-04 | 2022-03-01 | 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 |
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Effective date of registration: 20211215 Address after: 310000 No. 307 Liuhe Road, Puyan street, Binjiang District, Hangzhou City, Zhejiang Province Patentee after: HANGZHOU XUNXIULI INTELLIGENT TECHNOLOGY CO.,LTD. Address before: 312500 1, 212 Titan Road, Qixing street, Xinchang County, Shaoxing, Zhejiang. Patentee before: XINCHANG ZEYU INTELLIGENT TECHNOLOGY Co.,Ltd. |