CN105249653B - Rubbing part pressing and positioning mechanism of intelligent hair washing robot - Google Patents
Rubbing part pressing and positioning mechanism of intelligent hair washing robot Download PDFInfo
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- CN105249653B CN105249653B CN201510758957.7A CN201510758957A CN105249653B CN 105249653 B CN105249653 B CN 105249653B CN 201510758957 A CN201510758957 A CN 201510758957A CN 105249653 B CN105249653 B CN 105249653B
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Abstract
The intelligent hair washing robot comprises a rubbing part, a transmission part, a positioning part, a pressing part and a control part, wherein the rubbing part is connected with the swinging part through the transmission part; the kneading part comprises a plurality of kneading heads which are movably connected at the outer end part of the connecting column, and the kneading heads are pressed by the spring; a sensor used for sensing the relative position of the kneading head on the connecting column is arranged between the kneading head and the connecting column, the sensor senses the kneading head, and the main controller instructs the pressing motor to stop acting; the kneading head crosses the sensor, and the main controller instructs the pressing motor to reversely act; the sensor does not sense the kneading head, and the pressing motor moves forward to press the kneading part downwards. Due to the arrangement of the pressing positioning mechanism, when the hair washing machine works, the rubbing head can apply pressure to the head with basically constant pressure and rub the head, and the comfort of a user during hair washing can be ensured through the pre-design of the hair washing robot.
Description
Technical field
The present invention relates to pressing through in a kind of intelligence hair washing robot more particularly to a kind of hair washing robot under scrubbing part
The positioning mechanism that Cheng Zhongyu human body head contact position is positioned.
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 of scrubbing part itself is relatively limited, and different people
Head dummy it is multifarious, this requires scrubbing parts after movement, is also adapted to the curved surface on head and is pushed, so as to scrubbing part
It is close to scalp.But scrubbing part can not unlimitedly press head, discomfort otherwise can be brought to user, simultaneously
Also smooth progress when hair washing is influenced whether.
Summary of the invention
The technical problem to be solved in the invention is: a kind of intelligence hair washing robot scrubbing part pushing positioning mechanism is provided,
The positioning mechanism can be such that scrubbing part is on the position for adapting to head sizes during the work time.
To solve the technical problem, a kind of technical solution of the present invention: intelligence hair washing robot scrubbing part pushing positioning
Mechanism, including swing part and driving section, driving section driving coupling is between scrubbing part and swing part, which is characterized in that driving section
Including drive scrubbing part push press mechanism, press mechanism be it is cantilever-shaped, be provided in swing part and press mechanism transmission join
The lower piezoelectric machine connect；Scrubbing part includes several rubbing heads, and rubbing head is actively connected in the outer end of connecting column, and spring suppresses
Rub head；The sensing for being incuded to relative position of the rubbing head on connecting column is equipped between rubbing head and connecting column
Device, master controller receive the signal of sensor and control the work of lower piezoelectric machine；Sensor sensing refers to head, master controller is rubbed
Lower piezoelectric machine stopping is enabled to act；Rubbing head crosses sensor, and master controller instructs lower piezoelectric machine counteragent；Sensor does not incude
To rubbing head, lower piezoelectric machine positive action pushes scrubbing part.
Robot have one's hair wash in initial equilibrium state, hair washing position can be can smoothly enter into for the ease of the head of people, scrubbing part can be outside
It scatters side.And when carrying out hair washing operation, scrubbing part is needed to press against on head and is slided on head surface, rubbing head is rubbed
It rubs with the hands.When scrubbing part is mutually pressed with head, rubbing head will receive the reaction force on head and compress to spring, is embodied in and rubs
On the relative position for rubbing head and connecting column with the hands, rubbing relative position of the head on connecting column can change.Sensor sensing is to rubbing
After rubbing head with the hands, sensor can give master controller one signal by way of wireless transmission or wire transmission, main controller controls
Lower piezoelectric machine stopping movement, scrubbing part rest on connecting column on corresponding relative position, and in scrubbing part in hair washing process
In, motor rubs the pressure in head to head portion by acting constantly progress adaptability movement forward or backwards during hair washing
Power lies substantially in constant.
The sensor is Hall element.Hall element can be well adapted for the structure type of rubbing head convenient for setting.
Connecting column is mounted on mounting plate with circumferentially rotating, and the inner end of connecting column is fixed with gear piece, gear piece be slidably set to
The rack gear of mounting plate back side engages, and is fixed on the outer end of connecting column across the fixing piece of coupling head with gap, and spring is socketed in
On connecting column.Fixing piece is generally screw or bolt, rub set-up mode of the head on connecting column be it is floating type, can be effective
Guarantee the comfort on head in the rubbing head course of work.
It is equipped with pit in the front of mounting plate, connecting column passes through the bottom surface of pit, is snapped with gasket, connecting column in pit
Across gasket, spring is crimped on gasket.The pit of the setting gasket described convenient for setting, the stability of gasket
It is good.It is provided with gasket, can effectively improve the leakproofness at connecting column position.
It is fixed with the fixed plate of sheet at the back side of mounting plate, fixed plate is used to carry out axially position to connecting column, described
Gear piece be located at the outside of fixed plate.The bottom wall two of fixed plate and pit can be passed through by being provided with convex body on connecting column
Person realizes the clamping of convex body and positions to the axial position of connecting column on a mounting board.Fixed plate is generally thin stainless steel plate, leads to
Crossing fixed plate is stably maintained at connecting column on mounting plate.
Connecting column described in being equipped with two on one mounting plate, the rack gear are located at two gear pieces on two connecting columns
Between；The gear piece is fan-shaped.It is equipped with two rubbing heads on one mounting plate, rubs the good operating stability of head, and two
Only rubbing head can correspond to a rack gear, can effectively simplify the internal structure of scrubbing part, and the convenient work to rubbing head carries out
Control.
The driving section further includes cantilever-shaped preceding pushing mechanism, and preceding pushing mechanism is for driving rubbing unit to carry out being pushed forward work
Industry.Preceding pushing mechanism and press mechanism are combined, realize that scrubbing part is pushed forward and pressing action by driving section, so that rubbing
Stranding portion can satisfy the requirement of hair washing.
The press mechanism includes principal arm and curved hold, and principal arm inner end is hinged on swing part, hold one end
With lower piezoelectric machine driving coupling, the other end is hinged at the medium position of principal arm.This press mechanism structure is simple, is easy to implement
The depressed fast of scrubbing part acts, and is convenient for transmission control.
The preceding pushing mechanism includes auxiliary, preceding push arm and intermediate arm, is pushed forward motor biography in preceding push arm one end and swing part
Dynamic connection, the other end of preceding push arm and the inner end of auxiliary are hinged, and one end of intermediate arm is hinged on swing part, intermediate arm
The other end be hinged on before at the hinge joint that is hinged of both push arm and auxiliary.This mechanism structure that is pushed forward is simple, the operation is stable
Property it is good, be driven it is smooth.
Movable bridge is connected to lever arm between the outer end of both principal arm and auxiliary；The preceding pushing mechanism and press mechanism are
Two sets, they are arranged on the opposite sides of swing part, and the both ends of coupling bar are connected in lever arm respectively and auxiliary is joining
Junction；Scrubbing part is connected on coupling bar.It is provided with lever arm, controls, guarantees convenient for the position movement to scrubbing part
Scrubbing part being capable of stable motion.
The beneficial effects of the present invention are: this pushing positioning mechanism can control the depressed position of scrubbing part, i.e.,
Realize rubbing head controlled with the relative position of connecting column between the two, and then to rub head be applied to the pressure on head into
Row control.It is arranged by the selection to spring, and to the position of sensor, is easy to implement this hair washing robot and hair is carried out
Comfortable cleaning.
Detailed description of the invention
Fig. 1 is driving section and the structure chart that swing part is assembled together.
Fig. 2 is the three-dimensional structure diagram rubbing head and mounting plate and being assembled together.
Fig. 3 is three-dimensional structure diagram when spring, connecting column and mounting plate are assembled together.
Fig. 4 is the structure chart of mounting plate back side.
Specific embodiment
See in figure, the present invention intelligently has one's hair wash the pushing positioning mechanism setting of robot scrubbing part in hair washing robot, is used for
During the work time, the pushing positioning mechanism that the position during driving section drives scrubbing part to push is positioned, structure include
Swing part 1, driving section and scrubbing part, yaw portion and scrubbing part are located at the both ends of driving section, are provided with engine on swing part 1
Structure, power mechanism make scrubbing part carry out corresponding actions for driving section provides power and acts driving section.
The structure of scrubbing part includes shell, and several rubbing heads 11 protruded into outside outer surface are actively equipped on shell,
It is in Qian or V-arrangement that it is approximate, which to rub head 11,.Driving motor is equipped in shell, driving motor is that rubbing head 11 provides power for rubbing head 11
It is swung on shell, achievees the purpose that rub hair.
Rubbing head 11 is movably mounted on mounting plate 12, is specifically movably mounted to the outer end of connecting column 17, is joined
Column 17 is connect across mounting plate 12, the fixing bolt across rubbing head 11 is threaded in the threaded hole of 17 end of connecting column, rubs
Two intersection ends of head 11 are rubbed with the hands towards the outside of mounting plate 12, rubbing head 11 can sliding axially along fixing bolt.Rub 11 phase of head
It is circumferentially fixed for connecting column 17, can by rubbing head 11 and connecting column 17 between setting be mutually inserted cooperation convex body it is recessed
Mouth is this circumferentially fixed to realize, or rubbing head 11 itself takes non-circular cooperation to realize rubbing head between fixing bolt
It is circumferentially fixed between 11 and fixing bolt, so that rubbing head 11 follows connecting column 17 and circumferentially rotates.It is covered on connecting column 17
It is connected to spring 15, the both ends of spring 15 are pressed against respectively on rubbing head 11 and mounting plate 12, and make rubbing head 11 floating type
It connects on connecting column 17.Sensor is equipped between rubbing head 11 and connecting column 17, which exists for perceiving rubbing head 11
Position to axial on connecting column 17 that is to say the decrement of perception rubbing 11 pairs of springs 15 of head, be embodied on active force, i.e.,
It is the pressure on indirect reaction rubbing 11 pairs of heads of head.Rubbing head 11 can be perceived by the setting position to sensor to couple
The position for perceiving rubbing head 11 is fed back to master controller, master control with signal form by the movement position on column 17, sensor
Corresponding portion stopping movement in device instruction processed driving section, and to rub 11 pairs of heads of head with substantially invariable pressure progress head
The rubbing of hair.
Sensor can be optoelectronic switch, microswitch or Hall element, in rubbing head 11 to spring on connecting column 17
15 be compressed axially it is a certain amount of after, rub axial position of the head 11 on connecting column 17 closer to mounting plate 12, optoelectronic switch or suddenly
Your element perceives the position of rubbing head 11, or rubbing head 11 touches microswitch, and master controller receives their signals, main
Controller instruction lower piezoelectric machine stops working, which is used to drive the press mechanism in driving section, and scrubbing part is parked in base
On the three-dimensional space position of this fixation, the pressure almost constant of rubbing 11 pairs of heads of head application.
Be equipped with pit 16 at the front of mounting plate 12, the pit 16 be during mould mounting plate 12 and it is integrated at
Type, the bottom wall of pit 16 and the rest part of mounting plate 12 wait wall thickness substantially.Rotationally gap passes through the bottom wall to connecting column 17,
It is snapped with gasket in the oral area of pit 16, connecting column 17 passes through gasket, and it is close that gasket carries out liquid to the circumferential surface of connecting column 17
Envelope, the inner end of spring 15 press against on gasket.
It is equipped with fixed plate 18 in the back side of mounting plate 12, fixed plate 18 is thin stainless steel substrates, and stainless steel substrates pass through fastening
Screw and be fixed on mounting plate 12.The inner end of connecting column 17 passes through fixed plate 18 with gap, in the inner end of connecting column 17
Portion is fixed with gear piece 19, and gear piece 19 is fan-shaped.There are two rubbing heads 11, two connecting columns 17 and two panels on one mounting plate 12
Gear piece 19, the tooth on this two panels gear piece 19 toward each other, are provided with cylindrical rack gear 13 between two panels gear piece 19, rack gear 13 with
Tooth on two panels gear piece 19 is meshed, and rack gear 13 is socketed on the guide post on shell.On rack gear 13 along its axial direction integrally formed with
Tie rod 14, tie rod 14 is coupled by jointed gear unit with the motor drive in shell, under the drive of the motor, rubs head 11
It is swung on shell.
The driving section includes preceding pushing mechanism and press mechanism, and lower piezoelectric machine is arranged in swing part 1, in swing part 1
It is inside additionally provided with and is pushed forward motor, lower piezoelectric machine is pushed forward motor for driving preceding pushing mechanism for driving press mechanism.It is logical to be pushed forward motor
It crosses worm and gear eccentric stiffener to couple with mechanism driving is pushed forward, lower piezoelectric machine is also by worm and gear eccentric stiffener and press mechanism
Driving coupling.Corresponding to lower piezoelectric machine and it is pushed forward motor, two shafts 8 are provided on swing part 1, the end of shaft 8 is fixed
Have a swing arm 2, lower piezoelectric machine and be pushed forward motor by two sets of Worm and worm-wheel gearings respectively with two 8 driving couplings of shaft.?
Under the drive of this two motors, two shafts 8 rotate respectively, and the outer end of swing arm 2 embodies eccentric stiffener.
Press mechanism includes curved principal arm 4 and hold 3, and the inner end of principal arm 4 is hinged on swing part 1, hold 3
One end is hinged on the outer end of swing arm 2, and the other end of hold 3 is hinged at the medium position of principal arm 4.In the band of lower piezoelectric machine
Under dynamic, the swing arm 2 with lower piezoelectric machine driving coupling drives 3 reciprocating action of hold, so that principal arm 4 acts.
Preceding pushing mechanism includes curved auxiliary 7 and preceding push arm 10, and one end of preceding push arm 10 is hinged on and is pushed forward motor drive
The outer end of the swing arm 2 of connection, the other end of preceding push arm 10 and the inner end of auxiliary 7 are hinged together.One end of intermediate arm 9
It is hinged together with swing part 1, before the other end of intermediate arm 9 is hinged at the hinge joint of push arm 10 and auxiliary 7.It is being pushed forward electricity
Under the drive of machine, preceding push arm 10 pushes auxiliary 7 that scrubbing part is driven to make reciprocal being pushed forward under the pulling of intermediate arm 9 and moves back with after
Make, the swing of swing part 1 in addition, and slide scrubbing part on head, achievees the purpose that comprehensive hair washing.
It is hinged with lever arm 6 in the outer end of principal arm 4, the outer end of lever arm 6 and the outer end of auxiliary 7 are hinged one
It rises.The driving section is two sets, they are arranged on the opposite sides of swing part 1.The both ends of aforementioned two shafts 8 reach
The outside of swing part 1, the swing arm 2 at two 8 both ends of shaft push preceding pushing mechanism and press mechanism in two sets of driving sections respectively.?
Bridge joint has a coupling spindle 5 at two hinge joints of two lever arms 6 and two auxiliarys 7, and scrubbing part is connected on coupling spindle 5.
Robot have one's hair wash during the work time, originally under the drive of lower piezoelectric machine, press mechanism drives scrubbing part to press to
The human body head washed hair on position, since under the press of spring 15 effect, sensor sensing is less than rubbing head 11, lower piezoelectric machine one
Straight positive action.When being in contact and push with head wait rub first 11, rubs axial position of the head 11 on connecting column 17 and occur
Change, rubbing head 11 is moved towards the direction close to mounting plate 12, and head 11 to be rubbed moves to the position that sensor can sense
When place, receive the master controller instruction lower piezoelectric machine stopping movement of sensor signal.When carrying out hair washing operation, due to being pushed forward
Under the action of mechanism, scrubbing part is pushed forward movement, and under the drive of swing part, and rubbing head 11 also carries out in head surface flat
It moves, when scrubbing part carries out aforementioned activities, rubbing head 11 is possible to the movement excessively towards the direction of connecting column 17, i.e. rubbing head
11 have crossed sensor, and the active force of 15 pairs of spring rubbing heads 11 becomes larger, and causes the discomfort of user.It can be by right
Master controller is preset, and the signal as master controller persistently receives sensor reaches after a certain period of time, master controller
Lower piezoelectric machine counteragent is instructed, and under the drive of press mechanism, scrubbing part suitably lifts.It is also possible on connecting column 17
Close to mounting plate 12 position at a travel switch or optoelectronic switch are set again, travel switch with rub head 11 be in contact or
When the optoelectronic switch perceives rubbing head 11, master controller instructs lower piezoelectric machine counteragent, lifts on scrubbing part, to mitigate rubbing
The head to head pressure in portion, to guarantee comfort when hair washing operation.
Claims (8)
1. a kind of intelligence hair washing robot scrubbing part pushes positioning mechanism, including swing part and driving section, driving section driving coupling
Between scrubbing part and swing part, which is characterized in that driving section includes the press mechanism for driving scrubbing part to push, and press mechanism is
It is cantilever-shaped, the lower piezoelectric machine with press mechanism driving coupling is provided in swing part；Scrubbing part includes several rubbing heads, rubs head
It is actively connected in the outer end of connecting column, spring suppresses rubbing head；It is equipped between rubbing head and connecting column for rubbing
Rub the Hall element that relative position of the head on connecting column is incuded with the hands, master controller receives the signal of Hall element and controls down
The work of Medium-voltage Motor；Hall element senses that rubbing head, master controller instruct lower piezoelectric machine stopping movement；Rubbing head crosses Hall
Element, master controller instruct lower piezoelectric machine counteragent；Hall element is not sensed by rubbing head, and lower piezoelectric machine positive action makes to rub
Rub subordinate's pressure with the hands；
Connecting column is mounted on mounting plate with circumferentially rotating, and the inner end of connecting column is fixed with gear piece, gear piece be slidably set to installation
The rack gear of backboard side engages, and the fixing piece for passing through rubbing head with gap is fixed on the outer end of connecting column, and spring is socketed in connection
On column.
2. pushing positioning mechanism according to claim 1, which is characterized in that be equipped with pit, connection in the front of mounting plate
Column passes through the bottom surface of pit, and gasket is snapped in pit, and connecting column passes through gasket, and spring is crimped on gasket.
3. pushing positioning mechanism according to claim 2, which is characterized in that be fixed with consolidating for sheet at the back side of mounting plate
Fixed board, fixed plate are used to carry out axially position to connecting column, and the gear piece is located at the outside of fixed plate.
4. pushing positioning mechanism according to claim 1, which is characterized in that be equipped with described in two on a mounting plate
Connecting column, the rack gear are located between two gear pieces on two connecting columns；The gear piece is fan-shaped.
5. pushing positioning mechanism according to any one of claims 1 to 4, which is characterized in that the driving section further includes cantilever
The preceding pushing mechanism of shape, preceding pushing mechanism is for driving scrubbing part to carry out being pushed forward operation.
6. pushing positioning mechanism according to claim 5, which is characterized in that the press mechanism includes principal arm and curved
Hold, principal arm inner end are hinged on swing part, and hold one end and lower piezoelectric machine driving coupling, the other end are hinged on principal arm
At medium position.
7. pushing positioning mechanism according to claim 6, which is characterized in that the preceding pushing mechanism includes auxiliary, preceding push arm
And intermediate arm, preceding push arm one end couple with the motor drive that is pushed forward in swing part, the other end of preceding push arm and the inner end of auxiliary are cut with scissors
It is connected together, one end of intermediate arm is hinged on swing part, and both push arm and auxiliary are mutually cut with scissors before the other end of intermediate arm is hinged on
At the hinge joint connect.
8. pushing positioning mechanism according to claim 7, which is characterized in that living between the outer end of both principal arm and auxiliary
Dynamic bridge joint has lever arm；The preceding pushing mechanism and press mechanism are two sets, they are arranged on the opposite sides of swing part, connection
The both ends of bar are connected in respectively at lever arm and the joining interface of auxiliary；Scrubbing part is connected on coupling bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510758957.7A CN105249653B (en) | 2015-11-10 | 2015-11-10 | Rubbing part pressing and positioning mechanism of intelligent hair washing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510758957.7A CN105249653B (en) | 2015-11-10 | 2015-11-10 | Rubbing part pressing and positioning mechanism of intelligent hair washing robot |
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| Publication Number | Publication Date |
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| CN105249653A CN105249653A (en) | 2016-01-20 |
| CN105249653B true CN105249653B (en) | 2019-05-07 |
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ID=55089841
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510758957.7A Active CN105249653B (en) | 2015-11-10 | 2015-11-10 | Rubbing part pressing and positioning mechanism of intelligent hair washing robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101336101A (en) * | 2005-12-21 | 2008-12-31 | 戴维·霍拉萨尼扎德 | Apparatus for continuous pressure massage |
| CN103068276A (en) * | 2010-09-22 | 2013-04-24 | 松下电器产业株式会社 | Automatic head care device and automatic head-washing device |
| CN103108567A (en) * | 2011-06-14 | 2013-05-15 | 松下电器产业株式会社 | Head care system and hair-washing device using same |
| CN103763974A (en) * | 2011-09-30 | 2014-04-30 | 松下电器产业株式会社 | Automatic head-care device and automatic head-care method |
| CN103826496A (en) * | 2012-05-30 | 2014-05-28 | 松下电器产业株式会社 | Head care device |
-
2015
- 2015-11-10 CN CN201510758957.7A patent/CN105249653B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101336101A (en) * | 2005-12-21 | 2008-12-31 | 戴维·霍拉萨尼扎德 | Apparatus for continuous pressure massage |
| CN103068276A (en) * | 2010-09-22 | 2013-04-24 | 松下电器产业株式会社 | Automatic head care device and automatic head-washing device |
| CN103108567A (en) * | 2011-06-14 | 2013-05-15 | 松下电器产业株式会社 | Head care system and hair-washing device using same |
| CN103763974A (en) * | 2011-09-30 | 2014-04-30 | 松下电器产业株式会社 | Automatic head-care device and automatic head-care method |
| CN103826496A (en) * | 2012-05-30 | 2014-05-28 | 松下电器产业株式会社 | Head care device |
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| Publication number | Publication date |
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| CN105249653A (en) | 2016-01-20 |
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Effective date of registration: 20201222 Address after: 315500 Dongjiang Road, Fenghua District, Ningbo City, Zhejiang Province Patentee after: NINGBO FENGHUA SHENGXIONG ELECTROMECHANICAL TECHNOLOGY Co.,Ltd. Address before: 312500 1, 212 Titan Road, Qixing street, Xinchang County, Shaoxing, Zhejiang. Patentee before: XINCHANG ZEYU INTELLIGENT SCIENCE & TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20220524 Address after: 315334 rooms 207 and 208, No. 58, Chongxing street, Chongshou Town, Cixi City, Ningbo City, Zhejiang Province Patentee after: ZHEJIANG KUAIFA TECHNOLOGY CO.,LTD. Address before: 315500 Dongjiang Road, Fenghua District, Ningbo City, Zhejiang Province Patentee before: NINGBO FENGHUA SHENGXIONG ELECTROMECHANICAL TECHNOLOGY Co.,Ltd. |
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