CN105433575B - Intelligence hair washing robot hair washing position adjustment mechanism - Google Patents
Intelligence hair washing robot hair washing position adjustment mechanism Download PDFInfo
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- CN105433575B CN105433575B CN201510826675.6A CN201510826675A CN105433575B CN 105433575 B CN105433575 B CN 105433575B CN 201510826675 A CN201510826675 A CN 201510826675A CN 105433575 B CN105433575 B CN 105433575B
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- Prior art keywords
- head
- connecting column
- supporter
- rubbing
- adjustment mechanism
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Classifications
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- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45D—HAIRDRESSING OR SHAVING EQUIPMENT; EQUIPMENT FOR COSMETICS OR COSMETIC TREATMENTS, e.g. FOR MANICURING OR PEDICURING
- A45D19/00—Devices for washing the hair or the scalp; Similar devices for colouring the hair
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- Cleaning And Drying Hair (AREA)
Abstract
A kind of intelligence hair washing robot hair washing position adjustment mechanism, including being used to support the supporter of human body person's back and be used to support human body head put head, it is characterized in that, supporter and lifting motor driving coupling, putting head includes several rubbing heads, rubbing head is actively connected in the outer end of connecting column, and spring suppresses rubbing head；It is equipped with the sensor for being incuded to relative position of the rubbing head on connecting column between rubbing head and connecting column, master controller receives the signal of sensor and controls the work of lifting motor.The setting of this adjustment mechanism so that in hair washing, rub pressure between head and head can substantially constant, by presetting, it is ensured that comfort when hair washing.
Description
Technical field
The present invention relates to it is a kind of intelligence hair washing robot more particularly to it is a kind of hair washing robot on for hair washing position into
The mechanism of row adjustment.
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, generally require to adapt to hair washing
It makes one on lying posture, the head of people requires rest portion to be supported.But also there is the back brain of people hair to need to come
It is cleaned, therefore is preferably also required to setting kneading mechanism in rest portion.If head sizes are larger, head is to kneading mechanism
Active force it is larger, and kneading mechanism is also larger to the reaction force on head, this will lead to discomfort when hair washing.
Summary of the invention
The technical problem to be solved in the invention is: a kind of intelligence hair washing robot hair washing position adjustment mechanism is provided, it is this
The setting of adjustment mechanism can guarantee the human body comfort in hair washing.
To solve the technical problem, technical solution of the present invention: a kind of intelligence hair washing robot hair washing position adjustment mechanism,
Including being used to support the supporter of human body person's back and be used to support human body head put head, which is characterized in that supporter and rise
Motor drive connection is dropped, and putting head includes several rubbing heads, and rubbing head is actively connected in the outer end of connecting column, spring press
Firmly rub head；It is equipped between rubbing head and connecting column for incuding to axial position of the rubbing head on connecting column
Sensor, master controller receives the signal of sensor and controls the work of lifting motor.
Sensor sensing instructs lifting motor to stop driving supporter lowering action to head, master controller is rubbed.Rub head
Cross sensor, i.e., rubbing head towards in the motion process of compressed spring direction, continue after sensor perceives rubbing head to
Allow supporter to rise the direction of spring-compressed movement master controller instruction lifting motor counteragent.This is in application process
In, when rubbing head swings and put head translation, so that rubbing head is crossed sensor due to head effect of inertia, make to sense
Device persistently senses rubbing head, and under the drive of lifting motor, supporter can rise, to mitigate rubbing head to head portion's application
Power.Sensor is not sensed by rubbing head, and lifting motor positive action declines supporter.If supporter is in high-order, head
Portion cannot be contacted with rubbing head, and after the starting of hair washing robot, sensor sensing is less than rubbing head, master controller instruction lifting electricity
Machine decline makes head be in contact with rubbing head.
When human body is had one's hair wash with lying posture, head enters in the hair washing position in hair washing robot, and the back of human body napex (that is to say
The person's back) it is shelved on supporter, head rest is on putting head.With the variation of supporter height, head is to putting head
The active force in portion can change, and when supporter is in high-order, head may not be in contact with head is put；It is in supporter
When middle position, head is in contact with head is put, but head is little to the active force for putting head, to the support on head mainly by means of
Support of the supporter to person's back；When supporter is in low level, the support on head is mainly realized by putting head.This can
According to the actual application, by the setting of sensor position between rubbing head and connecting column, and to combine the elastic force of spring,
The rubbing head on head and the active force between head are put to control, achievees the purpose that comfortably to have one's hair wash.Master controller can be set
At the suitable position of hair washing robot, as long as setting is convenient, wherein equal no requirement (NR) is set.The signal that sensor is perceived
Can be transferred to master controller by wired or wireless form, and master controller instruction lifting motor work, lifting motor with
Transmission purpose can be reached between supporter by rack pinion structure, transmission purpose can also be reached by screw structure.
The sensor is also possible to infrared sensor, photoelectric sensor, travel switch or fine motion and opens in addition to following Hall elements
Close etc..
The sensor is Hall element.Hall element structure is simply convenient for being arranged, and can be well adapted for rubbing head
Structure type.
Connecting column is mounted on mounting plate with circumferentially rotating, and mounting plate, which is fixed on, to be put on head, and the inner end of connecting column is fixed with
Gear piece, gear piece are engaged with the rack gear for being slidably set to mounting plate back side, and the fixing piece for passing through rubbing head with gap is fixed on connection
The outer end of column, spring are socketed on connecting column.Fixing piece is generally screw or bolt, rubs setting side of the head on connecting column
Formula be it is floating type, can be effectively ensured rubbing the head course of work in head comfort.
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.The pit of the setting gasket described convenient for setting, the stability of gasket are good.It is provided with gasket, it can be with
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.It can be usually socketed bearing, pass through fixed plate by being provided with convex body on connecting column
Convex body or bearing are clamped with the bottom wall of pit and realize the axial position positioning to connecting column on a mounting board.Fixed plate
Generally thin stainless steel plate, is stably maintained at connecting column on mounting plate by fixed plate.
Integrally formed with several hollow cylindricality convex bodys on the bottom surface of pit, pit is interior to be equipped with connection in cylindricality convex body
Plate, fixing bolt pass through gusset piece, cylindricality convex body and be connected with fixed plate.By being provided with gusset piece and hollow cylindricality
Convex body achievees the purpose that fixed plate is fixed, ensure that the connection fastness of fixed plate, so that rubbing part constitutes an entirety, just
The installation site of other components will not be influenced in the setting of assembly, and gusset piece.
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, gear piece is fan-shaped；Integrally formed with two cylindrical bodies on gasket, connecting column passes through cylindrical body, and cylindrical body extends to
It rubs at head position, the wall body of cylindrical body is ripple struction.It is equipped with two rubbing heads on one mounting plate, rubs the work of head
Stability is good, and two rubbing heads can correspond to a rack gear, can effectively simplify the internal structure of scrubbing part, convenient to rubbing
The work of head is controlled.By the setting of cylindrical body, the hydraulic tightness at connecting column position can be effectively ensured, and can
Effectively to be blocked to spring.
Rack gear is cylindricality, and guide shaft is equipped on putting head, and rack gear is slidably socketed on guide shaft, is integrally formed on rack gear
There is tie rod, tie rod is arranged along the axial direction of guide shaft, and connection holes are equipped on tie rod.The motor that connection holes are used to put on head passes through
Connecting rod and realize driving coupling, the structural stability of this rack gear is good, compact overall structure.
Supporter upper end is equipped with prong, and prong is arc-shaped.The prong of arc has been well adapted for the shape of human body napex, protects
The comfort of human body is demonstrate,proved.
The beneficial effects of the present invention are: by the way that the sensor and sensor is arranged by master controller to liter
The work of drop motor is controlled, so that the head of human body is on suitable position in hair washing.The knot of sensor and spring
It closes, enables the sensor to reflect the active force for rubbing head to head portion well, by the selection of spring, reach and relax to human body
The purpose of suitable hair washing, i.e., can either making rubbing, head to head hair carries out rubbing cleaning, but to rub head head will not be applied compared with
Big pressure very well satisfies the actual requirement of robot.
Detailed description of the invention
Fig. 1 is the structure chart after scrubbing part removal shell.
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 robot hair washing position adjustment mechanism in hair washing, is used in hair washing to human body
The hair washing position on head be adjusted.Structure includes putting head and supporter, and supporter is located at chaise longue and puts between head, human body
When being at hair washing position with lying posture and head, the person's back of human body is supported on supporter, and the back brain on head is shelved on head
On.To be adapted with the person's back of human body, the upper end of supporter is provided with the prong of arc.
The structure for putting head includes shell, and several rubbing heads 1 protruded into outside upper surface are actively equipped on shell, are rubbed
It is in Qian or V-arrangement that it is approximate, which to rub head 1 with the hands,.Motor is equipped in shell, motor provides power for rubbing head 1 and occurs on shell for rubbing head 1
It swings, achievees the purpose that rub hair.
Rubbing head 1 is movably mounted on mounting plate 3, is specifically movably mounted to the outer end of connecting column 8, connecting column
8 pass through mounting plate 3, and the fixing bolt across rubbing head 1 is threaded in the threaded hole of 8 end of connecting column, and the two of rubbing head 1
For intersection end towards the outside of mounting plate 3, rubbing head 1 can sliding axially along fixing bolt.Head 1 is rubbed relative to connecting column 8 weeks
To fixation, can by between rubbing head 1 and connecting column 8 setting be mutually inserted the convex body recess of cooperation and realize this circumferential direction
It is fixed, or rub head 1 itself and non-circular cooperation is taken to realize between rubbing head 1 and fixing bolt between fixing bolt
It is circumferentially fixed, so that rubbing head 1 follows connecting column 8 and circumferentially rotates.It is socketed with spring 10 on connecting column 8, the two of spring 10
End is pressed against respectively on rubbing head 1 and mounting plate 3, and makes rubbing head 1 is floating type is connected on connecting column 8.Rubbing head 1 with
Sensor is equipped between connecting column 8, which is used to perceive to axial position of the rubbing head 1 on connecting column 8, that is to say
The decrement of perception rubbing 1 pair of spring 10 of head, is embodied on active force, is the pressure on indirect reaction rubbing 1 pair of head of head.It can
With by perceiving movement position of the rubbing head 1 on connecting column 8 to the setting position of sensor, sensor is rubbed perceiving
It rubs the position of head 1 with the hands and master controller is fed back to signal form, master controller instruction and the lifting motor of supporter driving coupling come
Make corresponding movement, rise or fall supporter, to change head and rub the active force between head 1, and to rub head 1
Correct back brain carries out the rubbing of hair with substantially invariable pressure.
Rub head 1 on connecting column 8 to spring 10 be compressed axially it is a certain amount of after, rub axial position of the head 1 on connecting column 8
It sets closer to mounting plate 3, sensor perceives the position of rubbing head 1, and master controller receives sensor signal, and master controller refers to
Lifting motor is enabled to make corresponding movement.
Pit 9 is equipped at the front of mounting plate 3, which be integrally formed during moulding mounting plate 3
, the bottom wall of pit 9 and the rest part of mounting plate 3 wait wall thickness substantially.Rotationally gap passes through the bottom wall to connecting column 8, recessed
The oral area in hole 9 is snapped with gasket 2, and connecting column 8 passes through gasket 2, and gasket 2 carries out liquid sealing, bullet to the circumferential surface of connecting column 8
The inner end of spring 10 presses against on the bottom surface of pit 9.
It is equipped with fixed plate 12 in the back side of mounting plate 3, fixed plate 12 is thin stainless steel substrates, and stainless steel substrates pass through fastening spiral shell
It follows closely and is fixed on mounting plate 3.Integrally formed with hollow cylindricality convex body 13 on the bottom surface of pit 9, in cylindricality convex body 13
On be provided with gusset piece 14, and fixing bolt passes through gusset piece 14, cylindricality convex body 13,9 bottom wall of pit and couple with fixed plate 12 consolidates
It is scheduled on together.The inner end of connecting column 8 passes through fixed plate 12 with gap, is fixed with gear piece 11, gear piece in the inner end of connecting column 8
11 is fan-shaped.
There is two rubbing heads, 1, two connecting column 8 and two panels gear piece 11, on this two panels gear piece 11 on one mounting plate 3
Tooth toward each other, is provided with cylindrical rack gear 5 between two panels gear piece 11, and rack gear 5 is meshed with the tooth on two panels gear piece 11, tooth
Item 5 is socketed on the guide shaft put on head shell.Along the axial integrally formed with tie rod 6 of guide shaft on rack gear 5, tie rod 6 is equipped with
Connection holes 7, jointed gear unit is connected with connection holes 7 and couples with the motor drive in shell, under the drive of the motor,
Rubbing head 1 is swung on shell.Integrally formed with two cylindrical bodies 4 on gasket 2, a connecting column 8 passes through one with gap
Cylindrical body 4, the spring 10 of 8 periphery of connecting column are located in cylindrical body 4.Cylindrical body 4 extends at the position of rubbing head 1, and cylinder
The wall body of shape body 4 is ripple struction, rubs head 1 when moving on connecting column 8, the outer end of cylindrical body 4 and the inner end of rubbing head 1
Portion is held against together.
Claims (9)
- The position adjustment mechanism 1. a kind of intelligence hair washing robot washes hair, including being used to support the supporter of human body person's back and being used to support Human body head puts head, which is characterized in that supporter and lifting motor driving coupling, putting head includes several rubbing heads, is rubbed Rub the outer end that head is actively connected in connecting column with the hands, spring suppresses rubbing head；The biography for being incuded to axial position of the rubbing head on connecting column is equipped between rubbing head and connecting column Sensor by the setting of sensor position between rubbing head and connecting column, and combines the elastic force of spring, puts on head to control Rubbing head and human body head between active force, master controller receives the signal of sensor and controls the work of lifting motor, Make supporter height change, when supporter is in high-order, head will not be in contact with head is put, and sensor is not sensed by rubbing Head, lifting motor positive action decline supporter；When supporter is in middle position, head is in contact with head is put, sensor Sense that rubbing head, master controller instruct lifting motor to stop driving supporter lowering action；It is right when supporter is in low level The support on head mainly realizes that rubbing head crosses sensor by putting head, and master controller instructs lifting motor counteragent And supporter is allowed to rise.
- 2. adjustment mechanism according to claim 1, which is characterized in that the sensor is Hall element.
- 3. adjustment mechanism according to claim 1, which is characterized in that connecting column is mounted on mounting plate with circumferentially rotating, connection The inner end for connecing column is fixed with gear piece, and gear piece is engaged with the rack gear for being slidably set to mounting plate back side, passes through rubbing head with gap Fixing piece is fixed on the outer end of connecting column, and spring is socketed on connecting column.
- 4. adjustment mechanism according to claim 3, which is characterized in that be equipped with pit in the front of mounting plate, connecting column is worn The bottom surface of pit is crossed, gasket is snapped in pit, connecting column passes through gasket.
- 5. adjustment mechanism according to claim 4, which is characterized in that be fixed with the fixation of sheet at the back side of mounting plate Plate, fixed plate are used to carry out axially position to connecting column, and the gear piece is located at the outside of fixed plate.
- 6. adjustment mechanism according to claim 5, which is characterized in that integrally formed with several hollow on the bottom surface of pit Cylindricality convex body, be equipped with gusset piece in cylindricality convex body in pit, fixing bolt pass through gusset piece, cylindricality convex body and and fixed plate It is connected.
- 7. adjustment mechanism according to claim 4, which is characterized in that connection described in being equipped with two on a mounting plate Column, the rack gear are located between two gear pieces on two connecting columns, and gear piece is fan-shaped；Integrally formed with two on gasket Cylindrical body, connecting column pass through cylindrical body, and cylindrical body extends at rubbing head position, and the wall body of cylindrical body is ripple struction.
- 8. adjustment mechanism according to claim 7, which is characterized in that rack gear is cylindricality, and guide shaft, tooth are equipped on putting head Item is slidably socketed on guide shaft, and integrally formed with tie rod on rack gear, tie rod is arranged along the axial direction of guide shaft, is equipped on tie rod Connection holes.
- 9. adjustment mechanism according to any one of claims 1 to 8, which is characterized in that supporter upper end is equipped with prong, and prong is in Arc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510826675.6A CN105433575B (en) | 2015-11-25 | 2015-11-25 | Intelligence hair washing robot hair washing position adjustment mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510826675.6A CN105433575B (en) | 2015-11-25 | 2015-11-25 | Intelligence hair washing robot hair washing position adjustment mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105433575A CN105433575A (en) | 2016-03-30 |
| CN105433575B true CN105433575B (en) | 2019-08-09 |
Family
ID=55544560
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510826675.6A Active CN105433575B (en) | 2015-11-25 | 2015-11-25 | Intelligence hair washing robot hair washing position adjustment mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN105433575B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003033219A (en) * | 2001-07-25 | 2003-02-04 | Sanyo Electric Co Ltd | Automatic hair washer |
| CN1564664A (en) * | 2001-10-05 | 2005-01-12 | 三洋电机株式会社 | Automatic shampoo machine |
| CN101396244A (en) * | 2008-05-10 | 2009-04-01 | 祝英举 | Computer control bathing device with massage |
| CN103068275A (en) * | 2010-08-18 | 2013-04-24 | 松下电器产业株式会社 | Automatic hair-washer |
| 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 |
| CN103813733A (en) * | 2011-10-03 | 2014-05-21 | 松下电器产业株式会社 | Automatic head-care system and automatic head-care method |
| CN204106510U (en) * | 2014-10-12 | 2015-01-21 | 台州凯胜健身器材有限公司 | Head massager |
| CN104544883A (en) * | 2014-12-10 | 2015-04-29 | 翁凯 | Automatic hair washing machine |
| CN104997271A (en) * | 2015-06-23 | 2015-10-28 | 河南科技大学 | Head cap device for hair washing machine |
-
2015
- 2015-11-25 CN CN201510826675.6A patent/CN105433575B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003033219A (en) * | 2001-07-25 | 2003-02-04 | Sanyo Electric Co Ltd | Automatic hair washer |
| CN1564664A (en) * | 2001-10-05 | 2005-01-12 | 三洋电机株式会社 | Automatic shampoo machine |
| CN101396244A (en) * | 2008-05-10 | 2009-04-01 | 祝英举 | Computer control bathing device with massage |
| CN103068275A (en) * | 2010-08-18 | 2013-04-24 | 松下电器产业株式会社 | Automatic hair-washer |
| 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 |
| CN103813733A (en) * | 2011-10-03 | 2014-05-21 | 松下电器产业株式会社 | Automatic head-care system and automatic head-care method |
| CN204106510U (en) * | 2014-10-12 | 2015-01-21 | 台州凯胜健身器材有限公司 | Head massager |
| CN104544883A (en) * | 2014-12-10 | 2015-04-29 | 翁凯 | Automatic hair washing machine |
| CN104997271A (en) * | 2015-06-23 | 2015-10-28 | 河南科技大学 | Head cap device for hair washing machine |
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| Publication number | Publication date |
|---|---|
| CN105433575A (en) | 2016-03-30 |
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Effective date of registration: 20211216 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. |
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