CN106108746A - Have bath, antiperspirant steam and the robot of giving a rubdown with a damp towel of scrubbing function - Google Patents
Have bath, antiperspirant steam and the robot of giving a rubdown with a damp towel of scrubbing function Download PDFInfo
- Publication number
- CN106108746A CN106108746A CN201610541552.2A CN201610541552A CN106108746A CN 106108746 A CN106108746 A CN 106108746A CN 201610541552 A CN201610541552 A CN 201610541552A CN 106108746 A CN106108746 A CN 106108746A
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- CN
- China
- Prior art keywords
- rubdown
- line slideway
- fixing
- motor
- antiperspirant
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47K—SANITARY EQUIPMENT NOT OTHERWISE PROVIDED FOR; TOILET ACCESSORIES
- A47K7/00—Body washing or cleaning implements
- A47K7/04—Mechanical washing or cleaning devices, hand or mechanically, i.e. power operated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47K—SANITARY EQUIPMENT NOT OTHERWISE PROVIDED FOR; TOILET ACCESSORIES
- A47K3/00—Baths; Douches; Appurtenances therefor
- A47K3/20—Baths; Douches; Appurtenances therefor combined with douches
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H33/00—Bathing devices for special therapeutic or hygienic purposes
- A61H33/06—Artificial hot-air or cold-air baths; Steam or gas baths or douches, e.g. sauna or Finnish baths
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
- A61H2015/0042—Balls or spheres
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H33/00—Bathing devices for special therapeutic or hygienic purposes
- A61H33/06—Artificial hot-air or cold-air baths; Steam or gas baths or douches, e.g. sauna or Finnish baths
- A61H2033/068—Steam baths
Abstract
Having of the present invention relates to is bathed, antiperspirant steams and the robot of giving a rubdown with a damp towel of scrubbing function, belong to bath system technical field, move control assembly, mechanical hand, antiperspirant steaming thermal-insulating telescopic cover, rubdown bed, far-infrared combination antiperspirant steaming plate, level sensor, temperature sensor, central controller, safe head-shield, limit switch, spraying mechanism, alarm, bath room, vertically movable slide rail and gag lever post including bathtub, heating water receiver, mechanical hand；Compared with prior art, the present invention provide have bath, antiperspirant steam and the robot of giving a rubdown with a damp towel of scrubbing function, this robot integrate bathing, give a rubdown with a damp towel, antiperspirant steam and massage, intelligent high, it is readily implemented and baths, give a rubdown with a damp towel, nursing, massage and antiperspirant steam one step completed purpose, moreover, it is also possible to individually carry out a certain item operation according to the needs of user, automatization is high, i.e. saving time and laborsaving, application crowd is wide, has the strongest using value.
Description
Technical field
The invention belongs to bath system technical field, especially relate to a kind of have bath, antiperspirant steams and scrubbing function
Give a rubdown with a damp towel robot.
Background technology
Giving a rubdown with a damp towel, with giving a rubdown with a damp towel, the dirt on skin, cutin are removed by instrument, reach skin clean, salubrious purpose.
Bathing, the one that health is soaked in water is had a bath mode.According to the physiological situation of people, 40 DEG C is an important boundary
Limit.The water temperature of 37 DEG C to about 39 DEG C, the stimulation for skin is less, and now parasympathetic nervous can play the work making body and mind loosen
With.
Antiperspirant steams, and changes skin skin quality, strengthens skin elasticity, slow down aging, effect of body shaping, is also to treat for fat-reducing
Effect is notable, makes health loosen completely, and intense strain of releiving eases off the pressure, blood circulation in acceleration bodies, opens pore, gets through health
Interior environment, thoroughly gets rid of body soil, activates health rest cell, strengthens body immunity, promotes wound healing, strengthens gas
Pipe, bronchus, lung functions；To desensitization, expectoration has a good effect, strengthens physical basis metabolism, reduce blood glucose, cholesterol,
Triglyceride, increase exercise tolerance, antibacterial, promote human body reparation and regeneration function, improve acidic physique and sub-health state.
Social development is increasingly faster now, along with the improving constantly of quality of the life of people, the pottery commonly used at present
Bathtub product function is single, and existing simple function can not meet the life requirement of people.
Therefore need badly in the middle of prior art and want a kind of new technical scheme to solve this problem.
Summary of the invention
The technical problem to be solved is: provide a kind of have bath, antiperspirant steam and the machine of giving a rubdown with a damp towel of scrubbing function
People, this robot integrate bathing, give a rubdown with a damp towel, antiperspirant steam and massage, be readily implemented and bath, give a rubdown with a damp towel, nursing, massage and antiperspirant steaming once
The purpose completed, moreover, it is also possible to individually carry out a certain item operation according to the needs of user.
In order to solve the problems referred to above, the present invention adopts the following technical scheme that:
Have bath, antiperspirant steam and the robot of giving a rubdown with a damp towel of scrubbing function, it is characterized in that: include bathtub, heating water receiver, machinery
Hands move control assembly, mechanical hand, antiperspirant steam thermal-insulating telescopic cover, rubdown bed, far-infrared combination antiperspirant steam heating plate, level sensor,
Temperature sensor, central controller, safe head-shield, limit switch, spraying mechanism and alarm,
The medial wall of described bathtub and inner bottom part are all equipped with far-infrared combination antiperspirant and steam heating plate, set outside one end of bathtub
Being equipped with heating water receiver, the other end is provided with containing cavities, and this containing cavities is used for accommodating antiperspirant and steams thermal-insulating telescopic cover, and the two of bathtub are lateral
Being extended with outward flanging, the bottom of two flangings is provided with slideway, and the top of two flangings is provided with gravity sensitive
Device；Being respectively arranged with ball-screw I, linear stepping motor and displacement transducer on described slideway, described linear stepping motor leads to
Cross gear engagement system to be connected with ball-screw I；Institute's displacement sensors is arranged far from one end of safe head-shield；
Described heating water receiver is connected with central controller, and heating water receiver is connected with bathtub by pipeline, and this pipe
Automatic thermostatic water mixing valve and water inlet electromagnetic switch it is provided with on road；
Described mechanical hand moves control assembly and moves on bathtub along described slideway, and mechanical hand moves control assembly and includes
Cover body, horizontal line slideway I, horizontal line slideway II, horizontal line slideway III, the longitudinal straight line of horizontal line slideway IV, first
Guide rail, second longitudinal line slideway, movable connecting rod, fixing supporting linkage, mechanical arm connecting circular tube, gyrator, stepping
Motor I, motor II, motor III, fixed support, ball-screw II and mechanical hand steering mechanism, described cover body cover sets
Lead at horizontal line slideway I, horizontal line slideway II, horizontal line slideway III, the longitudinal straight line of horizontal line slideway IV, first
Rail, second longitudinal line slideway, movable connecting rod, fixing supporting linkage, mechanical arm connecting circular tube, gyrator, stepping electricity
Machine I, motor II, motor III, fixed support, ball-screw II and the outside of mechanical hand steering mechanism, outside cover body
Infrared induction instrument it is provided with on sidewall；Described horizontal line slideway I, horizontal line slideway II, horizontal line slideway III and laterally
The end of line slideway IV is all fixing with cover body to be connected；The quantity of described first longitudinal line slideway is two, indulges for two first
Arranged in parallel between horizontal line slideway I and horizontal line slideway IV to line slideway, and upper end is all by sliding
Block is slidably connected with horizontal line slideway I, and bottom is all slidably connected with horizontal line slideway IV by slide block；Described second indulges
Be two to the quantity of line slideway, two second longitudinal line slideways arranged in parallel horizontal line slideway II with laterally
Between line slideway III, and upper end is all slidably connected with horizontal line slideway II by slide block, and slide block is all passed through in bottom
It is slidably connected with horizontal line slideway III；Described movable connecting rod and fixing supporting linkage are arranged at adjacent two piece first
Between longitudinal line slideway and second longitudinal line slideway, wherein movable connecting rod one end is led by the longitudinal straight line of slide block and first
Rail top is slidably connected, and the other end is slidably connected by the longitudinal line slideway top of slide block and second, fixing supporting linkage one
Be connected fixing with first longitudinal line slideway bottom, the other end and second longitudinal line slideway bottom is held to fix and connect；Described step
Entering motor I and be arranged on the middle part of movable connecting rod, motor I is connected with central controller, and motor I one end connects with movable
Extension bar connects, and other end is connected through mechanical arm connecting circular tube with gyrator；Described motor II passes through fixed support
Being connected with movable connecting rod, motor II is connected with central controller, and motor II drives movable connecting rod the most repeatedly
Motion；Described mechanical arm connecting circular tube upper end is fixing with in the middle part of movable connecting rod to be connected, and bottom is fixing with gyrator even
Connect；Described gyrator one end is fixing with mechanical arm connecting circular tube to be connected, and the other end is fixing with mechanical hand steering mechanism to be connected；Institute
The quantity stating ball-screw II is two, is arranged symmetrically in the both sides of motor III, two ball-screws on the same line
II equal one end is connected with the output shaft of motor III, and the other end is fixing with the middle part of fixing supporting linkage to be connected；Described machine
Xie Shou steering mechanism includes that housing, motor IV and pressure transducer I, described motor IV and pressure transducer I are all provided with
Put in enclosure interior, and be all connected with central controller, and the output shaft of motor IV is connected with mechanical hand through housing；
Being provided with Proximity Sensor on described mechanical hand, Proximity Sensor is connected with central controller, machinery handbag
Including mechanical arm and nursing accessory of giving a rubdown with a damp towel, one end of mechanical arm is connected with the output shaft of motor IV, the other end with give a rubdown with a damp towel
Nursing accessory connects；
Described rubdown bed is movably placed on bathtub, and the both sides of the edge of rubdown bed are provided with rhone；
Described far-infrared combination antiperspirant steams heating plate and is pasted by four-layer structure and constitute, wherein ground floor be glass mat, the
Two layers be far infrared carbon fibre heating plate for PC plate, third layer and the 4th layer be carbon fiber board；
Described level sensor, temperature sensor and alarm are separately positioned in bath side walls, and all control with central authorities
Device connects；
Described safe head-shield is arranged on bathtub, and safe head-shield is provided with far-infrared sensor, safe head-shield one end with
Central controller connects, and the other end is connected with limit switch；
Described limit switch is arranged on bathtub, and limit switch one end is connected with safe head-shield, and the other end controls with central authorities
Device connects；
Described spraying mechanism is positioned at heating water receiver top, and spraying mechanism one end is connected with central controller, other end
Being connected with mechanical hand, spraying mechanism includes spray head, water spray water pump, spray piping and spraying box, described spray head one end and machine
Tool hands is fixing to be connected, and the spray head other end is connected with spraying box by spray piping；Described water spray water pump is connected with spraying box.
On described bathtub, headrest is set.
It is provided with antiperspirant in described bathtub and steams special bamboo mat or wooden medicated cushion.
Described nursing accessory of giving a rubdown with a damp towel is that give a rubdown with a damp towel accessory, spin-cleaning brush formula of crawler type gives accessory a rubdown with a damp towel or bead massage is joined
Part.
Described crawler type give a rubdown with a damp towel accessory include fixing connect matrix I, motor V, pressure transducer II, card patch plug,
Waterproof support shell I, fixing spring I, Universal telescoping drive link I, crawler type are given a rubdown with a damp towel structure and wash towel, described fixing linker
Body I top is connected with mechanical arm, and the fixing matrix I that connects is internally provided with motor V；The output of described motor V
Axle and Universal telescoping drive link I clamping；Described pressure transducer II is arranged on the fixing bottom connecting matrix I；Described universal stretch
The upper end of contracting drive link I by card patch plug respectively with the fixing output shaft clamping being connected matrix I and motor V, lower end with
Crawler type give a rubdown with a damp towel structure connect；Described fixing spring I is set in the top of Universal telescoping drive link I, and fixing spring I upper end is supported
Leaning against the bottom of card patch plug, bottom is resisted against plastic housing I top；Described waterproof support shell I is arranged on Universal telescoping and passes
Lever I and fixing spring I are outside, and waterproof support shell I includes waterproof rubber sleeve I and plastic housing I, on described waterproof rubber sleeve I
Portion is connected matrix I connects with fixing, and waterproof rubber sleeve I bottom is passed through draw-in groove and is connected with plastic housing I；Described wash towel activity is arranged
Give a rubdown with a damp towel structural outer in crawler type.
Described spin-cleaning brush formula give a rubdown with a damp towel accessory include fixing connect matrix II, pressure transducer III, motor VI,
Waterproof support shell II, fixing spring II, Universal telescoping drive link II and rotational head, described fixing connection matrix II top with
Mechanical arm connects, and the fixing matrix II that connects is internally provided with motor VI；The output shaft of described motor VI is with universal
Telescopic transmission rod II clamping；Described pressure transducer III is arranged on the fixing bottom connecting matrix II；Described Universal telescoping transmission
The upper end of bar II by card patch plug respectively with the fixing output shaft clamping being connected matrix II and motor VI, lower end and rotation
Brush connects；Described fixing spring I is set in the top of Universal telescoping drive link I, and fixing spring II upper end is resisted against clamping
The bottom of plug, bottom is resisted against plastic housing II top；Described waterproof support shell II is arranged on Universal telescoping drive link II
Outside with fixing spring II, waterproof support shell II includes waterproof rubber sleeve II and plastic housing II, on described waterproof rubber sleeve II
Portion connects waterproof rubber sleeve II bottom and passes through draw-in groove with the fixing matrix II that is connected and be connected with plastic housing II.
Described bead massage accessory includes fixed pedestal, rotating disk, telescopic mast and universal rotational massage ball, described fixed pedestal
It is connected with rotating disk by gear engagement；On described rotating disk, telescopic mast is set；Described telescopic mast be internally provided with spring, telescopic mast
Top is provided with universal rotational massage ball, and telescopic mast is integral type structure with universal rotational massage ball.
It is provided with control panel on described central controller, this control panel is provided with switch of bathing, antiperspirant steaming switch, rubs with the hands
Bath switch, skin nursing switch and massage switch.
Have bath, antiperspirant steam and the robot of giving a rubdown with a damp towel of scrubbing function, it is characterized in that: also include remote controller, this remote controller with
Central controller connects, and remote controller is provided with emergency stop switch, switch of bathing, antiperspirant steaming switch, give a rubdown with a damp towel switch, skin nursing
Switch and massage switch.
Have bath, antiperspirant steams and the robot of giving a rubdown with a damp towel of scrubbing function, it is characterized in that: include that the mechanical hand stated moves control total
One-tenth, mechanical hand, far-infrared combination antiperspirant steam heating plate, central controller, limit switch and spraying mechanism, especially include bath room, erect
To shifting sledge and gag lever post, described mechanical hand moves control assembly and moves along vertically movable slide rail；Described vertically movable cunning
Rail is arranged on the sidewall of bath room；Described mechanical hand moves control assembly and is connected with mechanical hand；Described far-infrared combination antiperspirant steams and adds
Hot plate is sticked on bath room medial wall；Described central controller is arranged on the outside of bath room, central controller respectively with mechanical hand
Mobile assembly, mechanical hand, limit switch, spraying mechanism and the gag lever post of controlling connects；Described spraying mechanism is arranged on inside bath room,
It is connected with central controller.
By above-mentioned design, the present invention can bring following beneficial effect: having that the present invention provides is bathed, antiperspirant steams
And the robot of giving a rubdown with a damp towel of scrubbing function, this robot integrate bathing, give a rubdown with a damp towel, antiperspirant steams and massages, intelligent height, be readily implemented
Bathing, give a rubdown with a damp towel, nursing, massage and antiperspirant steam one step completed purpose, moreover, it is also possible to individually enter according to the needs of user
Row a certain item operation, automatization is high, i.e. saves time and laborsaving, and application crowd is wide, has the strongest using value.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings and detailed description of the invention the invention will be further described:
Fig. 1 be the present invention have bath, antiperspirant steams and the structural representation of robot of giving a rubdown with a damp towel of scrubbing function.
Fig. 2 be this brightest have bath, antiperspirant steam and the robot middle slideway mechanism structure schematic diagram of giving a rubdown with a damp towel of scrubbing function.
Fig. 3 be the present invention have bath, antiperspirant steam and the robot rubdown bed structural representation of giving a rubdown with a damp towel of scrubbing function.
Fig. 4 be the present invention have bath, antiperspirant steams and the robot mechanical arm of giving a rubdown with a damp towel of scrubbing function moves control assembly structure
Schematic diagram.
Fig. 5 be the present invention have bath, antiperspirant steams and in the robot of giving a rubdown with a damp towel of scrubbing function, crawler type accessory structure of giving a rubdown with a damp towel shows
It is intended to.
Fig. 6 be the present invention have bath, antiperspirant steams and in the robot of giving a rubdown with a damp towel of scrubbing function, spin-cleaning brush formula is given a rubdown with a damp towel and joined
Part structural representation.
Fig. 7 be the present invention have bath, antiperspirant steam and scrubbing function robot of giving a rubdown with a damp towel in bead massage accessory structure signal
Figure.
Fig. 8 is the structural representation that the present invention has the robot of giving a rubdown with a damp towel of antiperspirant steaming and scrubbing function.
In figure: 1-bathtub, 101-slideway, 102-ball-screw I, 103-linear stepping motor, 104-displacement transducer, 2-
Heating water receiver, 3-mechanical hand move control assembly, 301-cover body, the horizontal line slideway of 302-I, the horizontal line slideway of 303-
II, the horizontal line slideway of 304-III, the horizontal line slideway of 305-IV, the longitudinal line slideway of 306-first, 307-second are the most directly
Line guide rail, 308-movable connecting rod, 309-fix supporting linkage, 3010-mechanical arm connecting circular tube, 3011-gyrator,
3012-motor I, 3013-motor II, 3014-motor III, 3015-fixed support, 3016-ball-screw II,
3017-mechanical hand steering mechanism, 301701 housings, 301702 motor IV, 301703 pressure transducers I, 4-mechanical hand,
401-mechanical arm, 402-give a rubdown with a damp towel and nurse accessory, 40201-fixing connection matrix I, 40202-motor V, 40203-pressure
Sensor II, 40204-waterproof support shell I, 40205-fix spring I, 40206-universal dynamical drive link I, 40207-crawler belt
Formula give a rubdown with a damp towel structure, 40208-wash towel, 40209-is fixing connects matrix II, 40210-pressure transducer III, 42011-stepping electricity
Machine VI, 40212-waterproof support shell II, 40213-fix spring II, 40214-universal dynamical drive link II, 40215-rotation
Brush, 40216-fixed pedestal, 40217-rotating disk, 40218-telescopic mast, 40219-universal rotational massage ball, 5-antiperspirant steam insulation and stretch
Contracting cover, 6-rubdown bed, 7-far-infrared combination antiperspirant steaming heating plate, 8-level sensor, 9-temperature sensor, 10-central controller,
The safe head-shield of 11-, 12-limit switch, 13-spraying mechanism, 14-alarm, 15-bath room, the vertically movable slide rail of 16-, 17-are spacing
Bar.
Detailed description of the invention
With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, have bath, antiperspirant steams and the robot of giving a rubdown with a damp towel of scrubbing function
Complete once to bath, give a rubdown with a damp towel, nurse, massage, that antiperspirant steams its workflow is as follows:
Bath:
Preparation is bathed, and starts, by central controller 10, program of bathing, and the water of heating is passed through water pump band by heating water receiver 2
Influencing meridian automatic thermostatic water mixing valve and water inlet electromagnetic switch, be injected into warm water in bathtub 1, or solar water and tap water warp
Automatic thermostatic water mixing valve with water inlet electromagnetic switch, warm water is injected in bathtub 1, user can according to practical situation select more than
Two kinds of water flooding regimes, level sensor 8 is for sensed water level, and water level information passes to central controller 10, arrives and sets
It is automatically stopped water filling after water level, and is pointed out by alarm 14, thus control inflow；In bathtub 1, temperature sensor 9 is used for examining
Surveying water temperature in bathtub 1, miss the season when detecting that water temperature damages with presetting temperature of bathing, signal is passed to central controller 10 by it,
Central controller 10 starts constant-temperature heating system, thus keeps the water temperature in bathtub 1 constant, has bathed, as long as water is clean, and bath
Water in cylinder 1 can use with secondary or utilize saves water pump injection washing machine or flushing toiler, it is possible to be expelled directly out by pipeline.
Give a rubdown with a damp towel, nurse and massage:
Rubdown bed 6 i.e. bathtub insulation cover, is placed on rubdown bed 6 on bathtub 1, after putting well, touches the gravity sensitive on bathtub 1
Device, signal is passed to central controller 10 by gravity sensor, and preparation startup mechanical hand moves control assembly 3 and works, and people lies in
On rubdown bed 6, after manually putting down safe head-shield 11, starting limig switch 12, signal is passed to central controller by limit switch 12
10, central controller 10 spreads out of linear stepping motor 103 working instruction signal, and described linear stepping motor 103 drives ball wire
Thick stick I 102 rotarily drives mechanical hand and moves control assembly 3 and move along the described relative bathtub 1 of slideway 101, thus is moved by mechanical hand
Control assembly 3 from the district that awaits orders move to the i.e. people in working area on the shoulders from, mechanical hand move control assembly 3 lateral wall on be provided with many
Individual infrared induction instrument, infrared induction instrument detection need to the personnel of giving a rubdown with a damp towel be ready for just for time, mechanical hand move control assembly 3 along bathtub
1 when moving to other end from one end of cylinder body, and infrared induction instrument detects the height of human body, and Human Height information is transmitted
To central controller 10, the Human Height signal received is fed back to displacement transducer 104, displacement sensing by central controller 10
Device 104 moves the position of turning back of control assembly 3 for controlling mechanical hand, thus arranges not according to the height of the different personnel that give a rubdown with a damp towel
Same position of turning back, program of at this moment giving a rubdown with a damp towel formally starts, and central controller 10 drives mechanical hand to move control by pulse signal
All motors in assembly 3, control mechanical hand 4 all-directional rotation, thus be gradually completing give a rubdown with a damp towel and whole skin nursing appoint
Business；On mechanical hand 4, Proximity Sensor is installed, by central controller 10 control mechanical hand 4 along with the height of health next to the skin
Carry out giving a rubdown with a damp towel work, and mechanical hand steering structure 3017 is internally provided with pressure transducer I 301703 for central controller 10
Feedback mechanical hand 4 is given a rubdown with a damp towel the size of dynamics, after central controller 10 reception information, is adjusted by torque sensor and frequency-variable module
The size of surging pressed by mechanical hand 4；After health front has been rubbed with the hands, people turn round after health natural relaxation, arm parts a little, mechanical hand
Human body can be cleaned by follow procedure by 4, and spraying mechanism 13 controls to be rinsed the person by central controller 10, will give a rubdown with a damp towel
Mud with personnel washes out, and filthy water directly can be discharged along pipeline by the both sides rhone of rubdown bed 6, does not interferes with bathtub
The cleaning of water in 1, the next man can then bath use, saves water source, after giving a rubdown with a damp towel, can spin-cleaning brush formula be rubbed with the hands
Bath accessory connects, and presses nursing switch simultaneously, opens NM, carries out skin oil nursing, the now spray of spray structure 13
Head ejection is milk or nursing liquid medicine；During giving a rubdown with a damp towel, reach the purpose of skin nursing；When people is in a hurry, do not enter
Row is when giving a rubdown with a damp towel, safe head-shield 11 starting limig switch 12 on liftable head, and at this moment mechanical hand moves control assembly 3 and automatically returns
Work to original position stop.
Nursing accessory 402 of giving a rubdown with a damp towel gives accessory a rubdown with a damp towel or bead massages accessory for give a rubdown with a damp towel accessory, spin-cleaning brush formula of crawler type,
Wherein, crawler type is given a rubdown with a damp towel accessory, is responsible for mud, and give a rubdown with a damp towel the dynamics of accessory of crawler type can artificially be adjusted, according to individual
Effect adjusts dynamics size by the button on central controller 10 or remote controller, and spin-cleaning brush formula is given a rubdown with a damp towel accessory, is used for
Cleaning-nursing skin and health care；Bead massage accessory, massages people's whole body；Nursing accessory 402 of more than giving a rubdown with a damp towel is all detachable,
It is replaced.
Antiperspirant steams:
The medial wall of bathtub 1 and inner bottom part are all equipped with far-infrared combination antiperspirant and steam heating plate 7, and described far-infrared combination antiperspirant steams
Heating plate 7 is pasted by four-layer structure and is constituted, wherein ground floor be glass mat, the second layer be PC plate, third layer be far infrared
Carbon fiber heating plate and the 4th layer are carbon fiber board；When needing antiperspirant to steam, first can put into antiperspirant in bathtub 1 and steam special bamboo mat or wooden
Medicated cushion, starts antiperspirant and steams switch, and after a few minutes, temperature rises, and people can arrive in bathtub 1, carry out antiperspirant steaming, can do leg antiperspirant and steam, also may be used
Doing whole body antiperspirant to steam, concrete antiperspirant steams the covering position being steamed thermal-insulating telescopic cover 5 by antiperspirant in position and determines.
As shown in Figure 8, there is antiperspirant and steam and the robot of giving a rubdown with a damp towel of scrubbing function, it is characterized in that: include that described mechanical hand moves
Dynamic control assembly 3, mechanical hand 4, far-infrared combination antiperspirant steam heating plate 7, central controller 10, limit switch 12 and spraying mechanism
13, especially include bath room 15, vertically movable slide rail 16 and gag lever post 17, described mechanical hand moves control assembly 3 and moves along vertical
Dynamic slide rail 16 moves；Described vertically movable slide rail 16 is arranged on the sidewall of bath room 15；Described mechanical hand 4 moves control with mechanical hand
Assembly 3 processed connects；Described far-infrared combination antiperspirant steams heating plate 7 and is sticked on bath room 15 medial wall；Described central controller 10 sets
Putting the outside at bath room 15, central controller 10 moves control assembly 3, mechanical hand 4, limit switch 12, spray respectively with mechanical hand
Drench mechanism 13 and gag lever post 17 connects；It is internal that described spraying mechanism 13 is arranged on bath room 15, and is connected with central controller 10,
During bathing, it is automatically performed and gives a rubdown with a damp towel and the purpose of antiperspirant steaming.
The present invention provide have bath, antiperspirant steam and the robot of giving a rubdown with a damp towel of scrubbing function, collection bathing, give a rubdown with a damp towel, antiperspirant steam, massage
In one, being readily implemented and bath, give a rubdown with a damp towel, nursing, massage and antiperspirant steam one step completed purpose, automatization's height, i.e. save time and laborsaving.
Claims (10)
1. have bath, antiperspirant steam and the robot of giving a rubdown with a damp towel of scrubbing function, it is characterized in that: include bathtub (1), heating water receiver (2),
Mechanical hand move control assembly (3), mechanical hand (4), antiperspirant steam thermal-insulating telescopic cover (5), rubdown bed (6), far-infrared combination antiperspirant steam add
Hot plate (7), level sensor (8), temperature sensor (9), central controller (10), safe head-shield (11), limit switch (12),
Spraying mechanism (13) and alarm (14),
The medial wall of described bathtub (1) and inner bottom part are all equipped with far-infrared combination antiperspirant and steam heating plate (7), one end of bathtub (1)
Outside is provided with heating water receiver (2), and the other end is provided with containing cavities, and this containing cavities is used for accommodating antiperspirant and steams thermal-insulating telescopic cover (5),
The both sides of bathtub (1) are outward extended with flanging, and the bottom of two flangings is provided with slideway (101), two flangings
Top is provided with gravity sensor；Ball-screw I (102), linear stepping motor it is respectively arranged with on described slideway (101)
(103) and displacement transducer (104), described linear stepping motor (103) is by gear engagement system and ball-screw I (102)
Connect；Institute's displacement sensors (104) is arranged far from one end of safe head-shield (11)；
Described heating water receiver (2) is connected with central controller (10), and heating water receiver (2) is connected with bathtub (1) by pipeline,
And it is provided with automatic thermostatic water mixing valve and water inlet electromagnetic switch on this pipeline；
Described mechanical hand moves control assembly (3) along described slideway (101) in the upper motion of bathtub (1), and mechanical hand moves control
Assembly (3) includes cover body (301), horizontal line slideway I (302), horizontal line slideway II (303), horizontal line slideway III
(304), the horizontal longitudinal line slideway (306) of line slideway IV (305), first, second longitudinal line slideway (307), activity are even
Extension bar (308), fixing supporting linkage (309), mechanical arm connecting circular tube (3010), gyrator (3011), motor I
(3012), motor II (3013), motor III (3014), fixed support (3015), ball-screw II (3016) and machine
Xie Shou steering mechanism (3017), described cover body (301) be located at horizontal line slideway I (302), horizontal line slideway II (303),
Laterally line slideway III (304), the longitudinal line slideway (306) of horizontal line slideway IV (305), first, second longitudinal straight line are led
Rail (307), movable connecting rod (308), fixing supporting linkage (309), mechanical arm connecting circular tube (3010), gyrator
(3011), motor I (3012), motor II (3013), motor III (3014), fixed support (3015), ball
Leading screw II (3016) and the outside of mechanical hand steering mechanism (3017), the lateral wall of cover body (301) is provided with infrared induction instrument；
Described horizontal line slideway I (302), horizontal line slideway II (303), horizontal line slideway III (304) and horizontal line slideway
The end of IV (305) is all fixing with cover body (301) to be connected；The quantity of described first longitudinal line slideway (306) is two, two
First longitudinal line slideway (306) arranged in parallel horizontal line slideway I (302) and horizontal line slideway IV (305) it
Between, and upper end is all slidably connected with horizontal line slideway I (302) by slide block, bottom all by slide block with the most straight
Line guide rail IV (305) is slidably connected；The quantity of described second longitudinal line slideway (307) is two, two second longitudinal straight lines
Guide rail (307) is arranged in parallel between horizontal line slideway II (303) and horizontal line slideway III (304), and upper end
Portion is all slidably connected with horizontal line slideway II (303) by slide block, and bottom is all by slide block and horizontal line slideway III
(304) it is slidably connected；Described movable connecting rod (308) and fixing supporting linkage (309) are arranged at adjacent two piece first
Between longitudinal line slideway (306) and second longitudinal line slideway (307), wherein slide block is passed through in movable connecting rod (308) one end
Being slidably connected with first longitudinal line slideway (306) top, the other end is by longitudinal line slideway (307) top of slide block and second
Being slidably connected, fixing supporting linkage (309) one end is fixing with first longitudinal line slideway (306) bottom to be connected, the other end and
Second longitudinal line slideway (307) bottom is fixing to be connected；Described motor I (3012) is arranged on movable connecting rod (308)
Middle part, motor I (3012) is connected with central controller (10), motor I (3012) one end and movable connecting rod (308)
Connecting, other end is connected through mechanical arm connecting circular tube (3010) with gyrator (3011)；Described motor II
(3013) it is connected with movable connecting rod (308) by fixed support (3015), motor II (3013) and central controller
(10) connecting, motor II (3013) drives movable connecting rod (308) the most repeatedly to move；Described mechanical arm connecting circular tube
(3010) upper end is fixing with movable connecting rod (308) middle part is connected, and bottom is fixing with gyrator (3011) to be connected；Described turn
Hornwork (3011) one end is fixing with mechanical arm connecting circular tube (3010) to be connected, and the other end is solid with mechanical hand steering mechanism (3017)
Fixed connection；The quantity of described ball-screw II (3016) is two, is arranged symmetrically in motor III on the same line
(3014) both sides, two equal one end of ball-screw II (3016) are connected with the output shaft of motor III (3014), the other end
Fix with the middle part of fixing supporting linkage (309) and be connected；Described mechanical hand steering mechanism (3017) include housing (301701),
Motor IV (301702) and pressure transducer I (301703), described motor IV (301702) and pressure transducer I
(301703) it is arranged at housing (301701) internal, and is all connected with central controller (10), and motor IV
(301702) output shaft is connected through housing (301701) with mechanical hand (4)；
Being provided with Proximity Sensor on described mechanical hand (4), Proximity Sensor is connected with central controller (10), mechanical hand
(4) mechanical arm (401) and nursing accessory (402) of giving a rubdown with a damp towel, one end of mechanical arm (401) and motor IV are included
(301702) output shaft connects, and the other end is connected with nursing accessory of giving a rubdown with a damp towel；
Described rubdown bed (6) is movably placed on bathtub (1), and the both sides of the edge of rubdown bed (6) are provided with rhone；
Described far-infrared combination antiperspirant steam heating plate (7) by four-layer structure paste constitute, wherein ground floor be glass mat, second
Layer be far infrared carbon fibre heating plate for PC plate, third layer and the 4th layer be carbon fiber board；
Described level sensor (8), temperature sensor (9) and alarm (14) are separately positioned on bathtub (1) sidewall, and all with
Central controller (10) connects；
Described safe head-shield (11) is arranged on bathtub (1), and safe head-shield (11) is provided with far-infrared sensor, safe head-shield
(11) one end is connected with central controller (10), and the other end is connected with limit switch (12)；
Described limit switch (12) is arranged on bathtub (1), and limit switch (12) one end is connected with safe head-shield (11), the other end
It is connected with central controller (10)；
Described spraying mechanism (13) is positioned at heating water receiver (2) top, and spraying mechanism (13) one end is with central controller (10) even
Connecing, other end is connected with mechanical hand (4), and spraying mechanism (13) includes spray head, water spray water pump, spray piping and spraying box,
Described spray head one end is fixing with mechanical hand (4) to be connected, and the spray head other end is connected with spraying box by spray piping；Described spray
Water water pump is connected with spraying box.
The most according to claim 1 have bath, antiperspirant steam and the robot of giving a rubdown with a damp towel of scrubbing function, it is characterized in that: described bath
Cylinder arranges headrest on (1).
The most according to claim 1 have bath, antiperspirant steam and the robot of giving a rubdown with a damp towel of scrubbing function, it is characterized in that: described bath
It is provided with antiperspirant in cylinder (1) and steams special bamboo mat or wooden medicated cushion.
The most according to claim 1 have bath, antiperspirant steam and the robot of giving a rubdown with a damp towel of scrubbing function, it is characterized in that: described stranding
Bath nursing accessory (402) is that give a rubdown with a damp towel accessory, spin-cleaning brush formula of crawler type is given a rubdown with a damp towel accessory or bead massage accessory.
The most according to claim 4 have bath, antiperspirant steam and the robot of giving a rubdown with a damp towel of scrubbing function, it is characterized in that: described shoe
Belt accessory of giving a rubdown with a damp towel includes fixing connecting matrix I (40201), motor V (40202), pressure transducer II (40203), card
Patch plug, waterproof support shell I (40204), fixing spring I (40205), Universal telescoping drive link I (40206), crawler type are rubbed with the hands
Bath structure (40207) and wash towel (40208), described fixing connection matrix I (40201) top is connected with mechanical arm (401),
The fixing matrix I (40201) that connects is internally provided with motor V (40202)；The output shaft of described motor V (40202)
With Universal telescoping drive link I (40206) clamping；Described pressure transducer II (40203) is arranged on fixing connection matrix I
(40201) bottom；The upper end of described Universal telescoping drive link I (40206) is connected matrix I with fixing respectively by card patch plug
(40201) and the output shaft clamping of motor V (40202), lower end structure (40207) of giving a rubdown with a damp towel with crawler type is connected；Described solid
Determining spring I (40205) and be set in the top of Universal telescoping drive link I (40206), fixing spring I (40205) upper end is resisted against
The bottom of card patch plug, bottom is resisted against plastic housing I top；Described waterproof support shell I (40204) is arranged on Universal telescoping
Drive link I (40206) and fixing spring I (40205) are outside, and waterproof support shell I (40204) includes waterproof rubber sleeve I and moulds
Material shell I, described waterproof rubber sleeve I top connects with the fixing matrix I (40201) that is connected, waterproof rubber sleeve I bottom pass through draw-in groove and
Plastic housing I connects；It is outside that described wash towel (40208) is movably arranged on crawler type structure (40207) of giving a rubdown with a damp towel.
The most according to claim 4 have bath, antiperspirant steam and the robot of giving a rubdown with a damp towel of scrubbing function, it is characterized in that: described rotation
Turn cleaning brush hair style accessory of giving a rubdown with a damp towel to include fixing connecting matrix II (40209), pressure transducer III (40210), motor VI
(42011), waterproof support shell II (40212), fixing spring II (40213), Universal telescoping drive link II (40214) and rotation
Brush (40215), described fixing connection matrix II (40209) top is connected with mechanical arm (401), fixing connection matrix II
(40209) motor VI (42011) it is internally provided with；The output shaft of described motor VI (42011) passes with Universal telescoping
Lever II (40214) clamping；Described pressure transducer III (40210) is arranged on the fixing bottom connecting matrix II (40209)；Institute
The upper end stating Universal telescoping drive link II (40214) is connected matrix II (40209) and stepping with fixing respectively by card patch plug
The output shaft clamping of motor VI (42011), lower end is connected with rotational head (40215)；Described fixing spring I (40205) is sheathed
On the top of Universal telescoping drive link I (40206), fixing spring II (40213) upper end is resisted against the bottom of card patch plug, under
End is resisted against plastic housing II top；Described waterproof support shell II (40212) is arranged on Universal telescoping drive link II (40214)
Outside with fixing spring II (40213), waterproof support shell II (40212) includes waterproof rubber sleeve II and plastic housing II, described
Waterproof rubber sleeve II top connects waterproof rubber sleeve II bottom by draw-in groove and plastic housing II with the fixing matrix II (40209) that is connected
Connect.
The most according to claim 4 have bath, antiperspirant steam and the robot of giving a rubdown with a damp towel of scrubbing function, it is characterized in that: described pearl
Formula massage accessory includes fixed pedestal (40216), rotating disk (40217), telescopic mast (40218) and universal rotational massage ball
(40219), described fixed pedestal (40216) is connected with rotating disk (40217) by gear engagement；Described rotating disk sets on (40217)
Put telescopic mast (40218)；Described telescopic mast (40218) be internally provided with spring, telescopic mast (40218) top is provided with universal
Rotary massaging ball (40219), and telescopic mast (40218) and universal rotational massage ball (40219) be integral type structure.
The most according to claim 1 have bath, antiperspirant steam and the robot of giving a rubdown with a damp towel of scrubbing function, it is characterized in that: in described
It is provided with control panel on centre controller (10), this control panel is provided with switch of bathing, antiperspirant steaming switch, give a rubdown with a damp towel switch, skin
Skin nursing switch and massage switch.
The most according to claim 1 have bath, antiperspirant steam and the robot of giving a rubdown with a damp towel of scrubbing function, it is characterized in that: also include
Remote controller, this remote controller is connected with central controller (10), and remote controller is provided with emergency stop switch, switch of bathing, antiperspirant steaming
Switch, switch of giving a rubdown with a damp towel, skin nursing switch and massage switch.
10. have bath, antiperspirant steam and the robot of giving a rubdown with a damp towel of scrubbing function, it is characterized in that: include machinery as claimed in claim 1
Hands moves control assembly (3), mechanical hand (4), far-infrared combination antiperspirant steaming heating plate (7), central controller (10), limit switch
And spraying mechanism (13) (12), especially including bath room (15), vertically movable slide rail (16) and gag lever post (17), described mechanical hand moves
The dynamic assembly (3) that controls moves along vertically movable slide rail (16)；Described vertically movable slide rail (16) is arranged on the side of bath room (15)
On wall；Described mechanical hand (4) moves control assembly (3) and is connected with mechanical hand；Described far-infrared combination antiperspirant steams heating plate (7) and is sticked
On bath room (15) medial wall；Described central controller (10) is arranged on the outside of bath room (15), and central controller (10) is respectively
Move control assembly (3), mechanical hand (4), limit switch (12), spraying mechanism (13) and gag lever post (17) to be connected with mechanical hand；
It is internal that described spraying mechanism (13) is arranged on bath room (15), is connected with central controller (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610541552.2A CN106108746B (en) | 2016-07-11 | 2016-07-11 | With bath, sweat steam and scrubbing function robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610541552.2A CN106108746B (en) | 2016-07-11 | 2016-07-11 | With bath, sweat steam and scrubbing function robot |
Publications (2)
| Publication Number | Publication Date |
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| CN106108746A true CN106108746A (en) | 2016-11-16 |
| CN106108746B CN106108746B (en) | 2018-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610541552.2A Expired - Fee Related CN106108746B (en) | 2016-07-11 | 2016-07-11 | With bath, sweat steam and scrubbing function robot |
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| Country | Link |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106726230A (en) * | 2016-12-28 | 2017-05-31 | 王勇 | A kind of intelligent nursing system |
| CN106963626A (en) * | 2017-05-06 | 2017-07-21 | 李子木 | A kind of medicated bathing apparatus and its method for limbs training rehabilitation |
| CN108294934A (en) * | 2017-12-29 | 2018-07-20 | 靳职雄 | The foot washers of function are steamed with heat |
| CN108309110A (en) * | 2017-12-29 | 2018-07-24 | 靳职雄 | Foot washers |
| CN110141436A (en) * | 2019-05-23 | 2019-08-20 | 北京林业大学 | It is a kind of multifunction nursing bed |
| CN111067390A (en) * | 2019-12-25 | 2020-04-28 | 浙江大学 | Intelligent auxiliary bathing device and control method thereof |
| CN111249139A (en) * | 2020-01-22 | 2020-06-09 | 李榕 | Paediatrics skin protection nursing device |
| CN111388314A (en) * | 2020-03-20 | 2020-07-10 | 徐露露 | Flat lying type scrubbing and massaging system |
| CN112806769A (en) * | 2021-01-25 | 2021-05-18 | 李劲 | Multifunctional massage bed |
| CN113679273A (en) * | 2020-05-19 | 2021-11-23 | 上海钛润电子技术有限公司 | Bathing machine |
| CN115120123A (en) * | 2022-07-25 | 2022-09-30 | 九江市艾帕智能科技有限公司 | Electric control method of infrared heating bathtub |
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| CN203468462U (en) * | 2013-04-26 | 2014-03-12 | 祝英举 | Standing type scrubbing massage bath machine |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106726230A (en) * | 2016-12-28 | 2017-05-31 | 王勇 | A kind of intelligent nursing system |
| CN106963626A (en) * | 2017-05-06 | 2017-07-21 | 李子木 | A kind of medicated bathing apparatus and its method for limbs training rehabilitation |
| CN106963626B (en) * | 2017-05-06 | 2019-06-14 | 李子木 | A kind of medicated bathing apparatus and its method for limbs training rehabilitation |
| CN108294934A (en) * | 2017-12-29 | 2018-07-20 | 靳职雄 | The foot washers of function are steamed with heat |
| CN108309110A (en) * | 2017-12-29 | 2018-07-24 | 靳职雄 | Foot washers |
| CN110141436A (en) * | 2019-05-23 | 2019-08-20 | 北京林业大学 | It is a kind of multifunction nursing bed |
| CN111067390A (en) * | 2019-12-25 | 2020-04-28 | 浙江大学 | Intelligent auxiliary bathing device and control method thereof |
| CN111249139A (en) * | 2020-01-22 | 2020-06-09 | 李榕 | Paediatrics skin protection nursing device |
| CN111249139B (en) * | 2020-01-22 | 2022-04-29 | 李榕 | Paediatrics skin protection nursing device |
| CN111388314A (en) * | 2020-03-20 | 2020-07-10 | 徐露露 | Flat lying type scrubbing and massaging system |
| CN113679273A (en) * | 2020-05-19 | 2021-11-23 | 上海钛润电子技术有限公司 | Bathing machine |
| CN112806769A (en) * | 2021-01-25 | 2021-05-18 | 李劲 | Multifunctional massage bed |
| CN115120123A (en) * | 2022-07-25 | 2022-09-30 | 九江市艾帕智能科技有限公司 | Electric control method of infrared heating bathtub |
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| CN106108746B (en) | 2018-07-27 |
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Granted publication date: 20180727 Termination date: 20190711 |