CN109330446A - A kind of full-automation bath care robot - Google Patents
A kind of full-automation bath care robot Download PDFInfo
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- CN109330446A CN109330446A CN201811169236.2A CN201811169236A CN109330446A CN 109330446 A CN109330446 A CN 109330446A CN 201811169236 A CN201811169236 A CN 201811169236A CN 109330446 A CN109330446 A CN 109330446A
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- damp towel
- peening
- hydro
- bath
- guide rod
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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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- 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
- A47K5/00—Holders or dispensers for soap, toothpaste, or the like
- A47K5/06—Dispensers for soap
- A47K5/12—Dispensers for soap for liquid or pasty soap
- A47K5/1211—Dispensers for soap for liquid or pasty soap using pressure on soap, e.g. with piston
-
- 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
- A47K7/00—Body washing or cleaning implements
- A47K7/08—Devices or hand implements for cleaning the buttocks
-
- 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
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/002—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for by rubbing or brushing
- A61H7/003—Hand-held or hand-driven devices
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- 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
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1683—Surface of interface
- A61H2201/169—Physical characteristics of the surface, e.g. material, relief, texture or indicia
- A61H2201/1695—Enhanced pressure effect, e.g. substantially sharp projections, needles or pyramids
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Dermatology (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Nursing (AREA)
- Robotics (AREA)
- Devices For Medical Bathing And Washing (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The present invention provides a kind of full-automatic bath care robots, using sliding seat chair structure, aiding upright when completing to bather's bathing, leg is given a rubdown with a damp towel, buttocks is given a rubdown with a damp towel, back is given a rubdown with a damp towel, the function of head bathing, and each body rubbing mechanism is using the mechanical structure that can adapt to body curve automatically；Buttocks Bath rubbing device includes bi-concave seat board, and bi-concave seat board is made of arc elastic item, meets hip curve, and hydro-peening damp towel can be bonded completely with buttocks on the arc elastic item of bi-concave seat board, convenient for cleaning and massage；Water inlet pipe is equipped with hydraulic pressure sensor and hydraulic valve, real-time monitoring water inlet pipe hydraulic pressure and inflow, it is ensured that stable water pressure when bathing, suitable water and hydraulic pressure user's bath comfort, outlet pipe is equipped with leakage hole, is able to achieve automatic feeding water, draining, avoids indoor ponding.
Description
Technical field
The present invention relates to care appliances more particularly to a kind of full-automatic bath care robots.
Background technique
Pursuit with aging society arrival and people to high-quality life, the elderly and the disabled wash automation
The demand of bath nursing machine constantly enhances.The elderly and the disabled cannot achieve certainly since physiological potency decline and function are lost
I takes care of, this just brings great pressure to the nursing of the elderly and the disabled to the medical staff of family and the home for the aged and is stranded
It is difficult.A kind of development that can mitigate the bath care robot that nursing burden provides convenient service becomes very urgent.
Existing Xi Hu robot considers the function of automatic shower, flushing, due to mostly using a shower from top to bottom
Shower is rinsed, and most of using the user of Xi Hu robot is all handicapped or the inflexible people of trick activity, so
In order to rinse whole body and adjust suitable flushing direction and comfortable hydraulic pressure and water, often in use still
It needs nursing staff is whole aside to assist that entire bathing process could be completed, nursing staff is such as needed to assist to turn over, assist to adjust
The positions such as height, the direction of whole shower head adjust hydraulic pressure and water etc..
Existing sitting-lying double-purpose wheelchair bath devices are combined closely mode using bathtub and wheelchair, realize and nurse and can save
Labour；The a part of its seat as bathtub, disengaging bathtub are convenient.But to age-care's deficiency, intelligence degree compares
It is low, automatic bathing cannot be completed.
Summary of the invention
To solve the above-mentioned problems, full-automatic bath care robot of the invention, it is complete using sliding seat chair structure
Aiding upright when pairs of bather's bathing, leg is given a rubdown with a damp towel, buttocks is given a rubdown with a damp towel, back is given a rubdown with a damp towel, the function of head bathing, each to give a rubdown with a damp towel
Mechanism is using the mechanical structure that can adapt to body curve automatically；Buttocks Bath rubbing device includes bi-concave seat board, bi-concave seat board
Be made of arc elastic item, meet hip curve, hydro-peening damp towel can be complete with buttocks on the arc elastic item of bi-concave seat board
Full fitting, convenient for cleaning and massage；Water inlet pipe is equipped with hydraulic pressure sensor and hydraulic valve, real-time monitoring water inlet pipe hydraulic pressure and water inlet
Amount, it is ensured that stable water pressure when bathing, suitable water and hydraulic pressure user's bath comfort, outlet pipe are equipped with leakage hole, can be real
Existing automatic feeding water, draining, avoid indoor ponding.
The technical solution adopted by the present invention to solve the technical problems is: a kind of full-automation bath care robot, packet
Include aiding upright mechanism, body rubbing mechanism, hair washing mechanism and water circulation system；Aiding upright mechanism includes horizontal drive apparatus, hangs down
Straight driving device and arm support auxiliary device；Body rubbing mechanism includes that back Bath rubbing device, buttocks Bath rubbing device and leg are given a rubdown with a damp towel
Device, running part use gear and rack teeth mechanism, are moved reciprocatingly and are given a rubdown with a damp towel by servo motor drive；Buttocks Bath rubbing device packet
Bi-concave seat board, guide rod, hydro-peening damp towel, slideway and sliding block are included, slideway is four square grooves an of openings at one side, guide rod two
The sliding block at end is a cubic servo sliding block, and bi-concave seat board is made of arc elastic item；Back Bath rubbing device rear
Vertical direction is equipped with the flushing pipe one being connected with hydro-peening damp towel, and the horizontal direction below buttocks Bath rubbing device is equipped with
The flushing pipe two being connected with hydro-peening damp towel；Mechanism of washing hair includes hair washing positioning mechanism and hair washing executing agency, water circulation
System includes water inlet pipe, outlet pipe, flushing pipe, and water inlet pipe is connected with the top of hair washing mechanism, and outlet pipe is layed in buttocks stranding
The lower section of bath device and leg Bath rubbing device, and outlet pipe is equipped with leakage hole；Water inlet pipe is equipped with hydraulic pressure sensor and hydraulic pressure
Valve, for controlling the hydraulic pressure and water flow of flushing pipe.
Preferably, it is equipped with hydro-peening damp towel on back Bath rubbing device and buttocks Bath rubbing device, hydro-peening damp towel is circle
Structure, hydro-peening damp towel inside are equipped with stainless steel filtering net, and hydro-peening damp towel is equipped with outwardly projecting 4 annulus being parallel to each other
Shape channel has been evenly arranged hole for water spraying on each circular ring shape channel, and hydro-peening damp towel is movably arranged on arc elastic item, spray
Rubbing movement can be rotated on arc elastic item by washing damp towel.
Preferably, back Bath rubbing device includes bracket, guide rod, damp towel mechanism and rack gear；Damp towel mechanism utilizes branch
Frame is fixed on the seat, and bracket provides the track to move up and down to hydro-peening damp towel；Guide rod is connection damp towel mechanism
It is fixed in guide rail with the U-shaped pulley of the mechanism of bracket, guide rod both ends；Damp towel mechanism passes through its guiding between bracket
Bar is assemblied on bracket, and damp towel mechanism includes hydro-peening damp towel, arc elastic item and hinge, and hydro-peening damp towel is movably arranged on
On arc elastic item, hydro-peening damp towel can rotate rubbing movement on arc elastic item；Hydro-peening damp towel passes through arc elastic item
And hinge arrangement can match during giving a rubdown with a damp towel with the body curvature of the person of giving a rubdown with a damp towel, and arc elastic item passes through elastic shape
Change can be realized the person of giving a rubdown with a damp towel and can change the dynamics of giving a rubdown with a damp towel during giving a rubdown with a damp towel；Fixed rack gear on the guide bar is present with fixed
Gear on chair, which nibbles the driving of merga pass servo motor, makes hydro-peening damp towel device move up and down along track.
Preferably, hair washing positioning mechanism includes transmission case body, motor one, motor two, speed reducer one, speed reducer two, gear
One, gear two, connecting shaft, oscillating bearing, joint arm one, joint arm two, joint arm three and electric pushrod；The rotation of motor one drives
Gear two transmits motion to gear one by gear pair, realizes the shoulder revolution of joint arm one, realizes the pitching of large arm；Electricity
Dynamic push rod straight reciprocating motion pushes the movement of joint arm two to control the pitch angle of joint arm two；The rotation of motor two, which drives, closes
Joint arm three rotates, and realizes the pitching movement of forearm；
Preferably, hair washing executing agency includes cap shell, rubs head device and hair washing motor with the hands, and there are four rub head device and four hair washings with the hands altogether
Motor, four motor independent operatings simultaneously respectively control a stranding head device, and rubbing head device with the hands includes pilot hole, guide rod, cam, spring
Head device is rubbed with the hands with claw type, is provided with four pilot holes in cap shell, is used for installation guide rod, band moving cam, promotes after motor operation of washing hair
Guide rod is regular to be moved downward；Spring is cased on guide rod, latch plate bottom installs claw type and rubs head device with the hands, in the reciprocal fortune of guide rod
Under dynamic, the energy accumulated when using compression realizes that guide rod moves upwards, to make the rhythmical reciprocating motion of guide rod.
Preferably, arm support auxiliary device includes armpit set-down location, overturning-preventing protrusion, at holding and reinforces fixed frame；
And anti-skid protecting cover is equipped at holding；Horizontal drive apparatus drives buttocks Bath rubbing device horizontal motion, vertical drive band
Dynamic arm support auxiliary device vertical movement.
The working principle of full-automatic bath care robot of the invention: after user takes first, carry out hair washing and
It gives a rubdown with a damp towel leg.Servo motor starts after completing bathing, drives seat bracket, backrest hoisting frame, handrail by the transmission of lead screw
It is moved upwards with handrail hoisting frame.The starting of another at the same time servo motor by the transmission of horizontal leading screw drive foot pedal,
Electric pushrod and directive wheel level move backward that this completes the aiding uprights to human body.Back and buttocks are carried out to human body
It gives a rubdown with a damp towel, lead screw reversing device returns to initial position after the completion.
Full-automatic bath care of the invention robot the utility model has the advantages that
1) aiding upright when the achievable bathing to bather of the invention, leg is given a rubdown with a damp towel, buttocks is given a rubdown with a damp towel, back is given a rubdown with a damp towel, head is washed
The function of bath liberates the both hands of nursing staff, mitigates the labor intensity and burden of nursing, greatly improves work efficiency.Using
Sliding seat chair structure, complete to bather's bathing when aiding upright, leg is given a rubdown with a damp towel, buttocks is given a rubdown with a damp towel, back is given a rubdown with a damp towel, head is washed
The function of bath, each body rubbing mechanism is using the mechanical structure that can adapt to body curve automatically；Buttocks Bath rubbing device includes concave-concave
Face seat board, bi-concave seat board are made of arc elastic item, meet hip curve, hydro-peening on the arc elastic item of bi-concave seat board
Damp towel can be bonded completely with buttocks, convenient for cleaning and massage.
2) it is equipped with hydro-peening damp towel on back Bath rubbing device and buttocks Bath rubbing device, and hydro-peening damp towel is equipped with outward
The 4 outstanding circular ring shape channels being parallel to each other, each circular ring shape have been evenly arranged hole for water spraying on channel, it is ensured that back and stern
The position that portion needs emphasis to clean can clean up, and the water flow that the hole for water spraying on circular ring shape channel sprays is fine and smooth, hydro-peening to people
Body surface face has the effect of massage；Hydro-peening damp towel is movably arranged on arc elastic item, and hydro-peening damp towel can be in arc elastic
Rotation rubbing movement, plays and washes by rubbing with the hands and massage effect on item.The full-automation bath care robot not only has automatic bathing
Function also has massage health-care function.
3) each body rubbing mechanism such as aiding upright mechanism, back Bath rubbing device, buttocks Bath rubbing device and leg Bath rubbing device
Using the mechanical structure that can adapt to body curve automatically；
4) when for user's hair washing, user's head position can be accurately positioned, realize automatic positioning, cleaning hair.In conjunction with people
Machine engineering science is arranged multiple according to human body head size and the feature of hair and the level of comfort for considering user in cap shell
Claw type rubs head device with the hands, can almost cover entire head, under the reciprocating motion of guide rod, latch plate constantly deforms diastole, i.e. mould
Apery hand grabs wash my hair and massages the movement on head, to meet the functional requirement of hair washing and have certain massage effect
5) water inlet pipe is equipped with hydraulic pressure sensor and hydraulic valve, for controlling the hydraulic pressure and water flow of flushing pipe, real-time monitoring
Water inlet pipe hydraulic pressure and inflow, it is ensured that stable water pressure when bathing；Outlet pipe is layed in buttocks Bath rubbing device and leg Bath rubbing device
Lower section, and outlet pipe be equipped with leakage hole, be able to achieve automatic feeding water, draining, avoid indoor ponding.
6) it is equipped with flushing pipe on back Bath rubbing device and buttocks Bath rubbing device, and flushing pipe is equipped with and rinses circle
Hole is rinsed each position of user's whole body.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the present invention full-automatic bath care robot.
Fig. 2 is the structural schematic diagram of buttocks Bath rubbing device.
Fig. 3 is the structural schematic diagram of hydro-peening damp towel.
Fig. 4 is the structural schematic diagram of back Bath rubbing device.
Fig. 5 is the structural schematic diagram of hair washing positioning mechanism.
The schematic diagram of Fig. 6 transmission case intracorporal gear one and gear two.
Fig. 7 is the structural schematic diagram of hair washing executing agency.
Fig. 8 is the structural schematic diagram of arm support mechanism.
In figure, 1, aiding upright mechanism, 21, arm support auxiliary device, 211, armpit set-down location, 212, overturning-preventing it is prominent
It rises, 213, at holding, 214, reinforce fixed frame, 215, anti-skid protecting cover, 31, back Bath rubbing device, 311, bracket, 312, guiding
Bar, 313, hydro-peening damp towel, 314, rack gear, 315, U-shaped pulley, 316, guide rail, 317, arc elastic item, 318, round soft squeeze
Pressure head, 319, circular ring shape channel, 32, buttocks Bath rubbing device, 321, slideway, 33, leg Bath rubbing device, 41, hair washing localization machine
Structure, 42, hair washing executing agency, 411, motor one, 412, speed reducer one, 413, transmission case body, 414, joint arm one, 415, joint
Arm two, 416, joint arm three, 417, electric pushrod, 418, motor two, 419, speed reducer two, 420, connecting shaft, 421, joint shaft
It holds, 422, gear one, 423, gear two, 424, cap shell, 425, hair washing motor, 426, claw type stranding head device, 427, hair washing motor,
428, cam, 429, guide rod, 430, spring, 5, water circulation system, 51, water inlet pipe, 52, outlet pipe, 53, distributive pipe, 54, flushing
Pipeline one, 55, hydraulic pressure sensor, 56, hydraulic valve, 57, leakage hole, 58, flushing pipe two.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples.
Referring to Fig.1 and 2, a kind of full-automatic bath care robot of this specific embodiment, including aiding upright
Mechanism, body rubbing mechanism, hair washing mechanism and water circulation system；Aiding upright mechanism includes horizontal drive apparatus, vertical drive
With arm support auxiliary device；Body rubbing mechanism includes back Bath rubbing device, buttocks Bath rubbing device and leg Bath rubbing device, driving section
Divide and use gear and rack teeth mechanism, is moved reciprocatingly and given a rubdown with a damp towel by servo motor drive；Buttocks Bath rubbing device includes bi-concave seat
Plate, guide rod, hydro-peening damp towel, slideway and sliding block, slideway are four square grooves an of openings at one side, and the sliding block at guide rod both ends is
One cubic servo sliding block, bi-concave seat board are made of arc elastic item；On the vertical direction at back Bath rubbing device rear
Equipped with the flushing pipe one being connected with hydro-peening damp towel, the horizontal direction below buttocks Bath rubbing device is equipped with gives a rubdown with a damp towel with hydro-peening
The flushing pipe two that head is connected；Wash hair mechanism include hair washing positioning mechanism and hair washing executing agency, water circulation system include into
Water pipe, outlet pipe, flushing pipe, water inlet pipe are connected with the top of hair washing mechanism, and outlet pipe is layed in buttocks Bath rubbing device and leg
The lower section of portion's Bath rubbing device, and outlet pipe is equipped with leakage hole；Water inlet pipe is equipped with hydraulic pressure sensor and hydraulic valve, for controlling
The hydraulic pressure and water flow of flushing pipe.
It is equipped on back Bath rubbing device and buttocks Bath rubbing device in one more preferably embodiment with Fig. 3 referring to figure 2.
Hydro-peening damp towel, hydro-peening damp towel are circular configuration, are equipped with stainless steel filtering net inside hydro-peening damp towel, hydro-peening damp towel is equipped with
The outwardly projecting 4 circular ring shape channels being parallel to each other, each circular ring shape have been evenly arranged hole for water spraying on channel, and hydro-peening is given a rubdown with a damp towel
Head is movably arranged on arc elastic item, and hydro-peening damp towel can rotate rubbing movement on arc elastic item.
Referring to figure 4., in one more preferably embodiment, back Bath rubbing device include bracket, guide rod, damp towel mechanism and
Rack gear；Damp towel mechanism is fixed on the seat using bracket, and bracket provides the track to move up and down to hydro-peening damp towel；It leads
It is the mechanism for connecting damp towel mechanism and bracket to bar, the U-shaped pulley at guide rod both ends is fixed in guide rail；Damp towel mechanism is logical
Its guide rod between bracket to be crossed to be assemblied on bracket, damp towel mechanism includes hydro-peening damp towel, arc elastic item and hinge,
Hydro-peening damp towel is movably arranged on arc elastic item, and hydro-peening damp towel can rotate rubbing movement on arc elastic item；Hydro-peening
Damp towel can be matched during giving a rubdown with a damp towel with the body curvature of the person of giving a rubdown with a damp towel by arc elastic item and hinge arrangement, and
Arc elastic item can realize that the person of giving a rubdown with a damp towel can change the dynamics of giving a rubdown with a damp towel during giving a rubdown with a damp towel by elastic deformation；It is fixed on guiding
Rack gear and fixed gear on the seat on bar, which nibble the driving of merga pass servo motor, makes hydro-peening damp towel device along track
It moves up and down.
Referring to figure 5. and Fig. 6, in one more preferably embodiment, hair washing positioning mechanism includes transmission case body, motor one, electricity
Machine two, speed reducer one, speed reducer two, gear one, gear two, connecting shaft, oscillating bearing, joint arm one, joint arm two, joint arm
Three and electric pushrod；One rotation driven gear two of motor transmits motion to gear one by gear pair, realizes joint arm one
Shoulder revolution, realizes the pitching of large arm；Electric pushrod straight reciprocating motion pushes the movement of joint arm two to control joint arm two
Pitch angle；The rotation of motor two drives joint arm three to rotate, and realizes the pitching movement of forearm；
Fig. 7 is please referred to, in one more preferably embodiment, hair washing executing agency includes cap shell, rubs head device and hair washing motor with the hands, is shared
Four stranding head devices and four hair washing motors, four motor independent operatings simultaneously respectively control a stranding head device, rub head device packet with the hands
It includes pilot hole, guide rod, cam, spring and claw type and rubs head device with the hands, be provided with four pilot holes in cap shell, be used for installation guide rod, hair washing
Band moving cam, promotes guide rod is regular to move downward after motor operation；Spring, latch plate bottom mounting jaw are cased on guide rod
Shape rubs head device with the hands, and under the reciprocating motion of guide rod, the energy accumulated when using compression realizes that guide rod moves upwards, so that guide rod be made to have
The reciprocating motion of rhythm.
Fig. 8 is please referred to, in one more preferably embodiment, arm support auxiliary device includes that armpit set-down location, overturning-preventing are prominent
It rises, at holding and reinforce fixed frame；And anti-skid protecting cover is equipped at holding；Horizontal drive apparatus drives buttocks Bath rubbing device level side
To movement, vertical drive drives the vertical movement of arm support auxiliary device.
Above in conjunction with attached drawing, an exemplary description of the invention, it is clear that realization of the invention is not by aforesaid way
Limitation, as long as using the various improvement that technical solution of the present invention carries out, or not improved say design and technology of the invention
Scheme is applied to other occasions, is within the scope of the invention.
Claims (6)
1. a kind of full-automation bath care robot, which is characterized in that including aiding upright mechanism, body rubbing mechanism, hair washing machine
Structure and water circulation system；Aiding upright mechanism includes horizontal drive apparatus, vertical drive and arm support auxiliary device；It rubs with the hands
Bath mechanism includes back Bath rubbing device, buttocks Bath rubbing device and leg Bath rubbing device, and running part uses gear and rack teeth mechanism, by
Servo motor drive, which moves reciprocatingly, gives a rubdown with a damp towel；Buttocks Bath rubbing device include bi-concave seat board, guide rod, hydro-peening damp towel,
Slideway and sliding block, slideway are four square grooves an of openings at one side, and the sliding block at guide rod both ends is a cubic servo sliding block, double
Concave surface seat board is made of arc elastic item；The vertical direction at back Bath rubbing device rear is equipped with to be connected with hydro-peening damp towel
Flushing pipe one, the horizontal direction below buttocks Bath rubbing device is equipped with the flushing pipe two being connected with hydro-peening damp towel；
Mechanism of washing hair includes hair washing positioning mechanism and hair washing executing agency, and water circulation system includes water inlet pipe, outlet pipe, flushing pipe,
Water inlet pipe is connected with the top of hair washing mechanism, and outlet pipe is layed in the lower section of buttocks Bath rubbing device and leg Bath rubbing device, and goes out
Water pipe is equipped with leakage hole；Water inlet pipe is equipped with hydraulic pressure sensor and hydraulic valve, for controlling the hydraulic pressure and water flow of flushing pipe
Amount.
2. a kind of full-automatic bath care robot according to claim 1, which is characterized in that back Bath rubbing device and
Hydro-peening damp towel is equipped on buttocks Bath rubbing device, hydro-peening damp towel is circular configuration, is equipped with stainless steel inside hydro-peening damp towel
Strainer, hydro-peening damp towel are equipped with the outwardly projecting 4 circular ring shape channels being parallel to each other, on each circular ring shape channel uniformly
It is disposed with hole for water spraying, hydro-peening damp towel is movably arranged on arc elastic item, and hydro-peening damp towel can rotate on arc elastic item
Rubbing movement.
3. a kind of full-automatic bath care robot according to claim 1, which is characterized in that back Bath rubbing device packet
Include bracket, guide rod, damp towel mechanism and rack gear；Damp towel mechanism is fixed on the seat using bracket, and bracket is to hydro-peening
Damp towel provides the track to move up and down；Guide rod is the mechanism for connecting damp towel mechanism and bracket, the U-shaped cunning at guide rod both ends
Wheel is fixed in guide rail；Damp towel mechanism is assemblied on bracket by its guide rod between bracket, and damp towel mechanism includes
Hydro-peening damp towel, arc elastic item and hinge, hydro-peening damp towel are movably arranged on arc elastic item, and hydro-peening damp towel can be in arc
Rotation rubbing movement on shape elastic strip；Hydro-peening damp towel by arc elastic item and hinge arrangement can during giving a rubdown with a damp towel with
The body curvature of the person of giving a rubdown with a damp towel matches, and arc elastic item can realize the person of giving a rubdown with a damp towel during giving a rubdown with a damp towel by elastic deformation
It can change the dynamics of giving a rubdown with a damp towel；Fixed rack gear on the guide bar and fixed gear on the seat nibble the drive of merga pass servo motor
It is dynamic that hydro-peening damp towel device is made to move up and down along track.
4. a kind of full-automatic bath care robot according to claim 1, which is characterized in that hair washing positioning mechanism packet
Include transmission case body, motor one, motor two, speed reducer one, speed reducer two, gear one, gear two, connecting shaft, oscillating bearing, joint
Arm one, joint arm two, joint arm three and electric pushrod；One rotation driven gear two of motor, is transmitted motion to by gear pair
Gear one realizes the shoulder revolution of joint arm one, realizes the pitching of large arm；Electric pushrod straight reciprocating motion pushes joint arm two
Movement is to control the pitch angle of joint arm two；The rotation of motor two drives joint arm three to rotate, and realizes the pitching movement of forearm.
5. a kind of full-automatic bath care robot according to claim 4, which is characterized in that hair washing executing agency packet
It includes cap shell, rub head device with the hands and hair washing motor, there are four stranding head device and four hair washing motors, four motor independent operatings are simultaneously each altogether
From one stranding head device of control, rubbing head device with the hands includes that pilot hole, guide rod, cam, spring and claw type rub head device with the hands, is provided in cap shell
Four pilot holes are used for installation guide rod, and band moving cam, promotes guide rod is regular to move downward after motor operation of washing hair；It is leading
Spring is cased on bar, latch plate bottom installs claw type and rubs head device with the hands, under the reciprocating motion of guide rod, utilizes the energy accumulated when compressing
Realize that guide rod moves upwards, to make the rhythmical reciprocating motion of guide rod.
6. a kind of full-automatic bath care robot according to any one of claims 1 to 5, which is characterized in that arm branch
Support auxiliary device includes armpit set-down location, overturning-preventing protrusion, at holding and reinforces fixed frame；And anti-skid protecting cover is equipped at holding；
Horizontal drive apparatus drives buttocks Bath rubbing device horizontal motion, and vertical drive drives arm support auxiliary device vertical
Movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811169236.2A CN109330446A (en) | 2018-10-08 | 2018-10-08 | A kind of full-automation bath care robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811169236.2A CN109330446A (en) | 2018-10-08 | 2018-10-08 | A kind of full-automation bath care robot |
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| CN109330446A true CN109330446A (en) | 2019-02-15 |
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| CN201811169236.2A Withdrawn CN109330446A (en) | 2018-10-08 | 2018-10-08 | A kind of full-automation bath care robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115281551A (en) * | 2022-08-30 | 2022-11-04 | 郑州澍青医学高等专科学校 | Back cleaning auxiliary bathing device and using method thereof |
-
2018
- 2018-10-08 CN CN201811169236.2A patent/CN109330446A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115281551A (en) * | 2022-08-30 | 2022-11-04 | 郑州澍青医学高等专科学校 | Back cleaning auxiliary bathing device and using method thereof |
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Application publication date: 20190215 |