CN109330447A - A kind of full-automation bath care robot - Google Patents
A kind of full-automation bath care robot Download PDFInfo
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- CN109330447A CN109330447A CN201811169266.3A CN201811169266A CN109330447A CN 109330447 A CN109330447 A CN 109330447A CN 201811169266 A CN201811169266 A CN 201811169266A CN 109330447 A CN109330447 A CN 109330447A
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- damp towel
- bath
- peening
- hydro
- 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)
- Dermatology (AREA)
- Robotics (AREA)
- Nursing (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (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, hydro-peening damp towel is equipped on back Bath rubbing device and buttocks Bath rubbing device, hydro-peening damp towel is circular configuration, hydro-peening damp towel is equipped with circular ring shape channel, circular ring shape has been evenly arranged hole for water spraying on channel, the position for ensuring that back and buttocks need 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 mild；Hydro-peening damp towel is equipped with outwardly projecting massage protrusions, bath oil extrusion head is equipped among massage protrusions, user is sitting in extruding bath oil extrusion head on back Bath rubbing device and buttocks Bath rubbing device, the automatic bath oil that squeezes can be achieved and be applied to back and buttocks, the water flow that hole for water spraying on circular ring shape channel sprays is rinsed, and is realized that whole body is taken a shower and is rinsed；Hydro-peening damp towel is movably arranged on arc elastic item, and hydro-peening damp towel can rotate rubbing movement on arc elastic item, not only has automatic bathing, rubbing function, also has massage health-care function.
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
Need nursing staff is whole aside to assist could complete entire bathing process, such as need nursing staff's assistance smearing bath oil,
It washes by rubbing with the hands, massage, assist to turn over, assist to adjust the positions such as height, the direction of 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；Hydro-peening is equipped on back Bath rubbing device and buttocks Bath rubbing device
Damp towel, hydro-peening damp towel are circular configuration, and hydro-peening damp towel is equipped with circular ring shape channel, and circular ring shape has been evenly arranged on channel
Hole for water spraying, it is ensured that back and buttocks need the position of emphasis cleaning that can clean up, and the hole for water spraying on circular ring shape channel sprays
Water flow it is fine and smooth mild；Hydro-peening damp towel is equipped with outwardly projecting massage protrusions, is equipped with bath oil among massage protrusions and squeezes
Head, user, which is sitting on back Bath rubbing device and buttocks Bath rubbing device, squeezes bath oil extrusion head, it can be achieved that automatic squeeze is taken a shower
Cream is applied to back and buttocks, and the water flow that the hole for water spraying on circular ring shape channel sprays is rinsed, and realizes that whole body is taken a shower and rinses；Hydro-peening is rubbed with the hands
Bath head is movably arranged on arc elastic item, and hydro-peening damp towel can rotate rubbing movement on arc elastic item, is not only had certainly
Dynamic bathing, rubbing function, also have massage health-care function.Water inlet pipe be equipped with hydraulic pressure sensor and hydraulic valve, real-time monitoring into
Water pipe hydraulic pressure and inflow, it is ensured that stable water pressure when bathing, suitable water and hydraulic pressure user's bath comfort are set on outlet pipe
There is leakage hole, is able to achieve automatic feeding water, draining, avoids 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；Back Bath rubbing device and
Hydro-peening damp towel is equipped on buttocks Bath rubbing device, hydro-peening damp towel is circular configuration, and hydro-peening damp towel is logical equipped with circular ring shape
Road, has been evenly arranged hole for water spraying on circular ring shape channel, and hydro-peening damp towel is equipped with outwardly projecting massage protrusions, in massage protrusions
Between be equipped with bath oil extrusion head, bath oil is equipped with below massage protrusions and accesses chamber, bath oil access is intracavitary logical with bath oil pan feeding
Road is connected, and bath oil feeding channel is connected with bath oil addition tank；The vertical direction at back Bath rubbing device rear is equipped with and spray
The flushing pipe one that damp towel is connected is washed, the horizontal direction below buttocks Bath rubbing device is equipped with to be connected with hydro-peening damp towel
Flushing pipe two；Mechanism of washing hair includes hair washing positioning mechanism and hair washing executing agency, and water circulation system includes water inlet pipe, water 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 Bath rubbing device
Lower section, and outlet pipe be equipped with leakage hole；Water inlet pipe is equipped with hydraulic pressure sensor and hydraulic valve, for controlling flushing pipe
Hydraulic pressure and water flow.
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, buttocks Bath rubbing device includes that arc elastic item, guide rod, hydro-peening damp towel, slideway and sliding block, slideway are
Four square grooves of one openings at one side, the sliding block at guide rod both ends are a cubic servo sliding blocks；Hydro-peening damp towel activity installation
On arc elastic item, hydro-peening damp towel can rotate rubbing movement on arc elastic item.
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.Back
Hydro-peening damp towel is equipped on Bath rubbing device and buttocks Bath rubbing device, hydro-peening damp towel is circular configuration, is set in hydro-peening damp towel
There is circular ring shape channel, circular ring shape has been evenly arranged hole for water spraying on channel, it is ensured that the position energy that back and buttocks need emphasis to clean
It cleans up, and the water flow that the hole for water spraying on circular ring shape channel sprays is fine and smooth mild；Hydro-peening damp towel is equipped with outwardly projecting
Massage protrusions, massage protrusions centre are equipped with bath oil extrusion head, and user is sitting on back Bath rubbing device and buttocks Bath rubbing device
Bath oil extrusion head is squeezed, it can be achieved that squeezing bath oil automatically is applied to back and buttocks, the hole for water spraying on circular ring shape channel sprays
Water flow out is rinsed, and is realized that whole body is taken a shower and is rinsed；Hydro-peening damp towel is movably arranged on arc elastic item, and hydro-peening damp towel can be
Rotation rubbing movement, plays and washes by rubbing with the hands and massage effect on arc elastic item.The full-automation bath care robot not only has
Automatic bathing function also has massage health-care function.
2) 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；
3) 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
4) 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.
5) 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 a kind of structural schematic diagram of full-automatic bath care robot of the present invention.
Fig. 2 is the structural schematic diagram of buttocks Bath rubbing device.
Fig. 3 is the structural schematic diagram of back Bath rubbing device.
Fig. 4 is the structural schematic diagram of hydro-peening damp towel.
Fig. 5 is the sectional view of hydro-peening damp towel.
Fig. 6 is the structural schematic diagram of hair washing positioning mechanism.
Fig. 7 is the schematic diagram of transmission case intracorporal gear one and gear two.
Fig. 8 is the structural schematic diagram of hair washing executing agency.
Fig. 9 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, bath oil squeeze
Pressure head, 319, circular ring shape channel, 320, massage protrusions, 321, bath oil access chamber, 322, bath oil feeding channel, 323, water spray
Hole, 32, buttocks Bath rubbing device, 321, slideway, 33, leg Bath rubbing device, 41, hair washing positioning mechanism, 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, oscillating bearing, 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 pipe one, 55, hydraulic pressure sensing
Device, 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.
Please refer to Fig. 1 and Fig. 2 and Fig. 3, a kind of full-automatic bath care robot of this specific embodiment, including auxiliary
Standing mechanism, body rubbing mechanism, hair washing mechanism and water circulation system；Aiding upright mechanism includes horizontal drive apparatus, perpendicular drive
Device and arm support auxiliary device；Body rubbing mechanism includes back Bath rubbing device, buttocks Bath rubbing device and leg Bath rubbing device, is passed
Dynamic part uses gear and rack teeth mechanism, is moved reciprocatingly and is given a rubdown with a damp towel by servo motor drive；Back Bath rubbing device and buttocks are rubbed with the hands
Hydro-peening damp towel is equipped on bath device, hydro-peening damp towel is circular configuration, and hydro-peening damp towel is equipped with circular ring shape channel, annulus
Hole for water spraying is evenly arranged on shape channel, hydro-peening damp towel is equipped with outwardly projecting massage protrusions, is equipped among massage protrusions
Bath oil extrusion head, massage protrusions lower section are equipped with bath oil and access chamber, and bath oil access is intracavitary to be connected with bath oil feeding channel,
Bath oil feeding channel is connected with bath oil addition tank；The vertical direction at back Bath rubbing device rear is equipped with and hydro-peening damp towel
The flushing pipe one being connected, the horizontal direction below buttocks Bath rubbing device are equipped with the flushing pipe being connected with hydro-peening damp towel
Road two；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
Pipeline, water inlet pipe are 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 outlet pipe is equipped with leakage hole；Water inlet pipe be equipped with hydraulic pressure sensor and hydraulic valve, for control flushing pipe hydraulic pressure and
Water flow.
In one more preferably embodiment, back Bath rubbing device includes bracket, guide rod, damp towel mechanism and rack gear；It gives a rubdown with a damp towel
Head mechanism is fixed on the seat using bracket, and bracket provides the track to move up and down to hydro-peening damp towel；Guide rod is to connect
The mechanism of damp towel mechanism and bracket is met, the U-shaped pulley at guide rod both ends is fixed in guide rail；Damp towel mechanism passes through itself and branch
Guide rod between frame is assemblied on bracket, and damp towel mechanism includes that hydro-peening damp towel, arc elastic item and hinge, hydro-peening are 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；Hydro-peening damp towel is logical
Crossing 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 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；Fixed tooth on the guide bar
Item and fixed gear on the seat, which nibble the driving of merga pass servo motor, makes hydro-peening damp towel device do fortune up and down along track
It is dynamic.
In one more preferably embodiment, buttocks Bath rubbing device includes arc elastic item, guide rod, hydro-peening damp towel, slideway
And sliding block, slideway are four square grooves an of openings at one side, the sliding block at guide rod both ends is a cubic servo sliding block；Hydro-peening is rubbed with the hands
Bath head is movably arranged on arc elastic item, and hydro-peening damp towel can rotate rubbing movement on arc elastic item.
In one more preferably embodiment, hair washing positioning mechanism includes transmission case body, motor one, motor two, speed reducer one, subtracts
Fast machine two, gear one, gear two, connecting shaft, oscillating bearing, joint arm one, joint arm two, joint arm three and electric pushrod；Electricity
One rotation driven gear two of machine transmits motion to gear one by gear pair, realizes the shoulder revolution of joint arm one, realizes big
The pitching of arm；Electric pushrod straight reciprocating motion pushes the movement of joint arm two to control the pitch angle of joint arm two；Motor
Two rotations drive joint arm three to rotate, and realize the pitching movement of forearm；
In one more preferably embodiment, hair washing executing agency includes cap shell, rubs head device and hair washing motor with the hands, and there are four rub head dress with the hands altogether
It sets and simultaneously respectively controls a stranding head device with four hair washing motors, four motor independent operatings, rub head device with the hands and include pilot hole, lead
Bar, cam, spring and claw type rub head device with the hands, are provided with four pilot holes in cap shell, are used for installation guide rod, band after motor operation of washing hair
Moving cam promotes guide rod is regular to move downward；Spring is cased on guide rod, latch plate bottom installs claw type and rubs head device with the hands,
Under the reciprocating motion of guide rod, the energy accumulated when using compression realizes that guide rod moves upwards, to keep guide rod rhythmical reciprocal
Movement.
In one more preferably embodiment, arm support auxiliary device include armpit set-down location, overturning-preventing protrusion, at holding and
Reinforce fixed frame；And anti-skid protecting cover is equipped at holding；Horizontal drive apparatus drives buttocks Bath rubbing device horizontal motion, vertically
Driving device 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；It is equipped with hydro-peening damp towel on back Bath rubbing device and buttocks Bath rubbing device,
Hydro-peening damp towel is circular configuration, and hydro-peening damp towel is equipped with circular ring shape channel, and circular ring shape has been evenly arranged hole for water spraying on channel,
Hydro-peening damp towel is equipped with outwardly projecting massage protrusions, and bath oil extrusion head, massage protrusions lower section are equipped among massage protrusions
Chamber is accessed equipped with bath oil, bath oil access is intracavitary to be connected with bath oil feeding channel, and bath oil feeding channel adds with bath oil
Tank is added to be connected；The vertical direction at back Bath rubbing device rear is equipped with the flushing pipe one being connected with hydro-peening damp towel, buttocks
Horizontal direction below Bath rubbing device is equipped with the flushing pipe two being connected with hydro-peening damp towel；Mechanism of washing hair includes that hair washing is fixed
Position mechanism and hair washing executing agency, water circulation system includes water inlet pipe, outlet pipe, flushing pipe, water inlet pipe and hair washing mechanism
Top is connected, and outlet pipe is layed in the lower section of buttocks Bath rubbing device and leg Bath rubbing device, and outlet pipe is equipped with leakage hole；Into
Water pipe is equipped with hydraulic pressure sensor and hydraulic valve, for controlling the hydraulic pressure and water flow of flushing pipe.
2. 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.
3. a kind of full-automatic bath care robot according to claim 1, which is characterized in that buttocks Bath rubbing device packet
Bracket elastic strip, guide rod, hydro-peening damp towel, slideway and sliding block, slideway are four square grooves an of openings at one side, guide rod two
The sliding block at end is a cubic servo sliding block；Hydro-peening damp towel is movably arranged on arc elastic item, and hydro-peening damp towel can be
Rotation rubbing movement on arc elastic item.
4. full-automation bath care robot according to claim 1, which is characterized in that hair washing positioning mechanism includes passing
Dynamic cabinet, 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, transmits motion to tooth by gear pair
Wheel one realizes the shoulder revolution of joint arm one, realizes the pitching of large arm；Electric pushrod straight reciprocating motion pushes joint arm two to transport
The dynamic pitch angle to control joint arm two；The rotation of motor two drives joint arm three to rotate, and realizes the pitching movement of forearm.
5. full-automation bath care robot according to claim 4, which is characterized in that 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 washing motors, four motor independent operatings and each automatic control with the hands altogether
A stranding head device is made, 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 with four in cap shell
Pilot hole is used for installation guide rod, and band moving cam, promotes guide rod is regular to move downward after motor operation of washing hair；On guide rod
It is cased with spring, latch plate bottom installs claw type and rubs head device with the hands, and under the reciprocating motion of guide rod, the energy accumulated when using compression is realized
Guide rod moves upwards, to make the rhythmical reciprocating motion of guide rod.
6. full-automation bath care robot according to any one of claims 1 to 5, which is characterized in that arm support is auxiliary
Device is helped to include armpit set-down location, overturning-preventing protrusion, at holding and reinforce fixed frame；And anti-skid protecting cover is equipped at holding；It is horizontal
Driving device drives buttocks Bath rubbing device horizontal motion, and vertical drive drives arm support auxiliary device vertically to transport
It is dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811169266.3A CN109330447A (en) | 2018-10-08 | 2018-10-08 | A kind of full-automation bath care robot |
Applications Claiming Priority (1)
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| CN201811169266.3A CN109330447A (en) | 2018-10-08 | 2018-10-08 | A kind of full-automation bath care robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111437168A (en) * | 2020-04-05 | 2020-07-24 | 申绪满 | Automatic massage rubbing device |
| CN111920322A (en) * | 2020-07-09 | 2020-11-13 | 北京石油化工学院 | Intelligent voice interactive full-automatic bathing machine |
| CN112545340A (en) * | 2020-12-10 | 2021-03-26 | 成都大学 | Bathing chair |
| CN112568576A (en) * | 2021-01-04 | 2021-03-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Hindbrain massage arm and shampoo machine |
| CN112568574A (en) * | 2021-01-04 | 2021-03-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Hand massage and hair washing machine |
| CN112704419A (en) * | 2020-12-30 | 2021-04-27 | 安徽科技学院 | Bathing device |
| CN113303687A (en) * | 2021-06-17 | 2021-08-27 | 廖勋园 | Intelligent supplementary bathing ware of endowing |
| CN113843080A (en) * | 2021-11-02 | 2021-12-28 | 安徽达必立新能源科技有限公司 | Paint spraying device for manufacturing wind power generation tower drum |
| CN114376430A (en) * | 2020-10-22 | 2022-04-22 | 湖北职业技术学院 | Double-gear rolling and rubbing massage liquid squeezing device |
-
2018
- 2018-10-08 CN CN201811169266.3A patent/CN109330447A/en not_active Withdrawn
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111437168A (en) * | 2020-04-05 | 2020-07-24 | 申绪满 | Automatic massage rubbing device |
| CN111920322A (en) * | 2020-07-09 | 2020-11-13 | 北京石油化工学院 | Intelligent voice interactive full-automatic bathing machine |
| CN111920322B (en) * | 2020-07-09 | 2021-10-29 | 北京石油化工学院 | Intelligent voice interactive full-automatic bathing machine |
| CN114376430A (en) * | 2020-10-22 | 2022-04-22 | 湖北职业技术学院 | Double-gear rolling and rubbing massage liquid squeezing device |
| CN112545340A (en) * | 2020-12-10 | 2021-03-26 | 成都大学 | Bathing chair |
| CN112704419A (en) * | 2020-12-30 | 2021-04-27 | 安徽科技学院 | Bathing device |
| CN112568576A (en) * | 2021-01-04 | 2021-03-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Hindbrain massage arm and shampoo machine |
| CN112568574A (en) * | 2021-01-04 | 2021-03-30 | 哈工大机器人(中山)无人装备与人工智能研究院 | Hand massage and hair washing machine |
| CN112568576B (en) * | 2021-01-04 | 2022-10-25 | 哈工大机器人(中山)无人装备与人工智能研究院 | Hindbrain massage arm and shampoo machine |
| CN113303687A (en) * | 2021-06-17 | 2021-08-27 | 廖勋园 | Intelligent supplementary bathing ware of endowing |
| CN113303687B (en) * | 2021-06-17 | 2023-08-08 | 湖南省康尔乐养老产业发展有限公司 | Intelligent type aged-care auxiliary bathing device |
| CN113843080A (en) * | 2021-11-02 | 2021-12-28 | 安徽达必立新能源科技有限公司 | Paint spraying device for manufacturing wind power generation tower drum |
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Application publication date: 20190215 |