CN205255015U - Intelligence footherapy massage and service robot that keeps a public place clean - Google Patents

Abstract

The utility model discloses an intelligence footherapy massage and service robot that keeps a public place clean, its autonomic moving platform unit, intelligent seat platform unit and robot main part unit that sets up including the integration, intelligence seat platform unit and robot main part unit are all installed independently on the moving platform unit. Intelligence seat platform unit includes seat bottom plate, backrest and at least a seat adjustment module. Robot main part unit is including keeping a public place clean the executable module, user sole data acquisition memory, massage executable module, power module and electronic control module etc.. Independently the moving platform unit includes the platform base member, removal wheel, external environment condition monitoring sensing sensor etc.. The utility model discloses a functions such as intelligence footherapy massage and service robot that keeps a public place clean has the health care concurrently, the service of keeping a public place clean, and still can be given a series of intelligent functions, extensive service using value and wide market prospect consequently have.

Description

Intelligent foot massage massage and clean-keeping service robot

Technical field

The utility model relates to a kind of robot system, particularly a kind of Intelligent foot massage massage and clean-keeping service robot.

Background technology

In traditional pattern of life, the cleaning of household, office space is all to complete by manual type, and it takes time and effort,Be difficult to adapt to the life of modernization fast pace. For this reason, industry has worked out multiple clean robot, and it really can be to a certain degreeUpper minimizing user's the amount of labour, but its often expensive, function ratio is more single, cannot provide more service for user.

On the other hand, modern fast pace life, work, also cause people to give more concern to the health care of self. ItsMiddle a kind of comparatively main health care mode is foot soaking and massage. But the foot soaking and massage of main flow still taking specialist or technician manual massage asMain, due to related Chinese medicine meridian theoretical side knowledge, technician's professional skill level is had relatively high expectations, experience level etc. artificially because ofElement comprises that judgement, massage manipulation and the massage force etc. to acupuncture point point all directly have influence on foot soaking and massage effect, so in pedicureThe requirement of massage appliance exploitation aspect and difficulty are higher. And existing foot-therapy massage apparatus, it mostly only limits to by simple actionActuator is realized the massaging action to foot, is a kind of wide in range formula massage, does not realize point-to-point the pressing in acupuncture point trulyRub, the effect of its traditional Chinese medical science acupoint of foot health care massage does not fully demonstrate; In addition, existing massage device for foot is only by pressingRub action motor or actuator outsourcing flexible material, realize and the flexible contact of foot, and its massaging action and dynamics are the lists that stylizesOne is changeless, do not have massage force regulatory function truly. The more important thing is existing massage device for foot functionSingle, be also difficult to meet the demand of household services class apparatus for individualized intelligentization service.

Summary of the invention

Main purpose of the present utility model is to provide the massage of a kind of Intelligent foot massage and clean-keeping service robot, its have concurrently personalization,Intelligentizedly keep a public place clean, the function such as health care, thereby overcome the deficiencies in the prior art.

For realizing aforementioned goal of the invention, the technical solution adopted in the utility model comprises:

The utility model embodiment provides the massage of a kind of Intelligent foot massage and clean-keeping service robot, and it comprises integrated settingAutonomous platform unit, Intelligent seat platform unit and robot body unit, described Intelligent seat platform unit and robotMain unit is installed on described autonomous platform unit;

Described Intelligent seat platform unit comprises seat plate, backrest and is connected with described seat plate and/or backrestSeat adjustment module, described seat adjustment module comprises that chair angle guiding mechanism, seat-raising mechanism, seat are foldingAnd any one or two or more combinations in angle adjustment supporting mechanism, backrest length adjustment mechanism:

Described robot body unit comprises the Executive Module of keeping a public place clean, user vola data acquisition memory, massage Executive Module, washesProtect basin, power module and electronic control module, described power module and described Intelligent seat platform unit, described robot body unitWith the each power-jdriven gear electrical connection in described autonomous platform unit, and described electronic control module and described Intelligent seat platformThe controlling organization of the each power-jdriven gear in unit, described robot body unit and described autonomous platform unit is connected;

Described autonomous platform unit comprises platform matrix, for driving at least one active universal wheel of described platform matrix, withAt least one driven universal wheel that described active universal wheel coordinates and external environment condition monitoring detecting sensor, described active universal wheel and outerPortion's environmental monitoring detecting sensor is all connected with described electronic control module.

Further say, the function of various functional modules is as follows:

Chair angle guiding mechanism, at least in order to adjust the angle between seat plate and backrest;

Seat-raising mechanism, at least in order to adjust the height of described Intelligent seat platform unit;

Seat folds and angle adjustment supporting mechanism, at least in order to seat plate and backrest are folded to form to integrative-structure;

Backrest length adjustment mechanism, at least in order to the length of adjusting seat chair back;

The Executive Module of keeping a public place clean, at least in order to carry out dust suction and/or to drag and wash action,

User vola data acquisition memory, at least in order to gather user vola data, described user vola data comprise user's footThe crucial acupuncture point distributed intelligence in the end,

Massage Executive Module, at least in order to carry out according to described user vola data the action that user's foot is massaged,

Wash and protect basin, at least in order to user's foot is washed and to be protected,

Power module, at least in order to the each electric driver mechanism power supply in described robot,

Electronic control module, at least in order to control the duty of the each electric driver mechanism in described robot.

Comparatively preferred, the integrative-structure being folded to form by described seat plate and backrest is the block with smooth upper surface.

Comparatively preferred, described robot body unit comprises:

Support casing be installed, in order to the Executive Module of keeping a public place clean described in accommodating, user vola data acquisition memory, massage Executive Module,Wash and protect basin, storage tank, power module and electronic control module;

Push actuator, at least in order to keep a public place clean Executive Module, user vola data acquisition memory and wash and protect basin described in ordering aboutIn any one in casing is installed in described support, free in and out and adjust this any one position.

Comparatively preferred, described support is installed casing and is located in robot body's shell, and described robot body's shell front end alsoBe provided with one and can protect with washing the peristome that basin frees in and out for described user vola data acquisition memory.

Comparatively preferred, described user vola data also can comprise vola size profile information.

Comparatively preferred, described robot body unit also comprises storage tank, at least in order to lay in water, and with the described execution of keeping a public place cleanModule is communicated with.

Comparatively preferred, described in wash and protect basin and there is the water-bath structure corresponding with user vola contour curve, and described in wash that to protect basin built-inWater temperature regulation device and temperature sensor, described water temperature regulation device is connected with electronic control module with temperature sensor.

Comparatively preferred, wash described in integrated being located at of described massage Executive Module and protect basin pelvic cavity bottom, and described in wash to protect and in basin, be provided with toolHave the strong flexible membranes material of waterproof anti-corrosion characteristic, described strong flexible membranes material is coated on described massage Executive Module.

In some embodiments, described robot body unit also comprises storage tank, at least in order to lay in water, and with described guarantorClean Executive Module is communicated with.

In some embodiments, described robot body unit also can comprise container body of hot water, described storage tank (cold water casing)And be provided with heat insulation structural between container body of hot water, described container body of hot water has insulation construction, and in described container body of hot water, dispose and instituteState heater and cooling-water temperature sensor that electronic control module connects, described container body of hot water and washing protects and between basin, is also provided with steam passage,Described steam passage with described in wash the sweat that protects in basin and steam hole and be communicated with.

In some comparatively preferred embodiments, described in wash and protect basin upper part integrated and be provided with the water-bath with heat insulation structure and addHot chamber, the built-in heater in described heating water bath chamber and cooling-water temperature sensor, described heating water bath chamber and wash to protect between basin inner chamber and pass throughWater channel and/or steam channel are connected. For example, can protect basin upper part integrated and form a ringwise heating water bath chamber in described washing.

Further, described external environment condition monitoring detecting sensor comprises camera, infrared sensor, sonar sensor, laserAny one in alignment sensor or two or more combinations, but be not limited to this.

Further, described power module comprises energy-storage units, the energy that described energy-storage units comprises battery and coordinates with described batteryAmount administration module.

Further, the massage of described Intelligent foot massage and clean-keeping service robot also comprise and are integrated in autonomous platform unit and/or intelligenceAt least one function expanding module, described function expanding module and described electricity in energy seat platform unit and/or robot body unitControl module connects, and described function expanding module comprises speech control module, navigation module, wireless communication module, safe early warningAny one in module, warning function module or two or more combinations, but be not limited to this.

Compared with prior art, advantage of the present utility model comprises: this Intelligent foot massage massage and clean-keeping service robot are at system collectionBecome structural design aspect to there is dexterous convenient and modularization extensibility, aspect integrated functional module, have simultaneously foot wash protect,Sweat steams the functions such as physiotherapy, point massage and nuclear family clean-keeping service, and also gives one Series Intelligent function, as temperatureRegulate, massage force regulates, voice tell people to carry out orders that control, wireless remote control, independent navigation move, automatic obstacle-avoiding, self-service charging add water withAnd the additional value-added functionality such as the clean-keeping function such as autonomous dust collecting and floor mopping and other safe early warnings, long-distance video call, voice-enabled chat,Therefore have and serve widely using value and wide market prospects.

Brief description of the drawings

Fig. 1 is a kind of Intelligent foot massage massage and the structure of clean-keeping service robot in the time of collapsed state in the utility model one embodimentSchematic diagram;

Fig. 2 is a kind of Intelligent foot massage massage and the structure of clean-keeping service robot in the time of deployed condition in the utility model one embodimentSchematic diagram;

Fig. 3 is the decomposition texture schematic diagram of the massage of a kind of Intelligent foot massage and clean-keeping service robot in the utility model one embodiment;

Fig. 4 is the structural representation of a kind of Intelligent seat platform unit in the utility model one embodiment;

Fig. 5 is a kind of autonomous platform unit and wash the package assembly schematic diagram that protects basin in the utility model one embodiment;

Fig. 6 a-Fig. 6 b a kind ofly in the utility model one embodiment massages Executive Module and washes the package assembly schematic diagram that protects basin;

Fig. 7 is a kind of structural representation that protects basin of washing in the utility model one embodiment;

Fig. 8 is a kind of structural representation that protects basin internal water channel of washing in the utility model one embodiment;

Fig. 9 is a kind of structural representation of massaging Executive Module in the utility model one embodiment;

Figure 10 is the structural representation of another kind of massage Executive Module in the utility model one embodiment;

Figure 11 a-Figure 11 d is respectively the fundamental diagram of massaging Executive Module in the utility model one embodiment.

Detailed description of the invention

Before detailed description of the invention is set forth, be necessary to emphasize, in the utility model, unless separately had clear and definiteRegulation and restriction, the terms such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and for example, can be solidFixed connection, can be also to removably connect, or integral; Can be mechanical connection, can be also electrical connection; Can be directBeing connected, also can being indirectly connected by intermediary, can be that the connection of two feature inside or the interaction of two features are closedSystem. For the ordinary skill in the art, can understand as the case may be the tool of above-mentioned term in the utility modelBody implication.

In the utility model, unless otherwise clearly defined and limited, First Characteristic Second Characteristic " on " or D score can beFirst Characteristic directly contacts with Second Characteristic, or First Characteristic and Second Characteristic are by intermediary mediate contact. And, firstFeature Second Characteristic " on ", " top " and " above " but First Characteristic directly over Second Characteristic or oblique upper, or onlyRepresent that First Characteristic level height is higher than Second Characteristic. First Characteristic Second Characteristic " under ", " below " and " below " can beFirst Characteristic is under Second Characteristic or tiltedly, or only represents that First Characteristic level height is less than Second Characteristic.

In description of the present utility model, it will be appreciated that, term " " center ", " longitudinally ", " laterally ", " length ", " width "," thickness ", " on ", the finger such as D score, 'fornt', 'back', " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward "The orientation showing or position relationship, for based on orientation shown in the drawings or position relationship, are only the utility model and letter for convenience of descriptionChange and describe, instead of indicate or imply that the device of indication or element must have specific orientation, construct and behaviour with specific orientationDo, therefore can not be interpreted as restriction of the present utility model. In addition, term " first ", " second " be only for describing object, andCan not be interpreted as instruction or hint relative importance or the implicit quantity that indicates indicated technical characterictic. Be limited with thus, " theOne ", one or more these features can be expressed or impliedly be comprised to the feature of " second ". In description of the present utility model,The implication of " multiple " is two or more, unless otherwise expressly limited specifically.

In the description of this description, reference term " embodiment ", " some embodiment ", " example ", " concrete example " orSpecific features, structure, material or feature that the description of " some examples " etc. means to describe in conjunction with this embodiment or example are contained inIn at least one embodiment of the present utility model or example. In this manual, must pin to the schematic statement of above-mentioned termRight is identical embodiment or example. And, specific features, structure, material or the feature of description can any orIn multiple embodiment or example with suitable mode combination. In addition, not conflicting in the situation that, those skilled in the artThe feature of the different embodiment that describe in this description or example and different embodiment or example can be carried out to combination and combination.

A kind of Intelligent foot massage massage providing in embodiment more of the present utility model and the clean-keeping service robot (following " machine that is called for shortPeople "), its main feature is its integrated morphology and function Integration of Extended design aspect.

Described integrated morphology, it mainly comprises Intelligent seat platform unit (being called for short automatic base), robot body unit (is called for shortRobot body) and autonomous platform unit (abbreviation mobile platform).

Described function Integration of Extended design, mainly comprises basic foot-therapy massage and basic clean-keeping service function, and User DefinedExpanded function.

At some comparatively in specific embodiment, described Intelligent seat platform unit, robot body unit and autonomousThis three's structure correlation of platform unit can, for for being robot body on mobile platform, be again Intelligent seat on it.

Further, described Intelligent seat platform unit can have collapsible, angle pose and height adjustment and backrest length fromThe functions such as moving adjusting, pack up to save space or use as other object disposing platforms to make to fold in the time that robot dormancy is not used.And, described Intelligent seat platform unit also can according to the sitting posture characteristic information of different user of storage, automatic Memory is adjusted toAdapt to the height of each user's sitting posture, pose angle and backrest length, also can arbitrarily adjust comfortable sitting posture according to user's request.The realization of these functions, can by seat plate and backrest, arrange pressure, highly, apart from monitoring sensor etc., andCoordinate the electronic control module in robot body unit and reach.

Described robot body unit has scalable extension characteristic, and its integration module mainly comprises the Executive Module of keeping a public place clean and (for example inhalesThe dirt actuator of keeping a public place clean that mops floor, or be called for short the actuator of keeping a public place clean), (for example user vola data acquisition of user vola data acquisition memoryMemory plane), massage Executive Module (for example massaging actuator), washes and protects basin, storage tank and supporting power module (for example storageEnergy module) and electronic control module, and other can Integration of Extended module.

Preferably, described user vola data acquisition memory, massage actuator and wash and protect basin and all there is the characteristics such as horizontal extension,Can automatically stretch in use from described robot body unit and release, and automatic retracted takes in to save space in the time not using.The realization of these functions, can reach by horizontal extension driving mechanism, height adjustment mechanism and corresponding guiding mechanism etc.

In some better embodiments, wherein massage actuator and wash and protect basin by integrated structural design, can be simultaneously completeBecome expanding-contracting action.

In some embodiments, described in the actuator of keeping a public place clean there is dust suction, drag and the basic clean-keeping function such as wash, and have according to userDemand automatic deploying and retracting function.

In some better embodiments, described user vola data acquisition memory has automatic stretching, extension function (can described machineIn human agent unit, freely stretch out or retraction, and carry out position adjustment, the realization of these functions, can stretch by level equallyContracting driving mechanism, height adjustment mechanism and corresponding guiding mechanism etc. are reached), can obtain user vola data as vola size profileDeng, particularly obtain the crucial acupuncture point distributed intelligence in user vola by acupuncture point recognition methods, contribute to massage executing agency right accordinglyUser's acupoint of foot is accurately massaged, and produces better health-care effect. Postscript, described user vola data acquisition memory alsoCan be to the storage of classifying of different user acupoint of foot distributed data, being beneficial to follow-uply better provides health care massage clothes for different userBusiness.

Concrete, described user vola data acquisition memory (for example can be described as data acquisition memory plane) can be furnished with vola scanningSensor and corresponding memory module etc., it all coordinates with the electronic control module in robot body unit. It is in user vola informationGather storage complete, data acquisition memory plane again can automatic retracted income.

In some embodiments, the use of the major function of described massage actuator for obtaining according to vola data acquisition memoryThe crucial acupuncture point distributed intelligence in vola, family, by special acupuncture point Dian Wei massaging action executing agency, completes point massage accurately,Also there is massage force control and regulation function simultaneously.

In some embodiments, described in wash the water-bath structure of protecting basin and meet vola contour curve, make foot as far as possible comfortable, and jointEconomize water consumption.

In some embodiments, described in wash and protect the built-in water temperature regulation device of basin (for example heater), dispose temperature simultaneously and passSensor, can feed back to electronic control module by coolant-temperature gage, so that automatic water temperature regulation.

In some embodiments, described in wash and protect channel structure and the sweat that basin has and steam hole, with and with massage actuator itBetween the antiseep and the superpower flexible film barrier film of anticorrosion that have, the function that can there is sweat in massage and steam bubble foot care,Obtaining bubble pin, nursing, sweat steaming and massage etc. with minimum water consumption fully experiences.

In some better embodiments, described in wash to protect and in basin, there is independently heating water bath chamber, it is positioned at washes that to protect basin more topPosition, thus ensureing that the hot water in heating water bath chamber can directly utilize Action of Gravity Field to flow to wash protects basin and without extra water pumper pump pressureDevice. Heating water bath is equipped with heater in chamber, and heater adopts the heating tube along heating water bath chamber annular spread. Water-bathHeating chamber built-in temperature sensor, is convenient to carry out temperature detection and control. In addition, for saving heating power consumption, heating water bath chamberAdopt INSULATION DESIGN, once heating can ensure to wash that to protect water in basin bath temperature suitable for a long time.

In some better embodiments, described independent heating water bath chamber is provided with water inlet, while being convenient in chamber water shortage, mendsFill and add water. Meanwhile, the water channel design that basin inside has is protected with washing in independent heating water bath chamber, can make the hot water in heating water bath chamber logicalThe aperture of crossing basin liner edge flows in basin. And between heating water bath chamber and water in basin passage, there is check valve, only open when neededOpen valve and discharge hot water in basin. In addition, wash and protect basin and be provided with discharge outlet, be convenient in basin waste water emptying.

Among some embodiments, described in wash protect that the relative position height of basin and described Intelligent seat platform unit bottom is adjustable (canWith by protecting the height adjustment mechanism of basin or Intelligent seat platform unit matching and realize with described washing), long to adapt to different user legDifferent characteristics, is adjusted to suitable relative altitude, ensures massage effect.

Among some embodiments, described storage tank is mainly used in laying in the actuator required water of keeping a public place clean that mops floor in right amount.

Among some better embodiments, described storage tank divides cold water casing and container body of hot water, and both have heat insulation structural. InstituteState in container body of hot water configuration heater and there is insulation construction, and in have cooling-water temperature sensor, be convenient to monitoring and control boilerHeating-up temperature.

Among some better embodiments, described container body of hot water and washing protects between basin by steam passage, and heating is producedSteam suitably protect in basin sweat and steam hole and discharge by washing after cooling by air flue.

Among some embodiments, described autonomous platform unit has Omni-mobile characteristic, and also may be configured with external ringsBorder monitoring detecting sensor as camera, infrared sensor, sonar sensor, laser positioning sensor etc. wherein one or more,Can monitor processing to environmental information, and can work in coordination with described electronic control module, independently move based on map structuring and independent navigation realizationThe tasks such as moving, automatic obstacle avoiding.

Among some embodiments, described power module can be connected with external power, also can comprise energy-storage units, further, described energy-storage units can comprise battery (battery or batteries) and energy management module thereof, and institute of robot is mainly providedNeed electricity consumption, and there is Charge Management, the basic energy management functionality such as power consumption prompting.

Among some embodiments, described electronic control module is mainly in order to complete the control of robot all functions, as basic pedicureThe control of massage and basic clean-keeping service function, mainly comprise foot wash protect, sweat steaming, temperature adjusting, point massage, massage forceRegulate and charging control, independent navigation moves, automatic obstacle-avoiding, voice control etc.

Among some embodiments, described robot also can integrated functionality Integration of Extended module, with realize voice tell people to carry out orders control,Wireless remote control, independent navigation move, automatic obstacle-avoiding, self-service charging add water and autonomous dust collecting and floor mopping is kept a public place clean etc.

Further, among some embodiments, described robot also can integrated User Defined function expanding module, with realityNow and contain the functions such as safe early warning, long-distance video call, long-range Indoor Video, anti-theft early-warning.

Should be understood that, in aforesaid description, if not special instruction, such as telescopic drive mechanism, height adjustment mechanism,Angle adjusting mechanism, heater, guiding mechanism etc. all can be chosen from the known adequate types of industry, for example, and itsMiddle electronic control module can adopt the realizations such as PLC, MCU or surface-mounted integrated circuit.

In order to make the technical solution of the utility model clearer, below in conjunction with accompanying drawing, to better enforcement more of the present utility modelExample is described in further detail. Should be appreciated that specific embodiment described herein is only for explaining the utility model, and need notIn limiting the utility model.

Refer to shown in Fig. 1, Fig. 2, a kind of Intelligent foot massage massage and clean-keeping service robot that the utility model one embodiment provides,Mainly comprise automatic chair 1, robot body 2 and mobile platform 3, this three arranges from the top down successively.

Refer to shown in Fig. 3-Fig. 4, in an embodiment of the present utility model, described automatic chair 1 mainly comprises backrest 11,Seat plate 12, chair angle guiding mechanism 13, the folding and angle adjustment supporting mechanism 14 of seat etc. Wherein, chair angle is adjustedComplete machine structure 13, the folding and angle adjustment supporting mechanism 14 of seat etc. can adopt the known various adequate types of industry. For example,For preferably, can choose the actuator that electric rotating machine is chair angle guiding mechanism, it mainly comprises end cap 131, electric rotating machine132, shaft coupling 133, bearing 134, rotating shaft 135. This chair angle guiding mechanism 13 is located at backrest 11, seat plate 12Between, in the time of work, order about backrest 11 by electric rotating machine and relatively rotate with seat plate 12, capable of regulating is between the twoAngle. In addition, on this automatic chair, also can connect height adjustment mechanism, to adjust height of seat. Postscript, wherein seat foldingFolded and angle adjustment supporting mechanism 14 can be the movable rod mechanism that handrail and the connecting rod that coordinates with handrail etc. fit in, seat bottomPlate 12 both sides can be furnished with symmetrical projection portion, and in the time that this movable rod mechanism folds completely, armrest part and backrest all fit to seatOn chair base plate, and substantially concordant with projection portion, thus form a flat configuration.

By previous designs, make described automatic chair 1 first there is in use foldable properties, can in the time not using, fold receiptsWork to save space, simultaneously seat back adopts smooth design, facilitates its folding packing up to use as other object disposing platforms afterwards.

In addition, secondly described automatic chair 1 also has backrest length and adjustable angle characteristic, can sit according to different user heightAppearance demand is adjusted to comfortable sitting posture.

Refer to Fig. 3, Fig. 5 etc., in an embodiment of the present utility model, described robot body's part 2 mainly comprises: collection is washedProtect, the function such as sweat steaming, massage protects basin 21 in washing of one, user vola information scanning collector 22 (, user vola dataAcquisition memory), push guiding and supporting mechanism 23, the cleaner 24 that mops floor, casing 25 is installed in robot body's shell and support,Integrated control testing circuit plate 26 (being electronic control module) and robot body's front apron 27 etc. Comparatively preferred, described machineHuman agent's front apron 27 also can omit, and protects outer face and described robot body's shell of basin 21 and supports peace and wash described in can utilizingThe peristome of vanning body 25 front ends coordinates.

For the experience of satisfying personalized service, in the time of first use, user need to set own essential information, preserves simultaneouslyVola information, as information such as foot profile sizes. More preferably, adopt the mode of foot profile scan to determine that user's foot profile is largeLittle. First, wash and protect basin 21 and first rise with user vola information acquisition device 22, treat user vola information acquisition device 22 lower flatRise to and push guiding and supporting mechanism 23 equal altitudes, sending by pushing guiding and supporting mechanism 23, treating that user's both feet are positioned overOn the scanning board of vola information acquisition device 22, start scan function and obtain the information such as user's foot profile size. Based on this information,Different pin types and foot profile size are mated, and in conjunction with traditional Chinese medical science vola meridian theory, obtain crucial acupuncture point, vola and divideButut, and it is preserved for a long time. When each new user uses, only need carry out crucial acupuncture point, scanning acquisition vola, a vola and distributeFigure, vola information acquisition device can be regained by delivery device afterwards, washes and protects basin 21 and user vola information acquisition device 22 together at presentFall, to be washedly moved when protecting basin 21 base plane and pushing guiding mechanism 23 equal altitudes. For same user, afterwards willNo longer need to regain Pelma acupuncture points distribution map with vola information acquisition device.

As the one in better specific embodiments, refer to Fig. 6 a-Fig. 6 b and show, its description a kind of washes the formation shape of protecting basin 21Formula mainly comprises massage actuator 211, washes and protects sweat steaming basin 212 and wash and protect sweat steaming basin cover plate 213 etc.

As the one in better specific embodiments, refer to shown in Fig. 6 a-Fig. 6 b, the one massage actuator of its description is mainFormed by active translation joint and passive rotation joint, comprise initiatively linearly operating device 2111, passive rotation joint 2112, straightLine guide rail 2113, fixed hinge passive rotation joint 2114, initiatively linearly operating device 2115 and end massaging action actuator2116。

As the one in better specific embodiments, refer to shown in Fig. 7, Fig. 8, the one of its description wash protect sweat steam basin compriseWash and protect substrat structure 2121 in basin, the foot locating area 2122 of the suitable vola curved surface of profilingization design, apopore and sweat steam hole2123, heating water bath chamber 2124, heater 2125 and aquaporin 2126.

As the one in better specific embodiments, refer to shown in Fig. 6 a-Fig. 6 b, described in wash and protect sweat and steam basin cover plate 213 and haveCertain dough deformation characteristic, and leave and be applicable to the opening 2131 that both feet are put into by contoured design.

In addition, refer to Fig. 5, described robot body's part 2 also includes battery energy storage unit 28 (abbreviation energy-storage units),And wash protect basin push actuator 29 (as electronic, Pneumatic extension driving mechanism etc.) and corresponding push guiding mechanism 210 (asSlide block-guide rail structure).

Using pedicure to wash while protecting massage functions, wash and protect basin 21 and send by pushing guiding mechanism 23, user need put into both feet respectivelyFoot locating area 2122 parts are to determine the reference position of massage actuator 211. More preferably, in the present embodiment, utilize both feet tenToe carries out reference location, in view of preserving the information such as user vola profile and size, when user's both feet ten toes are put into foot locationThe ten toe regions that region 2122 parts are corresponding, can directly know user's both feet double-legged actual area scope in massage basin. TherebyCan determine reference position and the action executing regional extent of massage actuator 211. Utilize user's Pelma acupuncture points of having preserved to divide simultaneouslyCloth information is given as the some position information reference of massaging action actuator 211. This embodiment can realize for different user relativelyPersonalized Pelma acupuncture points point position massage functions.

As the one in better specific embodiments, the active linearly operating device 2111 in massage actuator 211 is selected linear electric motorsAs actuator, line slideway 2113 selects linear electric motors as actuator with active linearly operating device 2115, end massage in additionActuator 2116 is chosen a kind of linearly operating device simultaneously with straight-line feed action and spinning movement, and massaging action is carried outDevice straight-line feed distance has position limitation protection, in case the excessive foot discomfort that causes of inadvertent depression power.

For ensureing to massage preferably sense of touch, described massaging action actuator 2116 outsides can be set with flexible material, as silica gel, and rubberDeng. Meanwhile, the flexible material top internal layer of massaging action actuator 2116 tops and overcoat is provided with pressure sensor, for inspectionSurvey massage force, be convenient to carry out massage force adjusting, be convenient to carry out the excessive protection of massage force simultaneously.

As the one in better specific embodiments, for ensureing to massage preferably sense of touch, wash that protecting the employing of basin liner bottom has anti-The strong flexible membranes material (as silica gel) of water anti-corrosion property. Be placed on for fear of user's both feet the basin liner foot portion that protects of washing simultaneouslyLocating area causes causing compared with large deformation massage actuator reference location to be forbidden to cause pressing acupuncture point and is forbidden, and washes and protects substrate in basinAttached note one deck obdurability film (as cored silk) again below portion's water-tight corrosion-proof pliable material and between massaging action actuator contact-making surface.

More preferably, consider long-term use wholesomeness and substrate film material aging reliability, wash and protect substrate both feet locating area in basinWaterproof anti-corrosion tough film adopts replaceable design, washes to protect basin liner bottom and adopt special waterproof and antiseepage to withhold design, ensuresChange the fire resistance characteristic after backing material.

As the one in better specific embodiments, to wash to protect in basin 21 and there is independently heating water bath chamber 2124, it is positioned to wash and protectsThe position that basin is more top, thus ensureing that the hot water in heating water bath chamber can directly utilize Action of Gravity Field to flow to wash protects basin and without additionallyWater pumper pump pressurizing unit. Heater 2125 is housed in heating water bath chamber 2124, and more preferably, heater adopts along heating water bathThe heating tube of chamber annular spread, also can take other heater with equal efficiency and distribution modes. Meanwhile, in order to controlBath temperature processed is suitable, and heating water bath chamber built-in temperature sensor is convenient to carry out temperature detection and control. In addition add for saving,Hear rate electric weight, heating water bath chamber adopts INSULATION DESIGN, and once heating can ensure to wash that to protect water in basin bath temperature suitable for a long time.

Described independent heating water bath chamber is provided with water inlet, while being convenient in chamber water shortage, supplementing and adds water. Meanwhile, independent water-bathHeating chamber protects basin inside and has the design of special water channel with washing, and can make hot water in heating water bath chamber by the aperture at basin liner edge2123 flow in basin. And between heating water bath chamber and water in basin passage, have check valve, only Open valve is released in basin when neededPut hot water. In addition, wash and protect basin and be provided with discharge outlet, be convenient in basin waste water emptying.

As other forms of specific embodiment, massage actuator 211, except adopting as shown in Figure 9 version, also can be adoptedWith symmetric double actuator structure as shown in figure 10. It is only several specific embodiment modes that massage described in figure is carried out, but is not limited to thisStructure. In principle, the massage actuator with equal Acupressure function all belongs to the utility model protection domain, as Figure 11 a-Other several embodiments shown in Figure 11 d and derive on this basis distortion massage implementation all at the utility modelWithin protection domain.

As the one in better specific embodiments, for making full use of robot Omni-mobile characteristic, described in the cleaner 24 that mops floorCan adopt three limits as shown in Figure 3 to surround distribution form, in effectively utilizing mobile platform bottom space, ensure along each sideDuring to movement, can both ensure the large as far as possible area that mops floor. The described actuator of keeping a public place clean is separately furnished with the storage tank that contains a small amount of water, forThe actuator of keeping a public place clean provides wetting and watering in right amount. Also can utilize and wash that to protect in basin the mop floor actuator of keeping a public place clean of recirculated water wetting and suitableAmount watering. The described actuator of keeping a public place clean carries out modular interface design, can carry out dismounting and change according to user's request, simultaneously alternative guarantorClean actuator mops the floor, dust catcher etc.

As the one in better specific embodiments, described robot control unit (electronic control module 26) mainly completes robotThe control of all functions, carries out and controls as massage, and dust collecting and floor mopping is kept a public place clean to carry out and controlled, and temperature regulates to be controlled, and charging is controlled, fromLeading boat is mobile, automatic obstacle-avoiding, voice control etc.

As the one in better specific embodiments, described power module 28 comprises battery and EMS thereof, mainly carriesFor the required electricity consumption of robot, and there is Charge Management, the basic energy management functionality such as power consumption prompting. In addition also can directly connect,Enter in supply socket situation and work.

As the one in better specific embodiments, the movable pulley of described mobile platform 3 has Omni-mobile characteristic, can be complete flexiblyTo movement, ensure indoor flexible movement, comparatively preferred, wherein at least one movable pulley is universal wheel initiatively, and have at least one fromMoving universal wheel, by the driving of described active universal wheel and the cooperation of driven universal wheel, can realize the smooth and easy movement of mobile platform.Refer to Fig. 3, Fig. 5 etc., in an embodiment of the present utility model, described mobile platform 3 is mainly by can Omni-mobile four ten thousandForm to wheel 31,32,33,34 and installation frame 35 (also can think platform matrix) thereof. The wherein mobile speed of mobile platform 3Degree, direction etc., can be by the control of active universal wheel, and preferred, and it can also adjust self according to described ambient condition informationDuty, thus realize the function such as autonomous and automatic obstacle avoiding.

As the one in better specific embodiments, described autonomous platform cell location has external environment condition monitoring perception sensingDevice as camera, infrared sensor, sonar sensor, laser positioning sensor etc. wherein one or more, be convenient to environment to believeBreath is monitored processing, thereby is convenient to realize the task such as autonomous, automatic obstacle avoiding based on map structuring and independent navigation.

As the one in better specific embodiments, described robot has good function Integration of Extended characteristic, and it is substantially sufficientTreat massage and basic clean-keeping service function mainly comprise foot wash protect, sweat steamings, temperature adjusting, point massage, massage force adjusting,Voice tell people to carry out orders that control, wireless remote control, independent navigation move, automatic obstacle-avoiding, self-service charging adds water and autonomous dust collecting and floor mopping is kept a public place cleanDeng. In addition, also can according to User Defined expanded function can contain safe early warning, long-distance video call, long-range Indoor Video,The functions such as anti-theft early-warning.

The above embodiment has only expressed some embodiments of the present utility model, and it describes comparatively concrete and detailed, but notCan therefore be interpreted as the restriction to the utility model protection domain. It should be pointed out that for those skilled in the relevant artSay, not departing under the prerequisite of the utility model design and the concept of carrying, can also make some distortion, improve and similar spreading outRaw product invention, these all belong to protection domain of the present utility model. Therefore, the protection domain of the utility model patent should be with instituteAttached claims, summary of the invention explanation, detailed description of the invention and equivalence invention thereof are defined.

Claims (10)

1. Intelligent foot massage is massaged and a clean-keeping service robot, it is characterized in that comprising the autonomous platform list of integrated settingUnit, Intelligent seat platform unit and robot body unit, described Intelligent seat platform unit and robot body unit are all installedOn described autonomous platform unit;

Described Intelligent seat platform unit comprises seat plate, backrest and is connected with described seat plate and/or backrestSeat adjustment module, described seat adjustment module comprises that chair angle guiding mechanism, seat-raising mechanism, seat are foldingAnd any one or two or more combinations in angle adjustment supporting mechanism, backrest length adjustment mechanism:

Described robot body unit comprises the Executive Module of keeping a public place clean, user vola data acquisition memory, massage Executive Module, washesProtect basin, power module and electronic control module, described power module and described Intelligent seat platform unit, described robot body unitWith the each power-jdriven gear electrical connection in described autonomous platform unit, and described electronic control module and described Intelligent seat platformThe controlling organization of the each power-jdriven gear in unit, described robot body unit and described autonomous platform unit is connected;

Described autonomous platform unit comprises platform matrix, for driving at least one active universal wheel of described platform matrix, withAt least one driven universal wheel that described active universal wheel coordinates and external environment condition monitoring detecting sensor, described active universal wheel and outerPortion's environmental monitoring detecting sensor is all connected with described electronic control module.

2. Intelligent foot massage massage according to claim 1 and clean-keeping service robot, is characterized in that: by described seat bottomThe integrative-structure that plate and backrest are folded to form is the block with smooth upper surface.

3. Intelligent foot massage massage according to claim 1 and clean-keeping service robot, is characterized in that: the described master of robotBody unit comprises:

Support casing be installed, in order to the Executive Module of keeping a public place clean described in accommodating, user vola data acquisition memory, massage Executive Module,Wash and protect basin, storage tank, power module and electronic control module;

Push actuator, at least in order to keep a public place clean Executive Module, user vola data acquisition memory and wash and protect basin described in ordering aboutIn any one in casing is installed in described support, free in and out and adjust this any one position.

4. Intelligent foot massage massage according to claim 3 and clean-keeping service robot, is characterized in that: described support is installedCasing is located in robot body's shell, and described robot body's shell front end is also provided with one can supply described user vola data acquisitionCollection memory protects with washing the peristome that basin frees in and out.

5. Intelligent foot massage according to claim 1 massage and clean-keeping service robot, is characterized in that: described in wash and protect basin toolHave the water-bath structure corresponding with user vola contour curve, and described in wash and protect the built-in water temperature regulation device of basin and temperature sensor, instituteStating water temperature regulation device is connected with electronic control module with temperature sensor.

6. Intelligent foot massage is massaged and clean-keeping service robot according to claim 1 or 5, it is characterized in that: described massageExecutive Module is integrated to be washed described in being located at and protects basin pelvic cavity bottom, and described in wash to protect in basin and be provided with and there is the pliable and tough by force of waterproof anti-corrosion characteristicProperty membrane material, described strong flexible membranes material is coated on described massage Executive Module.

7. Intelligent foot massage massage according to claim 1 and clean-keeping service robot, is characterized in that:

Described robot body unit also comprises storage tank, at least in order to lay in water, and is communicated with the described Executive Module of keeping a public place clean;

And/or, described in wash and protect basin upper part integrated and be provided with the heating water bath chamber with heat insulation structure, in described heating water bath chamberPut heater and cooling-water temperature sensor, described heating water bath chamber is connected by water channel and/or steam channel with washing to protect between basin inner chamber.

8. Intelligent foot massage massage according to claim 1 and clean-keeping service robot, is characterized in that: described external environment conditionMonitoring detecting sensor comprise in camera, infrared sensor, sonar sensor, laser positioning sensor any one or twoCombination more than kind.

9. Intelligent foot massage massage according to claim 1 and clean-keeping service robot, is characterized in that: described power moduleComprise energy-storage units, the energy management module that described energy-storage units comprises battery and coordinates with described battery.

10. Intelligent foot massage massage according to claim 1 and clean-keeping service robot, is characterized in that: described intelligence footTreating massage and clean-keeping service robot also comprises and is integrated in autonomous platform unit and/or Intelligent seat platform unit and/or machineAt least one function expanding module in human agent unit, described function expanding module is connected with described electronic control module, and described functionExpansion module comprises in speech control module, navigation module, wireless communication module, safe early warning module, warning function moduleAny one or two or more combinations.