CN215423240U

CN215423240U - Vertical domestic hairdressing robot

Info

Publication number: CN215423240U
Application number: CN202120725323.2U
Authority: CN
Inventors: 田雪虹; 孙宁; 刘海涛; 吴志豪
Original assignee: Guangdong Ocean University
Current assignee: Guangdong Ocean University
Priority date: 2021-04-09
Filing date: 2021-04-09
Publication date: 2022-01-07
Anticipated expiration: 2031-04-09

Abstract

The utility model discloses a vertical household hair washing robot, which comprises a shell, a rotating device, a roller, a linear guide rail mechanism and a control system, wherein a groove-shaped washing pool is arranged on the front side surface of the shell, the inside of the washing pool is provided with a semicircular rotating device, the semicircular opening end of the rotating device faces downwards and is driven to rotate by a transmission mechanism arranged in the shell, the roller is further arranged in the washing pool through a second bearing, the roller is arranged on the shell at the opposite position of the semicircular opening end of the rotating device, the lower end of the washing pool is provided with a small opening part, the rear side surface of the shell is slidably arranged on the linear guide rail mechanism through a sliding block, the sliding block can adjust the height position of the shell through the linear guide rail mechanism, and the control system is arranged in the shell. The utility model has the advantages of simple operation, low price, small occupied space, safe cleaning, good effect and the like, and is more suitable for being placed in families.

Description

Vertical domestic hairdressing robot

Technical Field

The utility model belongs to the field of personal hygiene nursing robots, and particularly relates to a vertical household hair washing robot.

Background

With the improvement of living standards, people have a higher pursuit of quality of life, and it is desired to enjoy high-quality services without leaving a house for cleaning and sanitation of hair. When a hairdressing shop cleans hair, the hairdressing shop has many people and long waiting time, and the sterilization and sanitation in the shop are not good, so that the problems of bacteria cross infection and the like are easily caused.

Meanwhile, the hair washing robot arranged in the existing hair salon occupies a large space and is high in price, so that the hair washing robot cannot walk into thousands of households and can not walk into the lives of the public. Such as:

a hair washing machine is developed by SAROBOT SANu Nu Bo intelligent technology, the main body cleaning device of the machine is two swing arms, when the machine is operated, cleaning water is sprayed from water outlet nozzles on the two swing arms, and the cleaning water and pre-mixed shampoo are sprayed on the hair at high pressure. Meanwhile, the two swing arms rotate freely around the axis uninterruptedly, so that the whole head of a user can be cleaned, and the full-automatic hair washing machine does not contact the hair and the scalp, does not simulate finger operations such as kneading and massage in the manual hair washing process, and can not achieve a good cleaning effect only by simply depending on water flow for washing.

2. The hair washing machine that astronomical intelligence science and technology limited company researched and developed, the major structure of this machine is an annular washing arm, and two rows of contact gasbags are inlayed to inside, also are provided with the flushing hole simultaneously and are used for spraying clear water and shampoo. When the machine is operated, the hair scalp is contacted with the two rows of air bags, and the hair scalp is contacted and cleaned through the continuous pivoting of the cleaning arm and the contact type air bags, so that the hair washing operation process is completed. In addition, four air bag headrests in the cleaning water tank can play a role in supporting and protecting the head and the neck.

JACESLIN (Jerselin) air bag manipulator type hair washing machine has the potential safety hazard, and the safety is inevitably generated due to the direct contact of the air bag manipulator and the scalp. Secondly, the device has no universality. Because of the fixity of the cleaning air bag, the cleaning air bag can not be self-adapted to customers with different head sizes.

The hair washing machines respectively developed by the SAROBOT SANu Intelligent science and technology limited company and the astronomical Intelligence science and technology limited company have high cost and cannot be widely popularized in the market.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a vertical household hair washing robot which is simple to operate, low in price, small in occupied space, safe to clean, good in effect and the like, and is suitable for being placed in families.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the utility model provides a vertical domestic hairdressing robot, includes shell, rotary device, cylinder, linear guide mechanism and control system, the leading flank of shell is equipped with the washing pond of recess type, the inside of washing pond is equipped with and is semi-annular rotary device, and rotary device's semi-annular open end is down to drive by the drive mechanism who installs the inside at the shell and rotate, still be equipped with the cylinder through the second bearing in the washing pond, the cylinder is established on rotary device's semi-annular open end's the shell of relative position, the lower extreme of washing pond is equipped with miniature opening, establish on linear guide mechanism through slider slidable ground the trailing flank of shell, the slider can adjust the height position of shell through linear guide mechanism, the inside control system that is equipped with of shell.

Furthermore, the rotating device comprises an arc-shaped arm, a water outlet pipe, a shampoo outlet, a micro hydraulic cylinder and a kneading device, wherein four kneading devices are uniformly arranged on the wall body on the inner side of the arc-shaped arm through the micro hydraulic cylinder, and the water outlet pipe and the shampoo outlet are arranged on the wall body on the inner side of the arc-shaped arm.

Furthermore, the rubbing device comprises a rotating shaft, a connecting pin shaft and rubbing fingertips, the rotating shaft is connected with the micro hydraulic cylinder, the rotating shaft is connected with the two left and right rubbing fingertips which correspond to each other through the connecting pin shaft, and the micro hydraulic cylinder drives the rubbing fingertips to rotate through the rotating shaft.

Further, the arc-shaped arm is demarcated by the first rotating shaft, and the swing angle of the arc-shaped arm on the upper side of the demarcated line is 110 °, so that the working range of the arc-shaped arm is kept within the range of the top side of the head.

Furthermore, the rubbing fingertips are made of rubber materials, and pressure sensors are mounted inside the rubbing fingertips through springs.

Furthermore, the water outlet of the water outlet pipe faces the head direction, and a soft water pipe connected with the water outlet pipe is arranged inside the arm body of the arc-shaped arm and is connected with a water tap outside the arm body.

Further, a sewage discharge port is formed in the bottom side of the shell.

Further, drive mechanism includes first direct current motor, first bearing and first axis of rotation, first direct current motor installs the inside at the shell, first direct current motor's output shaft is connected with the epaxial second bevel gear of first axis of rotation through first bevel gear, first axis of rotation is connected with the shell through first bearing, and the tip of first axis of rotation is connected with the swivelling joint hole of arc arm, first direct current motor drives the reciprocating swing of arc arm through first axis of rotation.

Further, linear guide mechanism, including slider and slide rail, the slide rail is two tracks of erectting the setting that are parallel to each other, be equipped with a plurality of fixed orificess on the slide rail, the fixed orifices passes through self-tapping screw to be fixed in on the indoor wall, the slider is located on the slide rail and can slides from top to bottom along the track of slide rail, the slider has from the lockhole, and the slider cooperatees with corresponding lockhole on the slide rail through from the lockhole to realize opening or locking of slider and slide rail.

Further, control system, including chip, pressure sensor, driver and relay module, the chip respectively with pressure sensor, driver, relay module, LED display screen and power electric connection, the relay module is connected with solenoid valve control module, be equipped with the switch button on the driver.

The utility model has the advantages that:

(1) the space of the flushing tank is more universal. The head of the human body is an irregular sphere, the size of the space shape of the washing pool is designed according to the national standard of the head and the face size of the Chinese adult (GB/T2428-.

(2) Adopt semi-annular rotating arm formula rubber finger and cooperative control delivery port, can enough using water wisely, can guarantee the cleaning performance simultaneously.

(3) The end effector provided by the utility model adopts the rubbing fingertips made of rubber, simulates the process of rubbing hair and massaging head in a rotating mode, replaces the potential safety hazard problem existing in the direct contact of the existing air bag manipulator with scalp, and ensures that the rubbing becomes safer.

(4) The height of the robot is adjusted by the double-guide-rail device adopting the linear guide rail mechanism, so that the use of people with different heights can be met.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic side view of the housing of the present invention;

FIG. 3 is a schematic view of the rear side of the housing of the present invention;

FIG. 4 is a schematic view of the transmission mechanism of the present invention;

FIG. 5 is a schematic view of the arcuate arm structure of the present invention;

FIG. 6 is a schematic structural view of a kneading device according to the present invention;

FIG. 7 is a schematic view of the neck ring structure of the present invention;

FIG. 8 is a schematic view of the position of the sewage outlet at the bottom of the housing according to the present invention;

FIG. 9 is a schematic structural view of a linear guide mechanism according to the present invention;

FIG. 10 is a schematic perspective view of the present invention;

FIG. 11 is a schematic view of the drum drive system of the present invention;

FIG. 12 is a schematic diagram of a control system of the present invention.

In the figure: 1 shell, 2 slide rails, 3 rollers, 4 small opening parts, 5 arc-shaped arms, 6 water outlet pipes, 7 micro hydraulic cylinders, 8 rotating shafts, 9 connecting pin shafts, 10 rubbing finger tips, 11 sewage discharge ports, 12 first direct current motors, 13 first bevel gears, 14 second bevel gears, 15 first bearings, 16 first rotating shafts, 17 sliding blocks, 18 fixing holes, 19 self-locking holes, 20 corresponding locking holes, 21 rotating connecting holes, 22 rotating holes, 23 shampoo outlet ports, 24 second direct current motors, 25 third bevel gears, 26 fourth bevel gears, 27 second bearings and 28 second rotating shafts.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-12, a vertical household hair washing robot comprises a housing 1, a rotary device, a roller 3, a linear guide mechanism and a control system, wherein a groove-shaped washing tank is arranged on the front side surface of the housing 1, the washing tank is used for washing and kneading the head of a user, a semi-annular rotary device is arranged inside the washing tank, the semi-annular open end of the rotary device faces downwards and is driven to rotate by a transmission mechanism arranged inside the housing 1, the rotary device is used for kneading and massaging the top side of the head of the user, the roller 3 is further arranged inside the washing tank through a second bearing 27, the roller 3 is arranged on the housing 1 at the position opposite to the semi-annular open end of the rotary device, the roller 3 is used for kneading and massaging the back pillow position of the head of the user, and a small opening 4 is arranged at the lower end of the washing tank, the small opening part 4 is used as a neck-erection position entering position of a user, the rear side surface of the shell 1 is slidably arranged on the linear guide rail mechanism through a slide block 17, the slide block 17 can adjust the height position of the shell 1 through the linear guide rail mechanism so as to meet the use requirements of sitting or standing postures of people with different heights, and a control system is arranged in the shell 1.

The rotating device comprises an arc-shaped arm 5, a water outlet pipe 6, a shampoo outlet 23, a micro hydraulic cylinder 7 and a kneading device, wherein four kneading devices are uniformly arranged on the inner side wall body of the arc-shaped arm 5 through the micro hydraulic cylinder 7, the micro hydraulic cylinder 7 extends out of a rotating hole 22 of the arc-shaped arm 5, the water outlet pipe 6 and the shampoo outlet 23 are arranged on the inner side wall body of the arc-shaped arm 5, the micro hydraulic cylinder 7 can drive the kneading device to perform reciprocating rotation to knead and massage the head, and the micro hydraulic cylinder 7 can also adjust the pressure relative to the head during kneading and massage through telescopic operation so as to achieve the effect of enabling a user to feel comfortable.

The rubbing device comprises a rotating shaft 8, a connecting pin shaft 9 and rubbing fingertips 10, wherein the rotating shaft 8 is connected with a micro hydraulic cylinder 7, the rotating shaft 8 is connected with the two rubbing fingertips 10 which are mutually corresponding left and right through the connecting pin shaft 9, and the micro hydraulic cylinder 7 drives the rubbing fingertips 10 to rotate through the rotating shaft 8, so that the rubbing and massaging work on the head of a user is realized.

The arc-shaped arm 5 is delimited by a first pivot axis 16, and the arc-shaped arm 5 has a swing angle of 110 ° on the upper side of the delimiting line, so that the working range of the arc-shaped arm 5 remains within the top side range of the head.

The rubbing fingertips 10 are made of rubber materials, pressure sensors are mounted inside the rubbing fingertips 10 through springs, when the rubbing fingertips 10 work, the pressure sensors are used for detecting the pressing pressure of the rubbing fingertips 10 on the head and feeding the pressure back to the control system, and the control system can adjust the rubbing pressure and the continuous reciprocating motion of the rubbing fingertips 10 according to preset parameters.

The water outlet of the water outlet pipe 6 faces the head direction, a soft water pipe connected with the water outlet pipe 6 is arranged inside the arm body of the arc-shaped arm 5 and is connected with a water tap outside the arm body, and the shampoo outlet 23 is connected with a shampoo storage bottle arranged in the arc-shaped arm 5 through a pipeline.

The bottom side of the shell 1 is provided with a sewage discharge port 11 for discharging sewage for cleaning the head part, so as to achieve convenient centralized collection and treatment.

Small-size opening 4 is equipped with the neck circle, the neck circle laminating is inboard at small-size opening 4 for wear when wasing for the user to avoid sewage to flow into user's health from the collar mouth, the neck circle is the rubber materials preparation, and in order to adapt to different people's neck thickness problem, the neck circle has the multiple model of size simultaneously, for the alternative use.

The transmission mechanism comprises a first direct current motor 12, a first bearing 15 and a first rotating shaft 16, wherein the first direct current motor 12 is installed inside the shell 1, an output shaft of the first direct current motor 12 is connected with a second bevel gear 14 on the first rotating shaft 16 through a first bevel gear 13, the first rotating shaft 16 is connected with the shell 1 through the first bearing 15, the end part of the first rotating shaft 16 is connected with a rotating connecting hole 21 of the arc-shaped arm 5, the first direct current motor 12 drives the arc-shaped arm 5 to swing in a reciprocating mode through the first rotating shaft 16, and the reciprocating swing of the arc-shaped arm 5 is used for driving the kneading fingertips 10 to repeatedly massage and knead the head of a user in different angle ranges.

The linear guide rail mechanism comprises a sliding block 17 and a sliding rail 2, the sliding rail 2 is two rails which are vertically arranged in parallel, a plurality of fixing holes 18 are formed in the sliding rail 2, the fixing holes 18 are fixed on an indoor wall through self-tapping screws, the sliding block 17 is arranged on the sliding rail 2 and can slide up and down along the rails of the sliding rail 2, the sliding block 17 is provided with a self-locking hole 19, the sliding block 17 is matched with a corresponding locking hole 20 in the sliding rail 2 through the self-locking hole 19, therefore, the sliding block 17 and the sliding rail 2 are opened or locked, the position of the sliding block 17 can be adjusted by moving up and down along the sliding rail 2 when the sliding block is opened, and after the position is adjusted properly, a pin shaft can be inserted into the self-locking hole 19 in the sliding block 17 and the corresponding locking hole 20 in the sliding rail 2 to lock the sliding rail 2, so that the linear guide rail mechanism is suitable for being used by people with different heights.

The roller 3 is connected with a roller transmission system, and the roller transmission system drives the roller 3 to rotate.

The roller transmission system comprises a second direct current motor 24, a second bearing 27 and a second rotating shaft 28, the second direct current motor 24 is installed inside the shell 1, an output shaft of the second direct current motor 24 is connected with a fourth bevel gear 26 on the second rotating shaft 28 through a third bevel gear 25, the second rotating shaft 28 is connected with the shell 1 through the second bearing 27, the roller 3 is arranged on the second rotating shaft 28, and the second direct current motor 24 drives the roller 3 to rotate through the second rotating shaft 28.

The control system comprises a chip, a pressure sensor, a driver and a relay module, wherein the chip is respectively electrically connected with the pressure sensor, the driver, the relay module, an LED display screen and a power supply, the relay module is connected with an electromagnetic valve control module, and a switch button is arranged on the driver.

The chip adopts a singlechip of MCS-51 series 8031 and is used for collecting and analyzing pressure information of the pressure sensor and giving an instruction to the developed relay module;

and the pressure sensor is used for feeding back the detected pressure information to the chip.

The driver is used for driving the forward and reverse rotation of the direct current first direct current motor 12.

The relay module is used for controlling the on-off of a circuit of the electromagnetic valve control module, and the electromagnetic valve control module comprises a flushing water switch electromagnetic valve control module, a shampoo switch electromagnetic valve control module and a micro hydraulic cylinder 7 switch electromagnetic valve control module.

During operation, rub fingertip 10 and pass through pressure sensor, feed back the pressure information that detects to the chip, the chip adjusts the relay module through the collection analysis to pressure information, and the relay module comes control solenoid valve control module through the mode that adopts the circular telegram, if: the micro hydraulic cylinder 7 switches on and off the electromagnetic valve control module, and the pressure of the rubbing fingertips 10 is adjusted by adjusting the telescopic motion of the micro hydraulic cylinder 7. The forward and reverse rotation of the first dc motor 12 is driven by the driver L298N, the start and stop of the first dc motor 12 are controlled by the switch buttons, and the working time and status are displayed and output by the LED display screen.

And (3) controlling a system flow: when the switch key is pressed down, the time delay is 30 seconds for starting, whether the pressure of the rubbing fingertip 10 on the head is greater than 4 newtons or not is fed back through the pressure sensor, the movement of the rubbing fingertip 10 is stopped when the pressure is greater than 4 newtons, after the movement of the rubbing fingertip 10 is stopped, the forward rotation of the first direct current motor 12 is started, the shampoo switch electromagnetic valve control module is closed through the relay module controlled by the chip, and the washing water switch electromagnetic valve control module is switched on to enable the water outlet pipe 6 to start water spraying. After the first direct current motor 12 rotates forwards for 6S, stops rotating forwards and delays for 2S, the first direct current motor 12 starts rotating backwards and returns to the initial set parameter position, after repeated forward and reverse rotation circulation is carried out for 3 times, the shampoo switch electromagnetic valve control module is automatically opened, shampoo is extruded from the shampoo outlet 23, the first direct current motor 12 repeats the previous forward and reverse rotation actions once, the shampoo switch electromagnetic valve control module is closed, after the first direct current motor 12 repeats the previous forward and reverse rotation actions for 3 times, the hair washing is finished, and the program returns to initialization.

According to the utility model, the front of the head of a user is taken as the positive X direction, the head top is taken as the positive Y direction, the side surface of the head is taken as the direction Z, and the first direct current motor 12 is adopted to drive the semi-annular arc-shaped arm 5 to rotate in the direction Z. Because the household hair washing robot is arranged in a bathroom, the water inlet of the water hose is provided by the water faucet, and if the water pressure of the water hose is insufficient, a booster pump can be additionally arranged at the water outlet of the water faucet. .

The shell 1 of the hair washing robot is made of engineering plastics, the total height of the shell 1 is 570mm, the total width is 630mm, and the total thickness is 530 mm. The total height of the washing pool is 490mm, the width is 480mm, and the depth is 300 mm.

The rear half part of the shell 1 is also provided with a rectangular template as a control template, and the control template is connected with a control system and used for controlling the operation of the control system.

The semi-annular arc-shaped arm 5 can obtain a shell with the transverse distance of an inner ring of the semi-annular rotating arm being 295mm, the transverse distance of an outer ring being 445mm and the thickness inside the semi-annular rotating arm being 5mm according to the national head and face standard. Four miniature hydraulic cylinders 7 with the rotating shafts of 8 phi and 30mm are arranged inside and extend out of the rotating shaft holes.

It should be noted that, for those skilled in the art, modifications and equivalents may be made to the technical solution of the present invention without departing from the scope of the technical solution of the present invention.

Claims

1. The utility model provides a vertical domestic hairdressing robot which characterized in that: comprises a shell (1), a rotating device, a roller (3), a linear guide rail mechanism and a control system, wherein a groove-shaped flushing pool is arranged on the front side surface of the shell (1), the inside of the flushing pool is provided with the semi-annular rotating device, the semi-annular opening end of the rotating device faces downwards and is driven to rotate by a transmission mechanism arranged in the shell (1), the roller (3) is also arranged in the flushing pool through a second bearing (27), the roller (3) is arranged on the shell (1) at the relative position of the semi-annular opening end of the rotating device, the lower end of the flushing pool is provided with a small opening part (4), the rear side surface of the shell (1) is slidably arranged on the linear guide rail mechanism through a sliding block (17), the sliding block (17) can adjust the height position of the shell (1) through the linear guide rail mechanism, the control system is arranged in the shell (1), the rotating device comprises an arc-shaped arm (5), a water outlet pipe (6), a shampoo outlet (23), a micro hydraulic cylinder (7) and a kneading device, wherein four kneading devices are uniformly arranged on the inner side wall body of the arc-shaped arm (5) through the micro hydraulic cylinder (7), the water outlet pipe (6) and the shampoo outlet (23) are arranged on the inner side wall body of the arc-shaped arm (5), the kneading devices comprise a rotating shaft (8), a connecting pin shaft (9) and kneading fingertips (10), the rotating shaft (8) is connected with the micro hydraulic cylinder (7), the rotating shaft (8) is connected with the kneading fingertips (10) which correspond to each other in the left and right directions through the connecting pin shaft (9), and the micro hydraulic cylinder (7) drives the kneading fingertips (10) to rotate through the rotating shaft (8).

2. A vertical household hair washing robot as set forth in claim 1, characterized in that: the arc-shaped arm (5) is in a boundary line with the first rotating shaft (16), and the swinging angle of the arc-shaped arm (5) on the upper side of the boundary line is 110 degrees, so that the working range of the arc-shaped arm (5) is kept within the range of the top side of the head.

3. A vertical household hair washing robot as set forth in claim 1, characterized in that: the rubbing fingertips (10) are made of rubber materials, and pressure sensors are mounted inside the rubbing fingertips (10) through springs.

4. A vertical household hair washing robot as set forth in claim 1, characterized in that: the water outlet of the water outlet pipe (6) faces the head direction, and a water hose connected with the water outlet pipe (6) is arranged inside the arm body of the arc-shaped arm (5) and is connected with a water tap outside the arm body.

5. A vertical household hair washing robot as set forth in claim 1, characterized in that: and a sewage discharge port (11) is formed in the bottom side of the shell (1).

6. A vertical household hair washing robot as set forth in claim 1, characterized in that: the transmission mechanism comprises a first direct current motor (12), a first bearing (15) and a first rotating shaft (16), wherein the first direct current motor (12) is installed inside a shell (1), an output shaft of the first direct current motor (12) is connected with a second bevel gear (14) on the first rotating shaft (16) through a first bevel gear (13), the first rotating shaft (16) is connected with the shell (1) through the first bearing (15), the end part of the first rotating shaft (16) is connected with a rotating connecting hole (21) of an arc-shaped arm (5), and the first direct current motor (12) drives the arc-shaped arm (5) to swing in a reciprocating mode through the first rotating shaft (16).

7. A vertical household hair washing robot as set forth in claim 1, characterized in that: linear guide mechanism, including slider (17) and slide rail (2), slide rail (2) are two tracks that are parallel to each other and erect the setting, be equipped with a plurality of fixed orificess (18) on slide rail (2), fixed orifices (18) are fixed in on the indoor wall through self-tapping screw, slider (17) are located on slide rail (2) and can slide from top to bottom along the track of slide rail (2), slider (17) have from lockhole (19), and slider (17) cooperate through corresponding lockhole (20) on self-lockhole (19) and slide rail (2) to realize opening or locking of slider (17) and slide rail (2).

8. A vertical household hair washing robot as set forth in claim 1, characterized in that: the control system comprises a chip, a pressure sensor, a driver and a relay module, wherein the chip is respectively electrically connected with the pressure sensor, the driver, the relay module, an LED display screen and a power supply, the relay module is connected with an electromagnetic valve control module, and a switch button is arranged on the driver.