JP5502237B2 - Head care system and hair washing apparatus using the same - Google Patents

Description

  The present invention relates to a head care system for automatically caring a person's head in fields such as medical care and beauty, and a hair washing apparatus using the head care system.

  One example of human head care is cleaning the human head. In the field of cosmetology, such as styling and haircutting, washing the head of a person, including hair, requires manpower, and automation is desired. Similarly, in the medical field, the cleaning of the head, including the hair of a patient admitted to a hospital, requires manpower, and automation is desired.

  Conventionally, for example, an automatic head cleaning device described in Patent Document 1 is known as a device for automatically cleaning a human head. FIG. 8 is a schematic configuration diagram of a main part of a conventional automatic head washing apparatus. As shown in FIG. 8, comb teeth 2 are formed at regular intervals on the inner peripheral side of the arc-shaped nozzle cleaning unit 1 of the conventional automatic head cleaning apparatus. A scalp washing nozzle 2 a is provided at the tip of the comb teeth 2, and a scalp washing nozzle 1 a is provided between the comb teeth 2. These nozzles 1 a and 2 a are connected to the spray liquid switching unit 3 via a liquid supply path (not shown) provided separately in the nozzle cleaning unit 1. Then, the cleaning agent and the cleaning liquid are sprayed from these nozzles 1a and 2a onto the scalp and the hair to clean the head.

  The nozzle cleaning unit 1 is driven by a cleaning unit reciprocating drive unit 4 via a rack 4a and a pinion 4b, and is configured to be movable in the direction of an arrow 4c. With this configuration, the nozzle cleaning unit 1 expands the scalp and hair cleaning range. The nozzle cleaning unit 1, the jet liquid switching unit 3, and the cleaning unit reciprocating drive unit 4 are supported by a cleaning unit support unit 5. The cleaning unit support unit 5 is driven by a cleaning unit rotation driving unit 6 through a gear 8 or the like to clean the scalp and hair of the entire human head, and is configured to be rotatable about a support shaft 7. ing. In the automatic head washing apparatus configured as described above, the jet liquid switching unit 3, the washing unit reciprocating drive unit 4, and the washing unit rotation driving unit 6 are controlled in conjunction with each other, and the head washing operation is executed. As a result, the scalp and hair of the entire human head can be washed automatically, and manpower can be saved.

  Moreover, although it is not washing | cleaning of a head, in the scalp care apparatus which gives irritation | stimulation to a scalp by rotating a processus | protrusion, what detects the overload information to a scalp and stops the rotation drive of a process is patent document 2 Is disclosed.

JP 2001-149133 A JP 2011-172631 A

  However, in the conventional automatic head washing apparatus described above, the entire human head is washed by the nozzles (nozzles 1a, 2a) fixed to one washing unit (nozzle washing unit 1). Therefore, when the shape of the washing unit and the shape of the human head are different, the contact state between the washing unit and the human head will be uneven, and the human scalp and hair should be thoroughly washed. There is a problem that the cleaning effect cannot be obtained.

  The present invention solves these problems, and even when the shape of a person's head is different, the head can efficiently and reliably care for the person's head according to the shape of the person's head. An object is to provide a care system and a hair washing apparatus using the same.

  In order to achieve the above object, a head care system according to the present invention includes a base part having a head support part for supporting a human head, and an arm unit for caring the human head, A pair of arm units each having a support shaft attached to the base portion and arranged with the head support portion interposed therebetween, and a support shaft drive portion for driving the arm units to be rotatable about the support shaft. A control unit that controls driving of the support shaft driving unit, and the arm unit includes a contact arm having a plurality of contacts at a tip, and a sub arm that rotatably supports the contact arm. And a main arm that rotatably supports the sub arm and is rotatably supported by the base portion, and the main arm is constituted by a four-bar linkage mechanism, To do.

  In order to achieve the above object, in the hair washing apparatus of the present invention, in the head care system, the arm unit for caring a person's head is a washing unit for washing the person's head. It is characterized by that.

  According to the head care system and the hair washing apparatus using the head care system of the present invention, even when the shape of the person's head is different, the person's head can be efficiently and reliably cared for according to the shape of the person's head. Can do.

It is a schematic block diagram of the hair washing apparatus concerning embodiment of this invention. It is a block diagram which shows the 1st principal part of the drive structure of the hair washing apparatus concerning this embodiment. It is a perspective view which shows the 2nd principal part of the drive structure of the hair washing apparatus concerning this embodiment. It is a side view which shows the 2nd principal part of the drive structure of the hair washing apparatus concerning this embodiment. It is a perspective view which shows the 3rd principal part of the drive structure of the hair washing apparatus concerning this embodiment. It is explanatory drawing for demonstrating operation | movement of the 2nd principal part of the drive structure of the hair washing apparatus concerning this embodiment. It is explanatory drawing for demonstrating operation | movement of the hair washing apparatus at the time of using the 1st arm of a single link instead of the 1st arm of a 4 node link. It is a schematic block diagram of the principal part of the conventional automatic head washing apparatus.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the same component and description may be abbreviate | omitted. Further, the drawings schematically show each component as a main component for easy understanding.

  In the present invention, a hair washing apparatus for automatically washing a human head will be described as an example of a head care system that automatically cares for a human head. In the present invention, “care of the human head” means performing at least one of cleaning the human scalp, cleaning the human hair, and massaging the human head.

  FIG. 1 is a schematic configuration diagram of a hair washing apparatus according to an embodiment of the present invention, and FIG. 2 is a configuration diagram illustrating a first main part of a drive configuration of the hair washing apparatus according to the present embodiment. FIG. 3 is a perspective view showing a second main part of the drive configuration of the hair washing apparatus according to the present embodiment, and FIG. 4 is a side view showing the second main part of the drive configuration of the hair washing apparatus according to the present embodiment. FIG. 2 to 4, the XYZ axes are displayed with the direction along the vertical direction as the Z axis and the directions perpendicular thereto as the X axis and the Y axis.

  As shown in FIG. 1, a hair washing apparatus 100 according to an embodiment of the present invention has a bowl 101. The bowl 101 is an example of a base portion having a head support portion 11 that supports a human head 10, and is configured to wrap around a substantially half surface on the rear head side of the human head 10. Supports 102 </ b> L and 102 </ b> R are installed inside the housing 101 a constituting the bowl 101. The columns 102L and 102R are arranged so as to be located on the left and right of the head support portion 11 in the bowl 101.

  The hair washing apparatus 100 has a pair of two washing units 12 for washing a human head 10 supported in a bowl 101. The pair of cleaning units 12 includes a left cleaning unit 12L and a right cleaning unit 12R that are disposed with the head support portion 11 in the bowl 101 interposed therebetween. The left cleaning unit 12L is an example of a first cleaning unit, and the right cleaning unit 12R is an example of a second cleaning unit. In this embodiment, since the hair washing apparatus 100 is described, an arm-shaped unit is used as a washing unit, but the washing unit 12 is an example of an arm unit for caring a person's head in a head care system. It is.

  The left cleaning unit 12L has a support shaft 104L coupled to the support column 102L, and is configured to be rotatable around the support shaft 104L. Similarly, the right cleaning unit 12R is configured such that the support shaft 104R is connected to the support column 102R and is rotatable around the support shaft 104R. The hair washing apparatus 100 includes motors 201L and 201R as an example of a support shaft driving unit that rotatably drives the cleaning units 12L and 12R about the support shafts 104L and 104R, respectively (see FIG. 2).

  As shown in FIG. 2, the left cleaning unit 12L includes arms 105L, 106L, 107L, 108L formed in a predetermined shape such as a substantially arc shape, and a pipe 111L (pipe) formed in a predetermined shape such as a substantially arc shape. I have. The arms 105L, 106L, 107L, and 108L and the pipe 111L are disposed so as to face the head support portion 11.

  The pipe 111L of the left cleaning unit 12L includes a plurality of nozzles 110 for ejecting at least one of water, hot water, a cleaning liquid, and a conditioner. The nozzle 110 is provided on the facing surface of the pipe 111 </ b> L facing the head support portion 11. The pipe 111L is attached to an arm base 103L fixed to the support shaft 104L, and is installed so as to be rotatable around the support shaft 104L together with the arm base 103L.

  As shown in FIG. 2, the hair washing apparatus 100 includes a water system valve 216, a cleaning liquid system valve 217, and a conditioner system valve 218. The output ports of the water system valve 216, the cleaning liquid system valve 217, and the conditioner system valve 218 are connected in parallel, and are connected to the pipes 111L and 111R via the pipe 219.

  The water system valve 216 is configured such that its input port is connected to a water system supply unit (not shown), and water or hot water is supplied from the water system supply unit. The cleaning liquid valve 217 is configured such that a mousse-like cleaning liquid is supplied to the input port to which a mixing unit 220 for mixing the cleaning liquid and the compressed air is connected. The mousse-like cleaning liquid supplied to the cleaning liquid system valve 217 is manufactured by mixing the cleaning liquid from the cleaning liquid supply unit 222 for supplying a cleaning liquid such as shampoo and compressed air in the mixing unit 220. The conditioner system valve 218 is connected to a conditioner supply unit 221 at an input port thereof, and a conditioner (for example, rinse liquid) is supplied from the conditioner supply unit 221.

  The hair washing apparatus 100 appropriately controls the water system valve 216, the cleaning liquid system valve 217, and the conditioner system valve 218, so that water, hot water, mousse cleaning liquid or conditioner is supplied from the plurality of nozzles 110 provided on the pipes 111L and 111R. Can be erupted.

  In addition, the water supply part which supplies water or hot water to washing | cleaning unit 12L, 12R is comprised by the water-system supply part and the water-system valve | bulb 216. FIG. The cleaning liquid supply unit that supplies the cleaning liquid to the cleaning units 12L and 12R includes a cleaning liquid supply unit 222, a mixing unit 220, and a cleaning liquid system valve 217. The conditioner supply unit that supplies the conditioner to the cleaning units 12L and 12R includes a conditioner supply unit 221 and a conditioner system valve 218.

  The first arm 105L as an example of the main arm is rotatably attached to the arm base 103L via the arm rotation shaft 209L, and is installed to be rotatable around the support shaft 104L together with the arm base 103L. Yes. That is, the first arm 105L is rotatably supported by the bowl 101 via the support column 102L.

  On the first arm 105L, a second arm 106L as an example of a sub arm is rotatably supported via a support shaft 212L. As shown in FIG. 3, the second arm 106L is supported on the support shaft 212L of the first arm 105L. Between the first arm 105L and the second arm 106L, an elastic body 212La such as a spring is provided as an example of the first elastic body so as to hold the second arm 106L at a predetermined position with respect to the first arm 105L. It has been. That is, the first elastic body regulates the positional relationship between the second arm 106L and the first arm 105L between the first arm 105L and the second arm 106L. An elastic body 212La such as a spring connects the second arm 106L and the support shaft 212L of the first arm 105L. Instead of the first elastic body 212La, other means for supporting the second arm 106L on the first arm 105L so as to be capable of automatic alignment can be used.

  The first arm 105L includes two four-bar linkage mechanisms 231L and a support shaft 212L. The two four-bar linkage mechanisms 231L have the same shape and are arranged in parallel. That is, the first arm 105L is configured by a parallel four-bar linkage mechanism. The support shaft 212L is a connecting member that connects the two four-bar linkage mechanisms 231L. The four-link mechanism 231L includes a drive link 105La, a driven link 105Lb, and an intermediate link 105Lc. The drive link 105La is fixedly attached to the arm rotation shaft 209L and has a substantially arc shape. The driven link 105Lb has the same shape as the drive link 105La and is rotatably attached to a support shaft 215L provided on the arm base 103L. The intermediate link 105Lc is fixedly attached to the support shaft 212L, is rotatably connected to the drive link 105La via the support shaft 212L, and is rotatably connected to the driven link 105Lb via the support shaft 216L. Yes.

  In the four-link mechanism 231L, the drive link 105La and the driven link 105Lb are formed in the same shape, and the drive link 105La and the driven link 105Lb are arranged in parallel via the intermediate link 105Lc and the arm base 103L. Yes. That is, the four-bar link mechanism 231L of the present embodiment is a parallel four-bar link. The first arm 105L supports the second arm 106L on the support shaft 212L between the two four-bar linkage mechanisms 231L. Thus, the hair washing apparatus 100 of this embodiment has the arm comprised by the parallel 4-joint link, It is characterized by the above-mentioned. The effect of configuring a part of the arm with a parallel four-bar link will be described later.

  Two third arms 107L and 108L are rotatably supported by the second arm 106L as an example of a contact arm. The second arm 106L is configured in a substantially V shape, and the third arm 107L is rotatably supported at one end via a support shaft 213L, and the third arm 106L is supported at the other end via a support shaft 214L. The arm 108L is rotatably supported. The two third arms 107L and 108L are supported so as to be substantially symmetrical with respect to the support shaft 212L.

  Similar to the first elastic body 212La connecting the second arm 106L and the first arm 105L, the third arm 107L, 108L and the second arm 106L are connected between the second arm 106L and the third arm 107L, 108L, respectively. An elastic body (not shown) such as a spring is provided as an example of the second elastic body that couples the arm 106L. That is, the second elastic body regulates the positional relationship between the second arm 106L and the third arms 107L and 108L. The third arm 107L, 108L can be held at a predetermined position with respect to the second arm 106L by an elastic body such as a spring. It is also possible to use other means for supporting the third arms 107L and 108L on the second arm 106L so that automatic alignment can be performed without using the second elastic body.

  A plurality of contacts 109 that contact the human head 10 supported by the head support portion 11 are attached to the third arms 107L and 108L, respectively. Specifically, a plurality of contacts 109 are attached to the third arm 107L by supporting a branch arm 310L having a V shape with two contacts 109 at the tip of the third arm 107L. It has been. Similarly, a plurality of contacts 109 are attached to the third arm 108L by supporting a branch arm 310L having a V shape with two contacts 109 at the tip of the third arm 108L. Yes.

  FIG. 5 is a perspective view showing a third main part of the drive configuration of the hair washing apparatus according to the present embodiment, and is a perspective view showing the branch arm 310L. As shown in FIG. 5, the branch arm 310L includes a pair of branch portions 310La and a connecting portion 310Lb. The pair of branch portions 310La are arranged symmetrically with respect to the central axis C1 while the contact 109 is arranged at the tip. The connecting portion 310Lb connects the two branch portions 310La at the apexes of the two branch portions 310La arranged in a V shape.

  The branch arm 310L is configured to include an elastic body in at least a part of a region from the apex of the branch portion 310La arranged in a V shape to the contact 109. In the branch arm 310L shown in FIG. 5, the branch portion 310La is configured as a leaf spring. With this configuration, when the branch arm 310L is moved toward and away from the human head 10 in a state where the two contacts 109 are in contact with the human head 10, the two contacts 109 are moved to the arrows. Move like 310Lc.

  The contact 109 is pressed toward the center of the human head 10 by the elastic force of the branching portion 310La configured as a leaf spring, so that the contact 109 is accurately positioned following the surface shape of the human head 10. . Therefore, the contact 109 of the hair washing apparatus 100 according to the present embodiment can efficiently and efficiently care for the human head 10 even when the shape and size of the human head 10 are different. The contact 109 is made of a flexible rubber material.

  The branch arm 310L configured as described above is configured such that the connecting portion 310Lb supported by the third arm 107L can rotate with respect to the central axis C1 as indicated by an arrow 310Ld, and a plurality of branch arms 310L attached to the branch arm 310L. The contact 109 is swingable. The hair washing apparatus 100 of the present embodiment is configured so that the branch arm 310L is rotated with respect to the central axis C1 in a state where the plurality of contacts 109 are in contact with the person's head 10, so The scalp and hair of the head 10 can be pinched or pulled. Thus, the hair washing apparatus 100 of this embodiment can care the human head 10 by pinching or pulling the scalp and hair of the human head 10 with the plurality of contacts 109. The hair washing apparatus 100 includes a contactor drive unit 401 such as a motor that swings the contactor 109 by driving the branch arm 310L to be rotatable with respect to the central axis C1.

  The branch arm 310L is also rotatable as indicated by an arrow 310Le with respect to the central axis C2 by a connecting portion 310Lb supported by the third arm 107L. The central axis C2 is the central axis of the V-shaped opening angle centered on the V-shaped apex. In the hair washing apparatus 100 of the present embodiment, the central axis C3 and the central axis C2 of the support shaft 213L are provided so as to intersect at a substantially right angle. Here, the center axis C3 of the support shaft 213L is a rotation shaft by which the third arm 107L is supported by the second arm 106L, and the center axis C2 is a rotation by which the branch arm 310L is supported by the third arm 107L. Is the axis.

  The third arm 108L is configured similarly to the third arm 107L. As shown in FIG. 4, the plurality of contacts 109 of the branch arm 310 </ b> L supported by the third arms 107 </ b> L and 108 </ b> L are arranged in a substantially arc shape substantially along the shape of the human head 10.

  In the hair washing apparatus 100 of this embodiment, as shown in FIG. 1, the first arm 105L, the second arm 106L, and the third arms 107L and 108L are accommodated in the arm housing 115L. The contact 109 attached to the third arms 107L and 108L is disposed outside the arm housing 115L.

  As shown in FIG. 2, a motor 201 </ b> L is disposed in the column 102 </ b> L of the hair washing apparatus 100. The rotation output of the motor 201L is transmitted to the support shaft 104L via a gear 203L attached to the motor rotation output shaft 202L and a gear 204L attached to the support shaft 104L. The arm base 103L attached to the support shaft 104L is driven to rotate in the direction of the arrow 205L by the transmitted rotation output of the motor 201L. The driving of the motor 201L is controlled by the control unit 400.

  A motor 206L is disposed in the arm base 103L. The rotation output of the motor 206L is transmitted via a gear 207L attached to the motor rotation output shaft 207La and a gear (not shown) attached to the arm rotation shaft 209L of the first arm 105L engaged with the gear 207L. , Transmitted to the first arm 105L. The first arm 105L is driven to rotate in the direction of the arrow 210L around the arm rotation shaft 209L by the transmitted rotation output of the motor 206L. The motor 206L functions as an arm rotation shaft driving unit that drives the first arm 105L so as to move toward and away from the head support unit 11 around the arm rotation shaft 209L. The driving of the motor 206L is controlled by the control unit 400.

  As described above, the hair washing apparatus 100 includes the contactor drive unit 401 such as a motor that drives the branch arm 310L to be rotatable with respect to the central axis C1. The driving of the contact drive unit 401 is controlled by the control unit 400.

  The right cleaning unit 12R is configured in the same manner as the left cleaning unit 12L. The right washing unit 12R includes arms 105R, 106R, 107R, 108R and a pipe 111R. The arms 105R, 106R, 107R and 108R and the pipe 111R are arranged so as to face the head support portion 11.

  The pipe 111R is configured similarly to the pipe 111L. The pipe 111R has a plurality of nozzles 110 for ejecting at least one of water, hot water, cleaning liquid, and a conditioner via the pipe 219, and is attached to an arm base 103R fixed to the support shaft 104R. Yes. The pipe 111R is installed so as to be rotatable around the support shaft 104R together with the arm base 103R.

  The arms 105R, 106R, 107R, 108R of the cleaning unit 12R are attached to an arm base 103R fixed to the support shaft 104R. The first arm 105R is rotatably attached to the arm base 103R via an arm rotation shaft 209R, and is installed so as to be rotatable around the support shaft 104R together with the arm base 103R.

  A second arm 106R is rotatably supported by the first arm 105R via a support shaft 212R. An elastic body (not shown) such as a spring is provided as an example of the first elastic body between the first arm 105R and the second arm 106R. An elastic body such as a spring connects the second arm 106R and the support shaft 212R of the first arm 105R so as to hold the second arm 106R in a predetermined position with respect to the first arm 105R.

  Similar to the first arm 105L, the first arm 105R includes two parallel four-joint link mechanisms and a support shaft 212R as an example of a connecting member that couples the two parallel four-joint link mechanisms. The second arm 106R is supported by the support shaft 212R between the two parallel four-joint link mechanisms.

  Two third arms 107R and 108R are rotatably supported by the second arm 106R via support shafts 213R and 214R, respectively. Between the second arm 106R and the third arms 107R, 108R, the third arm 107R, 108R and the second arm 107R, 108R are respectively held in a predetermined position with respect to the second arm 106R. An elastic body (not shown) such as a spring is provided as an example of a second elastic body that couples the arm 106R.

  On the third arms 107R and 108R, two branch arms each having a V-shaped configuration with two contactors 109 at their tips are rotatably supported. This branch arm is configured such that the contact 109 is swung by the contact drive unit 401.

  As shown in FIG. 2, a motor 201R is arranged in the support column 102R of the right cleaning unit 12R. The rotation output of the motor 201R is transmitted to the support shaft 104R via a gear 203R attached to the motor rotation output shaft 202R and a gear 204R attached to the support shaft 104R. The arm base 103R attached to the support shaft 104R is driven to rotate in the direction of the arrow 205R by the transmitted rotation output of the motor 201R. The driving of the motor 201R is controlled by the control unit 400.

  A motor 206R is disposed in the arm base 103R. The rotation output of the motor 206R is transmitted via a gear 207R attached to the motor rotation output shaft 207Ra and a gear (not shown) attached to the arm rotation shaft 209R of the first arm 105R meshed with the gear 207R. Is transmitted to the first arm 105R. The first arm 105R is driven to rotate in the direction of the arrow 210R around the arm rotation shaft 209R by the transmitted rotation output of the motor 206R. The driving of the motor 206R is controlled by the control unit 400.

  The branch arm supported by the third arms 107R and 108R of the right washing unit 12R is configured such that the contact 109 is swung by the drive of the contact drive unit 401. The driving of the contact drive unit 401 is controlled by the control unit 400.

  In the right washing unit 12R, as shown in FIG. 1, the first arm 105R, the second arm 106R, and the third arms 107R and 108R are accommodated in the arm housing 115R. The contact 109 attached to the third arms 107R and 108R is disposed outside the arm housing 115R.

  In the hair washing apparatus 100 configured as described above, the control unit 400 drives the motors 206L and 206R to bring the first arms 105L and 105R closer to the head support unit 11 and the second arms 106L and 106R. The third arms 107L, 108L, 107R, and 108R are brought close to the head support portion 11, and the contact 109 is brought into contact with the human head 10 supported by the head support portion 11. Then, with the contact 109 in contact with the human head 10, the motors 201 </ b> L and 201 </ b> R and the contact drive unit 401 are driven to care for the human head 10.

  In the hair washing apparatus 100 of the present embodiment, when the control unit 400 drives the motors 201L and 201R and the contact drive unit 401 to care for the human head 10, the control unit 400 uses the water supply unit, the cleaning liquid supply unit, and the conditioner. The human head 10 can be washed by controlling the operation of the supply unit.

  The bowl 101 of the hair washing apparatus 100 is provided with a notch 101 c for supporting a person's neck supported by the head support 11. In addition, the bowl 101 is provided with a support 112 for supporting the back of the head 10 of the person. The support body 112 is configured to be positionally adjustable in the vertical and horizontal directions. Moreover, the support body 112 can adjust the position of the support body 112 based on the position of the human head 10 detected by position detection means such as a camera, for example.

  The support 112 is preferably adjusted so that the support shafts 104L and 104R of the cleaning units 12L and 12R are positioned in the vicinity of the ears of the person supported by the head support unit 11. By driving the cleaning units 12L and 12R based on the position in the vicinity of the person's ear, the burden on the person's neck can be suppressed.

  Further, the columns 102L and 102R installed in the bowl 101 are configured to be movable in the axial direction of the support shafts 104L and 104R attached to the columns 102L and 102R. Thereby, according to the magnitude | size of the person's head 10 supported by the support body 112, the distance of the person's head 10 and arm base 103L, 103R can be adjusted.

  A hood 113 that can be opened and closed is detachably attached to the bowl 101 in order to prevent water, shampoo, and the like from splashing outside during cleaning. The hood 113 is preferably made of a transparent material so as not to give the person a feeling of pressure or anxiety as much as possible during cleaning.

  The hair washing apparatus 100 according to the present embodiment is an apparatus that automatically cleans the human head 10, and in the state where water or shampoo is not ejected from the nozzle 110, the human head 10 is moved by the contact 109. It can be used as a head care system that massages automatically.

  Here, regarding the left washing unit 12L of the hair washing apparatus 100, the operation of moving the first arm 105L toward and away from the head support portion 11 around the arm rotation shaft 209L will be further described.

  FIG. 6 is an explanatory diagram for explaining the operation of the second main part of the drive configuration of the hair washing apparatus according to the present embodiment. In FIG. 6, the state in which the contact 109 of the left cleaning unit 12L is in contact with the human head 10 is indicated by a solid line, and the state in which the contact 109 of the left cleaning unit 12L is separated from the human head 10 is indicated by a two-dot chain line. Show.

  In the present embodiment, the first arm 105L is configured to include the parallel four-bar linkage mechanism 231L as described above. For this reason, when the first arm 105L rotates around the arm rotation shaft 209L, the second arm 106L and the third arms 107L and 108L are in a state where the state is substantially maintained with respect to the first arm 105L. Move in parallel. As a result, the plurality of contacts 109 move in parallel with the first arm 105L substantially maintaining its state.

  On the other hand, FIG. 7 is for explaining the operation when the first arm of a single link is used instead of the first arm of the four-bar link in the second main part of the drive configuration of the hair washing apparatus according to the present embodiment. It is explanatory drawing of. That is, FIG. 7 is a diagram for explaining a hair washing apparatus that does not include the four-bar linkage mechanism that is a feature of the present invention. In FIG. 7, the contact 109 of the left washing unit 12 </ b> L is placed on the human head 10 for the first arm 105 </ b> L shown in FIG. The contacted state is indicated by a solid line, and the contact 109 of the left washing unit 12L is separated from the human head 10 by a two-dot chain line.

  In the left cleaning unit 12L shown in FIG. 7, the second arm 106L is held between the first arm 105L ′ and the second arm 106L so that the second arm 106L is held at a predetermined position with respect to the first arm 105L ′. A first elastic body (not shown) that connects the two arms 106L and the support shaft 212L of the first arm 105L ′ is provided.

  As shown in FIG. 7, when the first arm 105L ′ is a single link composed only of the drive link 105La, when the first arm 105L ′ rotates about the arm rotation shaft 209L, the contact 109 becomes human. Can be driven in a state where the head 10 is in contact with the human head 10 and in a state where the contact 109 is separated from the human head 10. However, since the first arm 105L 'is a single link, all of the first arm 105L', the second arm 106L, and the third arms 107L and 108L move around the arm rotation shaft 209L. That is, in the configuration in which the first arm 105L 'is a single link, as shown in FIG. 7, the plurality of contacts 109 rotate around the arm rotation shaft 209L and move. Therefore, in the configuration of the single link as shown in FIG. 7, when a plurality of contacts 109 come into contact with the human head 10, the remaining contacts 109 come into contact with some of the contacts 109. It will be. In this way, when the contact 109 comes into contact with the human head 10 with a time difference, the contact surface of the contact 109 with the human head 10 may change, and the human head 10 hair may be involved. Yes, there is a possibility of applying a load to the scalp of the human head 10. In addition, in the configuration of a single link as shown in FIG.

  As described above, the hair washing apparatus 100 according to the present embodiment includes the first arm 105L with the parallel four-joint link mechanism 231L, so that a plurality of contacts 109 can be placed on a person compared to a single link mechanism. Contact can be made while substantially following the shape of the head 10, and the load on the human head 10 can be suppressed.

  Moreover, the hair washing apparatus 100 of this embodiment comprises the 1st arm 105L by the parallel 4-joint link mechanism 231L, and as shown in FIG.6 and FIG.7, compared with the case of a single link mechanism, it is 1st. The movable range of the one arm 105L, the second arm 106L, and the third arms 107L and 108L can be reduced. Therefore, the hair washing apparatus 100 of this embodiment can move the 1st arm 105L, the 2nd arm 106L, the 3rd arm 107L, 108L compactly, and occupies the space by operating the left washing unit 12L. Can be small.

  In addition, the hair washing apparatus 100 of this embodiment improves the rigidity of the first arm 105L by configuring the first arm 105L with a parallel four-bar linkage mechanism 231L as compared with a single link mechanism. be able to. Therefore, in the state where the contact 109 of the left cleaning unit 12L is in contact with the human head 10, the follow-up performance when the left cleaning unit 12L is moved can be improved, and according to the shape of the human head 10 Can be cleaned reliably.

  In the present embodiment, it is described that the two branch arms 310L are rotatably supported by the third arms 107L and 108L. However, the present invention is not limited to this, and three or more branch arms are provided. It is also possible to support 310L so that rotation is possible.

  The effect of the hair washing apparatus 100 according to the present embodiment described above has not only the left washing unit 12L but also the right washing unit 12R configured in the same manner.

  The head care system and hair washing apparatus of the present invention can be widely used in the fields of beauty, barber, and medical fields such as care and nursing, and are useful.

11 Head support 12 Cleaning unit 12L Left cleaning unit 12R Right cleaning unit 100 Hair washing device 101 Bowl 103L, 103R Arm base 104L, 104R, 212L, 212R, 213L, 213R, 214L, 214R, 215L, 216L Support shaft 105L, 105R First arm 106L, 106R Second arm 107L, 107R, 108L, 108R Third arm 109 Contact 110 Nozzle 111L, 111R Pipe 201L, 201R, 206L, 206R Motor 209L, 209R Arm rotation shaft 216 Water system valve 217 Cleaning liquid system Valve 218 Conditioner valve 219 Piping 220 Mixing unit 221 Conditioner supply unit 222 Cleaning liquid supply unit 231L Four-bar linkage mechanism 310L Branch arm 40 Control unit 401 contacts the drive unit C1, C2, C3 central axis

Claims (10)

A base portion having a head support portion for supporting a human head;
A pair of arm units for caring a human head, each supporting shaft being attached to the base portion and arranged with the head support portion interposed therebetween,
A support shaft driving section for driving the arm units to be rotatable about the support shaft,
A control unit for controlling driving of the support shaft driving unit;
With
The arm unit includes a contact arm having a plurality of contacts at its tip, a sub arm that rotatably supports the contact arm, a sub arm that rotatably supports the sub arm, and the base unit. A main arm rotatably supported;
The main arm is composed of a four-bar linkage mechanism,
Head care system. The contact arm is configured to rotatably support at least two branch arms having a plurality of contacts at the tip and configured in a V shape.
The head care system according to claim 1. The rotation axis where the contact arm is supported by the sub-arm and the rotation axis where the branch arm is supported by the contact arm are provided so as to intersect.
The head care system according to claim 2. The main arm is composed of a parallel four-bar linkage mechanism,
The head care system according to any one of claims 1 to 3. The main arm includes two four-joint link mechanisms having the same shape and arranged in parallel, and a connecting member that couples the two four-joint link mechanisms,
The sub arm is supported by the connecting member between the two four-bar linkage mechanisms,
The head care system according to any one of claims 1 to 4. A first elastic body that connects the sub arm and the main arm to regulate a positional relationship between the sub arm and the main arm;
The head care system according to any one of claims 1 to 5. A second elastic body for connecting the contact arm and the sub arm in order to regulate a positional relationship between the contact arm and the sub arm;
The head care system according to any one of claims 1 to 6. The control unit controls driving of an arm rotation shaft driving unit that rotatably drives the main arm so as to approach and separate from the head support unit, and the control unit controls the main arm. The sub arm and the contact arm are moved closer to the head support part by approaching the head support part, and the human head is cared for by the contact element.
The head care system according to any one of claims 1 to 7. In the head care system according to any one of claims 1 to 8,
The arm unit for caring for a person's head is a washing unit for washing the person's head;
A hair washing device using a head care system. A water supply unit for supplying water or hot water to the cleaning unit;
A cleaning liquid supply unit for supplying a cleaning liquid to the cleaning unit;
A conditioner supply unit for supplying a conditioner to the cleaning unit,
A hair washing apparatus using the head care system according to claim 9.

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