JPWO2013051224A1 - Automatic head care system and automatic head care method - Google Patents

Abstract

Place the person's head safely and securely in the appropriate position in the bowl of the automatic head care system. After the person's head (10) inserted in the bowl (101) is supported and accommodated by the head support part, the pair of arms (114L, 114R) swings in the front-rear direction of the head (10). At the same time, the head (10) is rotated toward and away from the head (10), and the head (10) is cared for by a plurality of contacts (109) provided on the pair of arms (114L, 114R). In this case, with respect to at least one of the arms (114L, 114R), the angular position of the swing rotation is controlled to a horizontal position where the arms (114L, 114R) are arranged along the substantially horizontal direction, and then along the substantially horizontal direction. When the pressing force of the contact (109) detected by the pressure sensor reaches the first pressure (P1) for the arranged arms (114L, 114R), the head (10) is moved to the bowl (101). To make sure that it has been inserted into the inner.

Description

  The present invention relates to an automatic head care system that automatically cares for a human head.

  One example of human head care is cleaning the head of a person, including hair. In the field of hairdressing and haircutting, human head cleaning requires human hands, and automation is desired. Further, in the medical field, the cleaning of the head of a patient or the like who is admitted to a hospital or the like similarly requires human hands, and automation is desired.

  Conventionally, as an apparatus for automatically washing a human head, for example, there is an automatic hair washing machine disclosed in Patent Document 1. This automatic hair washer includes a bowl for storing a human head, a head support net that supports the head from below in the bowl, and a plurality of nozzles that spray cleaning water from below toward the head. Have This automatic hair washer cleans the head hair of a person supported by the head support net by spraying water from the nozzle. This automatic hair washer controls so that the spray pressure at each nozzle is switched at predetermined time intervals. In Patent Document 1, it is assumed that a person who has his hair washed with this automatic hair washer can feel as if he / she is being massaged by human hands by such control.

International Publication No. 2010/090005

  However, when the automatic hair washer disclosed in Patent Document 1 is used, the position of the head in the bowl is determined by how the head is placed on the head support net. Therefore, there is a possibility that the head is not necessarily located at an appropriate position. Depending on the position of the head, when washing hair using an automatic hair washer, there is a possibility that the head remains unwashed.

  In order to solve this problem, it is conceivable to install a device for forcibly placing a person's head at a predetermined position in the automatic hair washer. However, in this case, an excessive load may be applied to the human head. Therefore, it is required to develop a sufficiently safe device in order to prevent an excessive load on the human head.

  In order to solve these problems, the present invention provides an automatic head care system and an automatic head care method capable of safely and reliably placing the head at an appropriate position in a bowl that accommodates a human head. For the purpose.

In order to achieve the above object, an automatic head care system according to the present invention comprises:
A bowl for supporting and accommodating a human head with a head support,
A pair of support shafts arranged on both the left and right sides sandwiching the head support portion;
A pair of arm rotation shafts rotatable about the support shaft;
The head can be pivoted in the front-rear direction of the head supported by the head support portion around the support shaft, and can be rotated toward or away from the head around the arm rotation shaft. A pair of arms that are possible;
A plurality of contacts respectively provided on the pair of arms;
A pressure sensor for detecting the pressing force of the contact;
A control unit that controls the driving of the pair of arms and cares for the head supported by the head support unit, and
The controller is
As a preparatory operation for inserting the head into the bowl, the angular position of the swing rotation about the support shaft for at least one of the arms is a horizontal position where the arm is disposed along a substantially horizontal direction. A head insertion preparation unit to control,
A head insertion confirmation unit for confirming that the head has been inserted into the bowl when the pressing force detected by the pressure sensor reaches a first pressure for the arm on which the preparation operation has been performed; It is characterized by having.

In order to achieve the above object, an automatic head care method according to the present invention includes:
After the head of the person inserted in the bowl is supported and accommodated by the head support, the head is centered on a pair of support shafts arranged on the left and right sides sandwiching the head support. Swinging in the front-rear direction of the part and rotating in a direction approaching or moving away from the head about an arm rotation shaft extending in a direction substantially perpendicular to the support shaft, In an automatic head care method for caring for the head with a plurality of contacts provided,
For at least one of the arms, after controlling the angular position of the swing rotation around the support shaft to a horizontal position where the arm is arranged substantially in the horizontal direction,
When the pressing force of the contact detected by the pressure sensor reaches the first pressure, the arm disposed along the substantially horizontal direction is confirmed to be inserted into the bowl. It is characterized by that.

  According to the present invention, it is possible to prevent an excessive load from being applied to the head. Therefore, the person's head can be safely and reliably placed at an appropriate position in the bowl.

It is a figure showing a schematic structure of an automatic head washing system concerning one embodiment of the present invention. It is a perspective view which shows the automatic head washing apparatus of the automatic head washing system shown by FIG. It is a top view of the automatic head washing apparatus shown by FIG. It is a block diagram which shows schematic structure of the automatic head washing apparatus shown by FIG. It is a block diagram which shows the 1st principal part of the drive structure of the automatic head washing apparatus shown by FIG. It is a block diagram which shows the 2nd principal part of the drive structure of the automatic head washing apparatus shown by FIG. It is a block diagram which shows the 2nd principal part of the drive structure of the automatic head washing apparatus shown by FIG. It is explanatory drawing for demonstrating operation | movement of the 3rd principal part of the drive structure of the automatic head washing apparatus shown by FIG. It is a perspective view which shows the specific example of the 2nd principal part of the drive structure of the automatic head washing apparatus shown by FIG. It is a perspective view which shows schematic structure of the contact unit of the automatic head washing apparatus shown by FIG. It is explanatory drawing for demonstrating operation | movement of the 4th principal part of the drive structure of the automatic head washing apparatus shown by FIG. It is explanatory drawing for demonstrating operation | movement of the 4th principal part of the drive structure of the automatic head washing apparatus shown by FIG. It is explanatory drawing for demonstrating the 1st operation | movement direction of the automatic head washing apparatus shown by FIG. It is explanatory drawing for demonstrating the 2nd operation | movement direction of the automatic head washing apparatus shown by FIG. It is explanatory drawing for demonstrating the 3rd operation | movement direction of the automatic head washing apparatus shown by FIG. It is a block diagram which shows the structure of the control apparatus of the automatic head washing system shown by FIG. It is a flowchart which shows the system operation | movement flow of the control apparatus shown by FIG. FIG. 16 is a table schematic diagram illustrating an example of a second table created in a calibration step in the system operation flow illustrated in FIG. 15. FIG. 16 is a table schematic diagram illustrating an example of a first table created in a scanning step in the system operation flow illustrated in FIG. 15. It is a flowchart which shows the detail of the hair washing operation mode step in the system operation | movement flow shown by FIG. It is a flowchart which shows the detail of the massage operation mode step in the system operation | movement flow shown by FIG. It is a block diagram which shows the component of the system control part of the control apparatus shown by FIG. It is a flowchart which shows the detail of the head welcome step in the system operation | movement flow shown by FIG. It is a top view which shows typically the state of an arm when the head insertion preparation step shown by FIG. 21 is performed. It is a block diagram which shows the structure of the arm swing angle control part and arm press angle control part of the control apparatus shown by FIG. It is a figure for demonstrating the swing rotation of the said arm regarding the case where a head is supported from the lower side by one or both arms in the head insertion confirmation step and head height adjustment step which are shown by FIG. It is a figure for demonstrating the press rotation of the said arm regarding the case where a head is supported from the lower side by one or both arms in the head insertion confirmation step and head height adjustment step shown by FIG. It is a figure for demonstrating the swing range determination step shown by FIG. It is a figure for demonstrating the simple scanning step shown by FIG. It is explanatory drawing for demonstrating the expansion-contraction mechanism of the automatic head washing apparatus shown by FIG. It is a 1st flowchart which shows the detail of the head insertion position adjustment step shown by FIG. It is a 2nd flowchart which shows the detail of the head insertion position adjustment step shown by FIG. It is a 1st flowchart which shows the detail of the head height position adjustment step shown by FIG. It is a 2nd flowchart which shows the detail of the head height position adjustment step shown by FIG.

  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. The drawings schematically show each component as a main component for easy understanding.

  In the description of this embodiment, the term “water” is used as including “hot water”. That is, the term “water” in the description of the present embodiment means “water or hot water”, and the term “hot water” means only “hot water”.

  In the description of the present embodiment, an automatic head cleaning system that automatically cleans a human head will be described as an example of an automatic head care system that automatically cares for a human head. In the description of the present embodiment, the phrase “care for the human head” means at least one of cleaning the human scalp, cleaning the human hair (hair washing), and massaging the human head. Means to do. Further, in the description of the present embodiment, the term indicating the direction of “left” or “right” refers to a direction viewed from a person receiving head care.

  FIG. 1 is a side view showing a schematic configuration of an automatic head washing system 1 according to the present embodiment. As shown in FIG. 1, the automatic head washing system 1 includes an automatic head washing device 100 that automatically washes the head, a support base 550 that supports the automatic head washing device 100, and an automatic head washing device. And a reclining seat 500 on which a person 8 whose head 10 is washed by 100 is seated. The automatic head washing apparatus 100 includes a bowl 101 and a hood 113.

  The reclining seat 500 includes a seat portion 501, a footrest portion 502, and a backrest portion 503. A lower end portion of the backrest portion 503 is connected to the seat portion 501 through a rotating shaft 505 so as to be reclining. Here, let us consider a case where, of the seat portion 501, the footrest portion 502, and the backrest portion 503 constituting the reclining seat 500, the footrest portion 502 side is the front side, and the backrest portion 503 side is the rear side. In this case, the automatic head washing apparatus 100 is installed on the rear side of the reclining seat 500.

  The reclining seat 500 is supported on a base 520 placed on the floor 509 via a height adjusting device 510. The height adjusting device 510 is provided to be extendable in the vertical vertical direction. The height of the reclining seat 500 and the head 10 of the person 8 on the reclining seat 500 can be adjusted in the height direction by expansion and contraction of the height adjusting device 510. Although not shown in FIG. 1, the reclining seat 500 includes a reclining device 508 (see FIG. 14) that drives the backrest 503 to recline.

  The base 520 is provided with a horizontal movement device 530 that horizontally moves the reclining seat 500 in the front-rear direction. The position of the head 10 of the person 8 on the reclining seat 500 in the front-rear direction can be adjusted in the front-rear direction by the horizontal movement device 530 moving the reclining seat 500 in the front-rear direction.

  FIG. 2 is a perspective view showing a schematic configuration of the automatic head washing apparatus 100. FIG. 3 is a plan view showing a schematic configuration of the automatic head washing apparatus 100. FIG. 4 is a configuration diagram showing a first main part of the drive mechanism of the automatic head washing apparatus 100. FIG. 5 is a configuration diagram showing a second main part of the drive mechanism of the automatic head washing apparatus 100. In FIGS. 4 and 5, the direction along the vertical direction is indicated as the Z axis, and the directions perpendicular thereto are indicated as the X axis and the Y axis.

  As shown in FIGS. 2 and 3, the bowl 101 of the automatic head washing apparatus 100 is accommodated so as to wrap around a substantially half surface on the occipital side of the human head 10. At the bottom of the bowl 101, a support body 112 is provided as a head support section 11 that supports 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 on both the left and right sides with the head support portion 11 interposed therebetween.

  The automatic head washing apparatus 100 has a washing unit 12 for washing a human head 10 in a bowl 101. The cleaning unit 12 includes a left cleaning unit 12L disposed on the left side with the head support portion 11 interposed therebetween, and a right cleaning unit 12R disposed on the right side with the head support portion 11 interposed therebetween.

  Here, the configuration of the left cleaning unit 12L among the left and right cleaning units 12L and 12R will be described. The right cleaning unit 12R is configured in the same manner as the left cleaning unit 12L, except that it is symmetrical.

  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 support shafts 104 </ b> L and 104 </ b> R are provided so as to extend in the left-right direction of the head 10 toward the left and right sides of the head support 11.

  The left cleaning unit 12L includes a left arm 114L and a pipe 111L. The left arm 114L includes an arm housing 115L. The arm housing 115 </ b> L has a shape that follows the outer shape of the left half of the head 10. Specifically, the arm housing 115L has, for example, a shape that extends substantially linearly from the base end portion to the center portion and extends in a substantially arc shape from the center portion to the tip end portion. A first arm 105L, a second arm 106L, and third arms 107L and 108L shown in FIG. 4 are accommodated in the arm housing 115L.

  As shown in FIG. 4, the pipe 111 </ b> L of the left cleaning unit 12 </ b> L includes a plurality of nozzles 110 for ejecting at least one of 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.

  The first arm 105L is attached to the arm base 103L, and is installed so as to be rotatable around the support shaft 104L together with the arm base 103L.

  A second arm 106L is rotatably supported on the first arm 105L. Two third arms 107L and 108L are rotatably supported on the second arm 106L. A plurality of contacts 109 that come into contact with the human head 10 are attached to the third arms 107L and 108L. The contact 109 is provided so as to be exposed to the outside of the arm housing 115L. The contact 109 is made of a flexible rubber material, for example.

  A motor 201L is disposed in the support column 102L. 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 configured to be rotatable in the direction of the arrow 205L by the transmitted rotation output of the motor 201L.

  A motor 206L and an arm rotation shaft 209L are arranged in the arm base 103L. The arm rotation shaft 209L is provided substantially at right angles to the support shaft 104L, and is configured to be rotatable together with the arm base 103L and the arms 105L, 106L, 107L, and 108L around the support shaft 104L. The rotation output of the motor 206L is transmitted to the first arm 105L via a gear 207L attached to the motor rotation output shaft 207La and a gear 208L attached to the arm rotation shaft 209L. The first arm 105L is configured to be rotatable in the direction of the arrow 210L around the arm rotation shaft 209L by the transmitted rotation output of the motor 206L.

  The first arm 105L includes a pressure sensor 211L for detecting a force for pressing the human head 10 and supports the second arm 106L by a support shaft 212L so as to be rotatable. The second arm 106L rotatably supports the third arms 107L and 108L by support shafts 213L and 214L, respectively.

  The automatic head 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 connected to the pipes 111 </ b> L and 111 </ b> R via the pipe 219.

  The water system valve 216 has an input port connected to a water system supply unit (not shown), and water is supplied from the outside. The cleaning liquid valve 217 is connected at its input port to a mixing unit 220 for mixing the cleaning liquid and compressed air, and the cleaning liquid from the cleaning liquid supply unit 222 for supplying the cleaning liquid such as shampoo and the compressed air are mixed in the mixing unit 220. A mousse cleaning solution is supplied. The conditioner system valve 218 is connected to the conditioner supply unit 221 at its input port, and is supplied with the conditioner from the conditioner supply unit 221.

  In the automatic head washing apparatus 100, by appropriately controlling the water system valve 216, the cleaning liquid system valve 217, and the conditioner system valve 218, 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 supply path | route of a conditioner may be comprised so that a conditioner may be ejected in mist form. When the conditioner is ejected in the form of a mist, a nozzle (not shown) capable of spraying the conditioner may be provided separately from the nozzle 110, and the conditioner system valve 218 may be connected to this nozzle.

As shown in FIG. 27, the automatic head washing apparatus 100 of the present embodiment is provided with a link mechanism for expanding and contracting the lengths of the arms 114L and 114R on the left and right arms 114L and 114R. As shown in FIG. 27, the automatic head washing apparatus 100 of this embodiment is configured to extend and contract the lengths of the arms 114L and 114R by configuring the arms 114L and 114R with a five-bar link that is an example of an expansion / contraction mechanism. Can do. By providing such a link mechanism, care corresponding to the shape and size of the head 10 can be performed more suitably. In this embodiment, the arms 114L, expansion and contraction of the length of the 114R can be performed by changing the stretching angle theta _X shown in FIG. 27.

  In the automatic head washing apparatus 100 of the present embodiment, the magnet 121 is provided at the tip of the arm 114R, and the magnetic sensor 122 is provided at the tip of the arm 114L. The magnet 121 and the magnetic sensor 122 are an example of an arm approach detection device. By using the arm approach detection device, the approach between the arms 114L and 114R and the distance between the arms 114L and 114R can be detected. An ultrasonic sensor or a distance sensor can also be used as the arm approach detection device.

  Here, first, an operation flow of the automatic head washing apparatus 100 which is a feature of the present invention will be described. The specific configuration of the automatic head washing apparatus 100 will be described later with reference to FIGS.

  FIG. 14 is a configuration diagram showing the configuration of the control device 700 of the automatic head washing system 1.

  The control device 700 includes arm swing angle control units 701L and 701R, arm pressing angle control units 702L and 702R, and contact group angle control units 703L and 703R.

  The arm swing angle control units 701L and 701R, the arm pressing angle control units 702L and 702R, and the contact group angle control units 703L and 703R are all provided for the left and right arms 114L and 114R, respectively. The left arm swing angle control unit 701L controls the swing angle of the left arm 114L. The right arm swing angle control unit 701R controls the swing angle of the right arm 114R. The left arm pressing angle control unit 702L controls the pressing rotation angle of the left arm 114L. The right arm pressing angle control unit 702R controls the pressing rotation angle of the right arm 114R. The left contact group angle control unit 703L controls the angle of the stagnation rotation of the contact group L of the left arm 114L. The right contact group angle control unit 703R controls the stagnation rotation angle of the contact group R of the right arm 114R.

  The control device 700, which is an example of a control unit, includes a water system valve control unit 704 that controls opening and closing of the water system valve 216, a cleaning liquid system valve control unit 705 that controls opening and closing of the cleaning liquid system valve 217, and a conditioner system valve 218. And a conditioner system valve controller 706 for controlling opening and closing.

  The control device 700 further includes a reclining control unit 709 that controls the reclining device 508, a height adjustment control unit 710 that controls the height adjustment device 510, and a horizontal movement control unit 711 that controls the horizontal movement device 530. . However, in the present embodiment, the reclining control unit 709, the height adjustment control unit 710, and the horizontal movement control unit 711 are not necessarily provided in the control device 700. For example, the reclining control unit 709, the height adjustment control unit 710, and the horizontal movement control unit 711 are not necessarily provided. You may provide in a control apparatus. In the present embodiment, the reclining angle, height adjustment, and horizontal movement of the reclining seat 500 may be manually performed. In this case, the reclining control unit 709, the height adjustment control unit 710, and the horizontal movement control unit 711 are unnecessary.

  In addition, the control device 700 includes an operation unit 707 that receives a human operation input. The operation unit 707 is, for example, a touch panel type operation unit, and has a function of displaying various operation states of the automatic head washing system 1. However, the automatic head washing system 1 may have a display unit that displays various operation states of the automatic head washing system 1 separately from the operation unit 707.

  Further, the control device 700 includes a system control unit 708. The system control unit 708 includes the above-described units (arm swing angle control units 701L and 701R, arm pressing angle control units 702L and 702R, contact group angle control units 703L and 703R, a water system valve control unit 704, a cleaning liquid system valve control unit 705, Conditioner system valve control unit 706, reclining control unit 709, height adjustment control unit 710, horizontal movement control unit 711, and operation unit 707) are comprehensively managed and controlled. The system control unit 708 is provided with a storage unit 708A for storing various types of information.

  In the control device 700 configured as described above, based on the operation input received by the operation unit 707, the system control unit 708 causes the swing angle and the pressing angle of the left arm 114L and the right arm 114R, the contact group L, and the contact group. The stagnation rotation angle of the child group R, the reclining angle of the reclining seat 500, height adjustment and horizontal movement, and opening / closing of the water system valve 216, the cleaning liquid system valve 217, and the conditioner system valve 218 are integrated and controlled. Thus, the automatic head washing system 1 realizes an automatic head washing operation.

  The operation flow of the control device 700 of the automatic head washing system 1 will be described with reference to FIG. The operation flow shown in FIG. 15 is started when the control device 700 of the automatic head washing system 1 is activated. In particular, the present invention is characterized by having a head welcome step in steps S206 and S218 in FIG.

When the control device 700 is activated, a calibration step S201 is first executed. This calibration step S201 includes a table 902L (FIG. 16) for eliminating and correcting the influence of the gravity applied to the members interposed between the pressure sensors 211L and 211R and the head 10 on the output values of the pressure sensors 211L and 211R. Reference), 902R is a step of calculating. In the calibration step S201, the swing angle and the pressure are applied to the arms 114L and 114R in a state where the head 10 is not inserted into the bowl 101 (a state where the head 10 is not in contact with the contact groups L and R). The values of the pressure sensors 211L and 211R are measured for each combination with the angle. Tables 902L and 902R are created based on the measured values and stored in the storage unit 708A. The values of the pressure sensors 211L and 211R in the tables 902L and 902R are determined by changing the swing angles θ _SL and θ _SR and the pressing angles θ _PL and θ _PR in a state where the head 10 is not inserted into the bowl 101. Alternatively, it is measured by a method in which the swing angles θ _SL and θ _SR are changed while the pressing angles θ _PL and θ _PR are fixed at predetermined angles (for example, 10 °). Based on the values of the tables 902L and 902R obtained in this way, in the subsequent steps, gravity applied to members interposed between the pressure sensors 211L and 211R and the head 10 affects the output values of the pressure sensors 211L and 211R. By eliminating and correcting the influence, offset values corresponding to various postures of the arms 114L and 114R are calculated.

  Next, in the mode selection operation confirmation step S202, the automatic head washing apparatus 100 determines whether an operation for selecting any one of the hair washing mode, the massage mode, or the end mode is performed by a person. Here, the hair washing mode is a mode in which hair washing is performed by controlling the opening / closing of the water system valve 216, the cleaning liquid system valve 217, or the conditioner system valve 218. The massage mode is a mode in which the head 10 is massaged by the left and right arms 114L and 114R and the contact groups L and R. The end mode is a mode in which the system operation of the control device 700 is ended.

  In mode selection operation confirmation step S202, it is determined whether or not any mode selection operation has been performed, and if it is confirmed that there has been a selection operation ("YES" in step S202), Go to the step.

  In the next hair washing mode selection confirmation step S203, the automatic head washing apparatus 100 determines whether or not the mode selected by the person is the hair washing mode. If the selection of the hair washing mode (“YES” in step S203) is confirmed by this determination, a hair washing mode described later is executed. On the other hand, in the hair washing mode selection confirmation step S203, if it is confirmed that the mode selected by the person is a mode other than the hair washing mode (“NO” in step S203), the process proceeds to the massage mode selection confirmation step S204.

  In the massage mode selection confirmation step S204, the automatic head washing apparatus 100 determines whether the mode selected by the person is the massage mode or the end mode. When the selection of the massage mode (“YES” in step S204) is confirmed by this determination, a massage mode described later is executed. When this determination confirms selection of the end mode (“NO” in step S204), the system operation ends.

  Next, the hair washing mode will be described.

  In the hair washing mode, first, in the first safety confirmation step S205, a necessary confirmation operation is performed before the human head 10 is inserted into the bowl 101. Specifically, in this confirmation step S205, the presence / absence of an attachment on the person's head 10 is confirmed. More specifically, for example, the presence or absence of a wearing object such as a hairpin or a hair band in the hair of the human head 10 is confirmed. When the automatic head washing apparatus 100 confirms that there is any wearing object, the automatic head washing apparatus 100 outputs a sound or a video to urge a person to remove the wearing object. Further, in the first safety confirmation step S205, the automatic head washing apparatus 100 may confirm whether or not the above-described water shield visor is mounted on the human head 10. In this case, when it is confirmed that the water shield visor is not attached, sound or video is output in order to prompt a person to attach the water shield visor.

  Next, in the head welcome step S206, a preparatory operation for inserting the human head 10 into the bowl 101 is executed. The specific operation of the head welcome step S206 is the most characteristic part of the present invention, and will be described in detail later with reference to FIGS.

In the next scanning step S207, tables 901L (see FIG. 17) and 901R are acquired and stored in the storage unit 708A. In this scanning step S207, the left and right arms 114L, 114R are pressed against the head 10 with a substantially constant pressure (or released and pressed at every predetermined swing angle), and the arms 114L, 114R. While slowly increasing the swing angles θ _SL and θ _SR from 0 °, the pressing angles θ _PL and θ _PR at a plurality of predetermined swing angles θ _SL and θ _SR during the swing rotation are detected and stored in the storage unit 708A. Remember. In this way, the operation of detecting and storing “the values of the pressing angles θ _PL and θ _PR corresponding to the values of the swing angles θ _SL and θ _SR ” is referred to as “scanning operation”. The tables 901L and 901R are created based on the correspondence between the swing angles θ _SL and θ _SR and the pressing angles θ _PL and θ _PR obtained by this scanning operation.

  Next, a hair washing operation step S208 is executed. In this hair washing operation step S208, as shown in FIG. 18, the warm-up step S401, the water washing step S402, the shampoo step S403, the shampooing step S404, the rinsing step S405, the water draining step S406, the conditioner step S407, the rinsing step S408, and the water draining step. Step S409 is sequentially executed.

  In the warm-up step S401, a preparatory operation is performed to make it possible to supply hot water of an appropriate temperature. Specifically, by opening a small amount of the water system valve 216, the hot water is brought to an appropriate temperature in a state in which a small amount of hot water supplied from a water heater (not shown) connected to the automatic head washing apparatus 100 is kept flowing. Wait until

  In the water washing step S <b> 402, hot water is ejected from the plurality of nozzles 110 while swinging the left and right arms 114 </ b> L and 114 </ b> R, and this hot water is applied to the entire head 10. Specifically, first, the left and right arms 114L and 114R are swung to the front side (130 ° angle position) of the head 10 while maintaining the pressing angle at the 0 ° angle position (release state). . Subsequently, the water system valve 216 is opened in a state where the swing angle of the arms 114L and 114R is maintained on the front side (an angle position of 130 °) of the head 10, and the plurality of nozzles 110 of the pipes 111L and 111R are applied to the head hair. Spout hot water. Next, the left and right arms 114L and 114R are reciprocated several times in the angle range of 0 ° to 130 ° and swung to spout hot water from the nozzle 110 to the head hair. Spout and adjust the hair to hot water.

  Furthermore, in the water washing step S402, hot water is directed toward the head 10 while changing the swing angle and pressing angle of the left and right arms 114L, 114R and the stagnation rotation angle of the contact groups L, R in a compound manner. Gently wash and wash the hair. Initially, the contact groups L and R are fixed at a position of 30 °, and the pressing force control is performed only at the time of swing rotation from the front side (130 ° angular position) to the rear side (0 ° angular position) of the head 10. It is desirable to use a lot of operations to turn ON. By this operation, an operation of brushing from the front to the back of the head 10 can be realized.

  In the shampoo step S403, the cleaning liquid is ejected from the plurality of nozzles 110 while swinging the left and right arms 114L and 114R, and this cleaning liquid is applied to the entire head 10. Specifically, first, the left and right arms 114L and 114R are swung to the front side of the head 10 (an angular position of 130 °) with the pressing angle maintained at 0 °. Subsequently, the cleaning liquid system valve 217 is opened in a state where the swing angle of the arms 114L and 114R is maintained on the front side (an angle position of 130 °) of the head 10, and the plurality of nozzles 110 of the pipes 111L and 111R A cleaning solution such as shampoo is jetted onto the hair. While the left and right arms 114L and 114R are reciprocated several times in an angle range of 0 ° to 130 ° and swung and swung, the cleaning liquid is jetted to the entire head 10.

  In the scouring washing step S404, the left and right arms 114L and 114R are pressed and rotated in the direction approaching the head 10 to bring the plurality of contacts 109 into contact with the head 10 and perform a stagnation operation with the plurality of contacts 109. The head 10 is swallowed by swinging the left and right arms 114L and 114R while swinging. Specifically, the swing angle and the pressing angle of the left and right arms 114L and 114R and the stagnation rotation of the contact groups L and R are changed in a complex manner, and the entire head 10 is covered by the contact groups L and R. Rinse and wash. In the scouring washing step S404, it is desirable that the pressure command value for the pressure control of the left and right arms 114L and 114R is initially set to a low value and gradually or gradually increased. As a result, it is possible to introduce a stagnation operation that is gentle to a person and to perform a hair washing operation that is uncomfortable for the person.

  In the rinsing step S405, the water system valve 216 is opened as in the water washing step S402, and the swing angle and the pressing angle of the left and right arms 114L and 114R and the swirling rotation of the contact groups L and R are made while hot water is ejected from the nozzle 110. Are changed in a complex manner. In the rinsing step S405, first, the pressure control system of the left and right arms 114L, 114R is turned off, and hot water is poured in the released state to easily wash away the cleaning liquid. Then, the pressure control system is turned on, and the contact group L , R can be rinsed efficiently by reciprocating and rotating. In the final stage of the rinsing step S405, the contact groups L and R are fixed at a position of 30 °, and the swing is directed from the front side (130 ° angular position) to the rear side (0 ° angular position) of the head 10. It is desirable to frequently use the operation of turning on the pressing force control only at the time of rotation. By this operation, it is possible to obtain an effect of brushing the hair disturbed by the scouring step S404 or the like.

  In the draining step S <b> 406, the water system valve 216 is closed to prohibit hot water ejection from the nozzle 110. Further, the left and right arms 114 </ b> L and 114 </ b> R are reciprocated and swing-rotated in a state where the kneading rotation angles of the contact groups L and R are fixed. Specifically, for example, the pressing force control is turned ON only at the time of swing rotation from the front side (130 ° angular position) to the rear side (0 ° angular position) of the head 10, and the rear side (0 ° angle). At the time of swing rotation from the position) to the front side (an angular position of 130 °), it is preferable to turn off the pressing force control and set the release state. By this operation, it is possible to obtain an effect of squeezing hot water contained in the hair while avoiding reverse hair wrinkling.

  In the conditioner step S407, first, the left and right arms 114L and 114R are swung to the front side (130 ° position) of the head 10 while maintaining the pressing angle in the released state. Subsequently, the conditioner valve 218 is opened in a state where the arms 114L and 114R are stopped in front of the head 10 (at an angular position of 130 °), and the hair of the head 10 is rinsed from the plurality of nozzles 110 of the pipes 111L and 111R. No conditioner is erupted. In addition, when the nozzle for conditioner spraying is provided separately from the nozzle 110, the conditioner is ejected in a mist form from the nozzle for conditioner spraying. The left and right arms 114 </ b> L and 114 </ b> R reciprocate several times in an angle range of 0 ° to 130 °, and the conditioner is ejected to the entire head 10. At the end of the conditioner step S407, the conditioner valve 218 is closed to prevent the conditioner from being ejected from the nozzle 110, and from the front side (130 ° angular position) to the rear side (0 ° angular position) of the head 10. Turn on the pressing force control only when swinging toward the back, and turn off the pressing force control when turning from the rear side (0 ° angle position) to the front side (130 ° angle position). Is preferred. By this operation, it is possible to obtain an effect of making the conditioner fit into the hair and brushing.

  When the conditioner step S407 ends, a rinsing step S408 similar to the rinsing step S405 and a draining step S409 similar to the draining step S406 are executed in order. In order to avoid the conditioner effect from being reduced by excessive rinsing, the rinsing time in rinsing step S408 following conditioner step S407 is preferably set shorter than in rinsing step S405 following shampoo step S403. Moreover, when using the conditioner which does not require a rinse, the rinse step S408 after conditioner step S407 can be abbreviate | omitted.

  During the washing operation step S208, during the execution of the warm-up step S401, the washing step S402, the shampooing step S403, the shampooing step S404, the rinsing step S405, the draining step S406, the conditioner step S407, the rinsing step S408, and the draining step S409. The second safety confirmation step S209 shown in FIG. 15 is sequentially executed.

  Next, in the second safety confirmation step S209, the state of the automatic head washing system 1 during the execution of the hair washing step S208 is monitored. Specifically, for example, the current value or operating angle of each motor of the automatic head washing system 1 is monitored, and if there is an abnormality, a person is notified and an instruction is given to forcibly interrupt the hair washing operation. The

  Further, in the interruption confirmation step S210, it is confirmed whether or not the instruction for interruption of the hair washing operation by human operation or the forced interruption instruction in the second safety confirmation step S209 is performed during the execution of the hair washing operation step S208. The If any interruption instruction is confirmed by this confirmation (“YES” in step S210), an interruption process step S211 described later is executed, and a head release step S215 described later and a pipe cleaning step S216 described later are performed. After that, the entire operation ends. On the other hand, when the interruption instruction is not confirmed (“NO” in step S210), the flow proceeds to the hair washing operation completion confirmation step S212.

  In the hair washing operation completion confirmation step S212, the warm-up step S401, the water washing step S402, the shampoo step S403, the shampooing step S404, the rinsing step S405, the draining step S406, the conditioner step S407, the rinsing step S408, And it is confirmed whether each step of draining step S409 is completed. As a result of the confirmation, when each step is not completed (“NO” in step S212), the execution of the step is continued. On the other hand, when the completion of each step is confirmed (“YES” in step S212), the process proceeds to the next final hair washing operation confirmation step S213. If the final step in the hair washing operation (water draining step S409 shown in FIG. 18) is not completed (“NO” in step S213) as determined in the final hair washing operation confirmation step S213, the hair washing operation switching step S214 is shown in FIG. It is switched to the next step in the hair washing operation.

  In addition, in the final hair washing operation confirmation step S213, when the completion of the final step of the hair washing operation step S208 (draining step S409 shown in FIG. 18) is confirmed (“YES” in step S213), the process proceeds to the head release step S215. .

  The interruption processing step S211 will be described. In this step S211, first, the swing rotation operation and the press rotation operation of the left and right arms 114L, 114R and the stagnation rotation operation of the contact groups L, R are stopped, and the water system valve 216, the cleaning liquid system valve 217, and All conditioner valves 218 are closed. In stopping the pressing and rotating operation, the pressing force control is turned off, and the angular position at this time is held. Thereafter, the left and right arms 114L and 114R are pressed and rotated to the limit in the release direction so that the contact groups L and R are separated from the head 10 as much as possible.

  The head release step S215 will be described. In this step S215, the left and right arms 114L and 114R are arranged at positions for making it easier to move the head 10 away from the support 112 and out of the bowl 101. Specifically, first, similarly to the interruption processing step S211, the swing rotation operation and the press rotation operation of the left and right arms 114L and 114R and the stagnation rotation operation of the contact groups L and R are stopped, and the water system The valve 216, the cleaning liquid system valve 217, and the conditioner system valve 218 are all closed. In stopping the pressing and rotating operation, the pressing force control is turned off, and the angular position at this time is held. Thereafter, the left and right arms 114L, 114R are pressed and rotated to the limit in the release direction so that the contact groups L, R are separated from the head 10 as much as possible. Further, in the head release step S215, the left and right arms 114L and 114R that have completed pressing and turning in the release direction swing and rotate to the rear side (0 ° angle position) of the head 10. Accordingly, similarly to the head welcome step S206 described later, the left arm 114L and the right arm 114R are positioned on the bottom side of the bowl 101 with a space therebetween. Therefore, it is possible to perform an operation in which a person puts the head 10 out of the bowl 101 with peace of mind. In the head release step S215, when it is confirmed that the head 10 has been moved out of the bowl 101, the next pipe cleaning step S216 is executed. Note that confirmation that the head 10 has been moved out of the bowl 101 can be made by detection of various sensors.

  In the pipe washing step S216, the water system valve 216 is opened, and the conditioner and the like remaining in the pipes 111L and 111R are washed out. Thus, the next time the hair washing operation is performed, it is possible to prevent conditioners and the like remaining in the pipes 111 </ b> L and 111 </ b> R from being first ejected onto the human head 10. Further, this can prevent the conditioner and the like remaining in the pipe from hardening and clogging the pipe.

  When the pipe washing step S216 is finished, all the operations in the hair washing mode are finished.

  According to the hair washing mode described above, the swing angle and pressing angle of the left and right arms 114L and 114R, the stagnation rotation angle of the contact groups L and R, the water system valve, the cleaning liquid system valve and the conditioner system valve are combined. The hair washing operation can be performed safely without placing a burden on the person's neck.

  Next, the massage mode will be described.

  In the massage mode, first, in the third safety confirmation step S217, the presence or absence of a wearing object such as a hairpin or hair band in the head hair of the human head 10 is confirmed. The device 100 alerts the person to remove this attachment. The specific operation is the same as that in the first safety confirmation step S205 in the hair washing mode, except that the confirmation of wearing the water shield visor is unnecessary.

  In the next head welcome step S218, the same operation as the head welcome step S206 in the hair washing mode is executed. As described above, the specific operation of the head welcome steps S206 and S218, which is the most characteristic part of the present invention, will be described in detail later with reference to FIGS.

  In the subsequent scanning step S219, an operation similar to the scanning step S207 in the hair washing mode is executed.

  When the scanning step S219 is completed, a massage operation step S220 is executed.

  In this massage operation step S220, as shown in FIG. 19, a throw-in step S501, a massage step S502, and a throw-out step S503 are sequentially executed. In the throw-in step S501, the massage step S502, and the throw-out step S503, the swing angle and the press angle of the left and right arms 114L and 114R and the stagnation rotation angle of the contact groups L and R are combined and operated. The head 10 can be massaged over the whole by the child groups L and R. Regarding the setting of the pressing force command value for the pressing force control of the left and right arms 114L and 114R, the pressing force is set relatively weak in the throw-in step S501, the pressing force is set relatively strong in the massage step S502, and the throw-out step In S503, the pressing force is set to be relatively weak again. By carrying out like this, the massage operation at the time of introduction and termination can be made a massage operation that is easy for the person, and a massage operation that is comfortable for the person can be executed. In the massage mode, the water system valve 216, the cleaning liquid system valve 217, and the conditioner system valve 218 are all closed.

  The state of the automatic head washing system 1 during the execution of the massage operation step S220 (respective steps S501, S502, S503 shown in FIG. 19) is monitored by the fourth safety confirmation step S221. Specifically, for example, the current value or operating angle of each motor of the automatic head washing system 1 is monitored, and if there is an abnormality, a person is notified and an instruction is given to forcibly interrupt the massage operation. .

  Also, in the interruption confirmation step S222, it is confirmed whether or not a massage operation interruption instruction by a human operation or a compulsory interruption instruction in the fourth safety confirmation step S221 is performed during the massage operation step S220. Is done. As a result of this confirmation, if any interruption instruction is confirmed (“YES” in step S222), an interruption processing step S223 described later is executed, and the entire operation is terminated via a head release step S227 described later. . On the other hand, when the interruption instruction is not confirmed (“NO” in step S222), the process proceeds to the massage operation completion confirmation step S224.

  In the massage operation completion confirmation step S224, it is confirmed whether or not each of the throw-in step S501, the massage step S502, and the throw-out step S503 in the massage operation shown in FIG. 19 is completed. As a result of this confirmation, when each step is not completed (“NO” in step S224), the execution of the step is continued. On the other hand, when the completion of each step is confirmed (“YES” in step S224), the process proceeds to the next final massage operation confirmation step S225. If the final step (slow out step S503 shown in FIG. 19) in the massage operation is not completed (“NO” in step S225) by the determination in the final massage operation confirmation step S225, in the massage operation switching step S226, FIG. It is switched to the next step in the indicated massage operation.

  In addition, in the final massage operation confirmation step S225, when the completion of the final step of the massage operation step S220 (slow out step S503 shown in FIG. 19) is confirmed (“YES” in step S225), the head release step S227 is performed. move on.

  The interruption processing step S223 will be described. In step S223, first, the swing rotation operation and the press rotation operation of the left and right arms 114L and 114R and the kneading rotation operation of the contact groups L and R are stopped. In stopping the pressing and rotating operation, the pressing force control is turned off, and the angular position at this time is held. Thereafter, the left and right arms 114L and 114R are pressed and rotated to the limit in the release direction so that the contact groups L and R are separated from the head 10 as much as possible.

  The head release step S227 will be described. In step S227, first, similarly to the interruption processing step S223, the swing rotation operation and the press rotation operation of the left and right arms 114L and 114R and the stagnation rotation operation of the contact groups L and R are stopped. In stopping the pressing and rotating operation, the pressing force control is turned off, and the angular position at this time is held. Thereafter, the left and right arms 114L and 114R are pressed and rotated to the limit in the release direction so that the contact groups L and R are separated from the head 10 as much as possible. Further, in the head release step S215, the left and right arms 114L and 114R that have completed pressing and turning in the release direction swing and rotate to the rear side (0 ° angle position) of the head 10.

  As a result, the left arm 114L and the right arm 114R are positioned on the bottom side of the bowl 101 at a distance from each other, as in the head welcome step S218 described later. The operation of moving out of 101 can be performed with peace of mind.

  When the head release step S227 is completed, all operations in the massage mode are completed.

  According to the massage mode described above, the swing angle and the press angle of the left and right arms 114L and 114R and the stagnation rotation angle of the contact groups L and R can be combined and operated on the person's neck. The massage operation can be executed safely without imposing a burden.

  Hereinafter, the head welcome steps S206 and S218 in the above-described hair washing mode or massage mode will be specifically described. The head welcome steps S206 and S218 are the most characteristic part of the present invention as described above.

  FIG. 20 shows each component of the system control unit 708 related to the head welcome steps S206 and S218.

  As shown in FIG. 20, the system control unit 708 includes a posture adjustment unit 708B, a head insertion preparation unit 708C, a head horizontal movement control unit 708D, a head insertion confirmation unit 708E, and a head insertion completion confirmation unit. 708F, pseudo elasticity forming unit 708G, simple scanning unit 708H, head height adjustment control unit 708I, head support control unit 708J, vertical movement tracking control unit 708K, horizontal movement tracking control unit 708L, Have The configuration of each of these units 708B to 708L will be described together with the specific operations of the head welcome steps S206 and S218. In both the hair washing mode and the massage mode, the same operation is executed in the head reception steps S206 and S218. Therefore, here, the specific operation of the head reception step S206 in the hair washing mode is shown as a representative of both. explain.

  FIG. 21 is a flowchart showing details of the head welcome step S206 in the hair washing mode.

  As shown in FIG. 21, in head welcome step S206, posture adjustment step S301, head insertion position adjustment step S302, swing range determination step S305, and head height position adjustment step S306 are executed in order.

  In posture adjustment step S301, the posture adjustment unit 708B uses the posture adjustment unit 708B to set the height, front-rear position, and reclining angle so that the person 8 sitting on the reclining seat 500 can set the head 10 on the bowl 101 in a comfortable posture. Is adjusted. Specifically, the reclining control unit 709 controls the reclining device 508 according to a command from the posture adjustment unit 708B, thereby adjusting the reclining angle of the reclining seat 500, and the height adjustment control unit 710 controls the height adjusting device 510. By controlling, the height of the reclining seat 500 is adjusted, and when the horizontal movement control unit 711 controls the horizontal moving device 530, the front-rear position of the reclining seat 500 is adjusted. The posture adjustment unit 708B outputs command values to the reclining control unit 709, the height adjustment control unit 710, and the horizontal movement control unit 711 based on an input signal from the operation unit 707, for example. However, in the posture adjustment step S301, the reclining seat 500 may be adjusted manually. When the adjustment of the reclining seat 500 is performed manually in the posture adjustment step S301, a notification that prompts the person to operate a predetermined button (not shown) of the operation unit 707 when the adjustment of the reclining seat 500 is completed. You may go. This notification is performed by video or audio.

  Next, the head insertion position adjustment step S302 will be described with reference to FIGS. 28A and 28B. 28A and 28B are flowcharts showing details of the head insertion position adjustment step S302.

In the head insertion position adjustment step S302, first, a preparation operation for inserting the head 10 into the bowl 101 (steps S601 to S617 in FIGS. 28A and 28B) is executed by the head insertion preparation unit 708C. The As shown in FIG. 22, in this preparatory operation, the swing angles θ _SL and θ _SR of the left and right arms 114L and 114R are controlled to the horizontal position θ _H when the arms 114L and 114R are arranged substantially in the horizontal direction. the left and right arms 114L, pressing the angle theta _PL of 114R, theta _PR is controlled to a predetermined pressing position theta _Z. Pressing position theta _Z is set according to the size of the head 10. Specifically, first, in step S601, the head 10 is classified into three stages of S size, M size, and L size in ascending order. In step S602, the pressing limit angle θ _{P_lim} is set to 12 ° (S size), 10 ° (M size), and 8 ° (L size), for example, corresponding to these sizes. The pressing limit angle θ _{P_lim} set in this way is the maximum angle at which the head 10 can be pressed ( _careable) using the arms 114L and 114R of the automatic head washing apparatus 100 in each size of the head 10. Is set. The size of the head 10 is set, for example, by performing an operation of selecting the size of the head 10 by the operation unit 707 or by being detected by a camera.

Subsequently, in step S603, the left and right arms 114L, it in arms 114L changing the swing angle theta _S of 114R, together rotate in a substantially horizontal position 114R, according to the head size by changing the stretching angle theta _X The arms 114L and 114R are expanded and contracted. In order to form a pseudo elastic force, in step S604, the pressing force control of the pressure sensors 211L and 211R is turned ON, the first pressure P1 that is the pressing force target value is set, and the pressure sensors 211L and 211R are set. controlling in pressing force is detected first pressure P1 follows so as to arm 114L, a pressing angle theta _Z of 114R in the system control unit 708. Through these steps S601 to S604, the head insertion preparation operation is completed.

  When the preparation operation for the head insertion is completed, an operation for inserting the head 10 into the bowl 101 is executed by the head horizontal movement control unit 708D. Specifically, the horizontal movement control unit 711 controls the horizontal movement device 530 according to a command from the head horizontal movement control unit 708D, so that the reclining seat 500 and the human head 10 on the seat are placed in the bowl 101. On the other hand, it moves in a substantially horizontal direction in the direction of insertion or ejection. The amount of insertion of the head 10 into the bowl 101 is adjusted by the movement in the substantially horizontal direction. However, in this embodiment, it is not always necessary to adjust the amount of insertion of the head 10 into the bowl 101 using the horizontal movement device 530, and the person 8 sitting on the reclining seat 500 moves the head 10 by himself / herself. You may go by.

Note that the above-described head insertion preparation operation may be executed only for one of the left and right arms 114L and 114R (for example, the arm 114L). In this case, the head support operation for supporting the head 10 is executed by the head support control unit 708J in the other arm (for example, the arm 114R) that does not perform the head insertion preparation operation. In the head support operation, the swing angle θ _SR of the other arm 114R is controlled to an angular position at which the head 10 can be supported from below by the arm 114R. Thereby, the head 10 can be supported more stably by the arm 114 </ b> R and the support body 112 arranged below the head 10. As shown in FIG. 24A, when the head 10 horizontally moves in the front-rear direction for adjusting the amount of insertion into the bowl 101 in a state where the head support operation is performed by the head support controller 708J, horizontal movement follow-up control is performed. The swing rotation is controlled by the portion 708L so that the plurality of contacts 109 move horizontally in accordance with the horizontal movement of the head 10 with respect to the arm 114R on which the head support operation has been executed. Accordingly, since the horizontal movement of the contact 109 of the arm 114 </ b> R that supports the head 10 and the head 10 can be synchronized during the horizontal movement of the head 10, the person 8 sitting on the reclining seat 500 can be synchronized. Discomfort can be suppressed.

Subsequently, as shown in steps S605 to S615 of FIGS. 28A and 28B, with respect to the arms 114L and 114R on which the above-described preparation operation has been executed, the head 10 is sufficiently placed in the bowl 101 by the head insertion confirmation unit 708E. It is confirmed whether or not it has been inserted. Specifically, first, in step S605, the system control unit 708 determines whether or not the value of the pressing force of the contact 109 on the head 10 detected by the pressure sensors 211L and 211R is substantially equal to the first pressure P1. Judge with. When the pressure values detected by the pressure sensor 211L and the pressure sensor 211R are not substantially equal to the first pressure P1 (“NO” in step S605), the pressing angles θ _PL and θ _PR are determined in step S606. The system control unit 708 determines whether or not the pressure limit angle θ _{P_lim} is substantially equal. If it is not approximately equal (“NO” in step S606), the process returns to step S605. If approximately equal (“YES” in step S606), the process proceeds to step S607. In step S607, based on the determination result in step S606, it is determined that the pressing force to the arms 114L and 114R is insufficient, that is, the insertion of the head 10 into the bowl 101 is insufficient. After the guide message “Please move to the back and insert deeply” is output as video or audio, the process returns to step S605.

Subsequently, when the values detected by the pressure sensor 211L and the pressure sensor 211R in step S605 are substantially equal to the first pressure P1 (“YES” in step S605), the position of the head 10 on the left and right sides is determined in step S608. Check for misalignment. In step S608, the determining whether the value of the value and the pressure sensor 211R of the pressure sensor 211L is substantially equal, and whether the pressing angle theta _PL and the pressing angle theta _PR are approximately equal, the system control unit 708. If it is determined in step S608 that either is not substantially equal (“NO” in step S608), it is determined in step S609 whether the head 10 is displaced to the left or right. In step S609, determines either a large pressing angle theta _PL and theta _PR by the system control unit 708, when pressing the angle theta _PL is large ( "theta _PL" in step S609), the head 10 is Shi displaced in the right In step S610, a guide message “Please move your head to the left” is output by video or audio. In addition, in step S609, when the pressing angle θ _PR is large ( "θ _PR" in step S609), as the head 10 is displaced in the left-hand side, in step S611, "Please move your head to the right." The guide message is output by video or audio. Then, after outputting a guide message in step S610 or S611, the process returns to step S605.

Subsequently, if it is determined in step S608 that both are substantially equal (“YES” in step S608), in step S612, the pressing angles θ _PL and θ _PR are within the range of −1 ° from the pressing limit angle θ _{P_lim.} The system control unit 708 determines whether or not it is included ((θ _{P_lim} −1 °) <θ _P <θ _{P_lim} ). If it is determined in step S612 that it is not included in the range (“NO” in step S612), it is assumed that the head 10 has been inserted too much into the bowl 101, and “the head is moved in the direction of the foot, After outputting the guide message “please insert shallowly” by video or audio, the process returns to step S605.

  If it is determined in step S612 that it is included in the range (“YES” in step S612), it is determined that the head insertion position adjustment into the bowl 101 has been completed. In step S614, “the head insertion position is correctly adjusted. The guide message is output as video or audio, and it is confirmed that the head 10 has been sufficiently inserted into the bowl 101. When the preparatory operation is performed for both the left and right arms 114L and 114R, the head 10 is moved into the bowl 101 when the pressing force of the first pressure P1 is detected by both the left and right pressure sensors 211L and 211R. It is judged that it has been inserted sufficiently. By doing in this way, insertion of the head 10 can be easily confirmed by the pressure sensors 211L and 211R without using a complicated detection device to detect the position of the head 10.

Thereafter, the pressing force control is turned OFF in step S615, and the arm is released in step S616 (the arms 114L and 114R are rotated to positions where the pressing angles θ _PL and θ _PR are 0 °). Then, in order to move the arms 114L and 114R to the initial positions, in step S617, the arms 114L and 114R are rotated to a position where the expansion / contraction angle θ _X is 0 °, and the swing angles θ _SL and θ _SR are 0 ° positions. The arms 114L and 114R are rotated.

  In addition, the guide message output in each step demonstrated above is output in order to have the person who received the guide message adjust the position of the head 10. Therefore, when the position of the head 10 is automatically adjusted by automatically moving the reclining seat 500 horizontally by the horizontal movement device 520, instead of outputting this guide message, the values of the pressure sensors 211L, 211R, etc. Based on the above, an automatic adjustment operation is performed.

In steps S604 to S614 of the present embodiment, when the pressing force equal to or higher than the first pressure P1 is detected by the pressure sensors 211L and 211R with respect to the arms 114L and 114R for which the preparatory operation has been performed, the pseudo elasticity forming unit 708G. Thus, an elastic force forming operation for imparting pseudo elasticity to the arms 114L and 114R is executed. The elastic forming operation, while prohibiting the pressing rotation exceeding pressing position theta _Z in the direction approaching the head portion 10, as the pressing force of the contact 109 with respect to the head 10 is maintained at a first pressure P1 The pressing rotation of the arms 114L and 114R is controlled. By this control, the arms 114L and 114R on which the preparatory operation has been performed function like walls having elasticity, so that it is possible to prevent an excessive load from being applied to the head 10. Therefore, the human head 10 can be safely and reliably set at an appropriate position in the bowl 101. In various operations such as the elastic force forming operation, the pressing rotation of the arms 114L and 114R is controlled by the arm pressing angle control units 702L and 702R as described above. Further, in various operations, the swing rotation of the arms 114L and 114R is controlled by the arm swing angle control units 701L and 701R as described above. FIG. 23 is a block diagram illustrating configurations of the left arm swing angle control unit 701L and the left arm pressing angle control unit 702L. The right arm swing angle control unit 701R has the same configuration as the left arm swing angle control unit 701L, and the right arm pressing angle control unit 702R has the same configuration as the left arm pressing angle control unit 702L. Is omitted. The left arm swing angle control unit 701L includes a comparator 602L and a position controller 603L. The left arm pressing angle control unit 702L includes comparators 802L and 805L, a stabilization compensator 803L, a limiter 804L, and a position controller 806L. As shown in FIG. 23, an encoder 801L that generates a pulse signal in synchronization with the rotation angle of the motor 206L is built in the push-rotating motor 206L. The pulse signal generated by the encoder 801L is sent to the comparator 805L as information indicating the rotation angle (pressing angle θ _PL ) of the motor 206L. The comparator 802L compares the pressing force commanded to the system control unit 708, that is, the first pressure P1, and the pressure detected by the pressure sensor 211L to calculate an error. This error signal is sent to the comparator 805L via the stabilization compensator 803L and the limiter 804L. The stabilization compensator 803L is for stabilizing the control system. The limiter 804L is for restricting the pressing force of the contact 109 with respect to the head 10 to the first pressure P1 or less when the elastic force forming operation is executed. In the comparator 805L, and the signal command value sent from the limiter 804L, a signal of the pressure angle theta _PL the current sent from the encoder 801L is compared with the error is calculated, this error signal, the pressure angle of the arm 114L It is sent to the motor 206L via the position controller 806L to be controlled. When the limiter 804L operates, the command value sent to the comparator 805L is limited to the first pressure P1 or less, so that the above-described elasticity forming operation can be executed. On the other hand, the swing rotation motor 201L incorporates an encoder 601L that generates a pulse signal in synchronization with the rotation angle of the motor 201L. The pulse signal generated by the encoder 601L is sent to the comparator 602L as information indicating the rotation angle (swing angle θ _SL ) of the motor 201L. The comparator 602L calculates an error signal in which the swing angle θ _SL commanded to the system control unit 708 is compared with the current swing angle θ _SL sent from the encoder 601L. This error signal is sent to the motor 201L via the position controller 603L that controls the swing angle of the arm 114L. By this error signal, the arm 114L can swing and swing according to the command value of the system control unit 708.

Subsequently, in the swing range determination step S305 shown in FIG. 21, the ranges of the swing angles θ _SL and θ _SR of the arms 114L and 114R are determined. The case of the left arm 114L will be described with reference to FIG. As shown in FIG. 25, in the swing range determination step S305, the swing angle θ _SL is determined by determining the origin (θ _SL = 0 °), the horizontal position θ _H, and the upper limit point θ _SMAX with respect to the swing angle θ _SL. Determine the range of _SL . These angular positions are determined, for example, by a person manually moving the arm 114L to stop the arm 114L at a desired position for each angular position and performing an operation of determining the position by the operation unit 707.

Subsequently, in the head height position adjustment step S306 shown in FIG. 21, after the simple scanning operation is executed by the simple scanning unit 708H, the head height position adjustment is performed by the head height adjustment control unit 708I (FIG. 29A). 29B, steps S701 to S722). The simple scanning operation simply performs the same operation as the above-described scanning operation, and the pressing force detected by the pressure sensors 211L and 211R at the three angular positions at the swing angles θ _SL and θ _SR is the first. The pressing angles θ _PL and θ _PR when the pressure P1 is reached are detected and stored in the storage unit 708A.

Here, in the three angular positions where the simple scanning is performed, i = 1 for the forehead position, i = 2 for the horizontal position, and i = 3 for the origin position. The swing angle at each angular position is θ _Si , the pressing angle at each angular position is θ _Pi, and the expansion / contraction angle at each angular position is θ _Xi . First, in step S701, i = 1 is defined. Next, in step S702, the expansion angle theta _X is rotated to the angle corresponding to the size of the head 10, the arms 114L, thereby stretching the 114R. Next, in step S703, the swing angle θ _S is rotated to the swing angle θ _Si at each angular position. Subsequently, in step S704, the pressing force control is turned ON, and a first pressure P1 that is a pressing force target value is set. Next, in step S705, the system control unit 708 determines whether or not the pressures detected by the pressure sensors 211L and 211R are substantially equal to the first pressure P1. If not substantially equal in step S705 (“NO” in step S705), step S705 is repeated until the detected pressure becomes substantially equal to the first pressure P1.

If substantially equal in step S705 ( "YES" in step S705), the arms 114L while maintaining the first pressure P1, by increasing the expansion angle theta _X of 114R, the arms 114L, stretch 114R. In step S707, it is detected whether the arm 114L and the arm 114R have approached a predetermined distance by using the magnet 121 and the magnetic sensor 122 which are examples of the arm approach detection device. When the two arms 114L and 114R have not approached the predetermined distance (“NO” in step S707), the process returns to step S706 to approach the predetermined distance. When the two arms 114L and 114R have approached a predetermined distance (“YES” in step S707), the extension operation of the arms 114L and 114R is stopped in step S708, and the expansion / contraction angle θ _Xi at that time is maintained. Subsequently, in step S709, the pressing angle θ _Pi corresponding to the current swing angle θ _Si and the expansion / contraction angle θ _Xi are acquired. Subsequently, in step S710, the pressing force control is OFF, the in step S711, the arms 114L, released 114R (to rotate the pressing angle theta _P to 0 °), the expansion angle theta _X corresponding to the head size Rotate to the initial value. These steps S703 to S711 are repeated through step S712 and step S713 until i becomes 3.

Next, in step S714, it is compared with the pressing angle theta _P1 forehead position of i = 1, the pressing angle theta _P3 origin position of i = 3. Here, when the forehead position pressing angle θ _PL1 and the origin position pressing angle θ _PL3 are not substantially equal, or when the forehead position pressing angle θ _PR1 and the origin position pressing angle θ _PR3 are not approximately equal (in step S714). “NO”), step S715 is performed. In step S715, the pressing angle theta _PL1 forehead position, theta _PR1 and the origin position of the pressing angle theta _PL3, compares either theta _PR3 is large. When the forehead position pressing angles θ _PL1 and θ _PR1 are smaller than the origin position pressing angles θ _PL3 and θ _PR3 (“YES” in step S715), the head 10 is disposed at a position biased toward the forehead. In step S716, a guide message “Please lower your head height” is output in video or audio. Then, after determining whether or not the adjustment of the head height is completed in step S717, the process returns to step S701. In addition, when the forehead position pressing angles θ _PL1 and θ _PR1 are larger than the origin position pressing angles θ _PL3 and θ _PR3 (“NO” in step S715), the head 10 is biased toward the origin (back of the head). In step S718, a guide message “Please raise your head height” is output in video or audio. Then, after determining whether or not the head height adjustment is completed in step S719, the process returns to step S701.

When the forehead position pressing angle θ _PL1 and the origin position pressing angle θ _PL3 are substantially equal, and the forehead position pressing angle θ _PR1 and the origin position pressing angle θ _PR3 are approximately equal (“YES” in step S714), step S720 is performed. In step S720, the expansion angle θ _{X1 at} the forehead position at i = 1 is compared with the expansion angle θ _X3 at the origin position at i = 3. Here, when the expansion / contraction angle θ _XL1 of the forehead position is not substantially equal to the expansion / contraction angle θ _{XL3 of the} origin position, or when the expansion / contraction angle θ _XR1 of the forehead position is not substantially equal to the expansion angle θ _{XR3 of the} origin position (Step S720). “NO”), step S721 is performed. In step S721, it is compared which of the expansion / contraction angles θ _XL1 and θ _{XR1 of} the forehead position and the expansion angles θ _XL3 and θ _XR3 of the origin position is larger. If the forehead position expansion angles θ _XL1 , θ _XR1 are larger than the origin position expansion angles θ _XL3 , θ _XR3 (if the forehead position arm 114L, 114R is not _expanded or contracted from the origin position arm 114L, 114R, step S721) “YES”), it is determined that the head 10 is disposed at a position biased toward the forehead, and in step S716, a guide message “Please lower the head height” is output in video or audio. To do. Then, after determining whether or not the adjustment of the head height is completed in step S717, the process returns to step S701. Further, when the forehead position pressing angles θ _PL1 and θ _PR1 are smaller than the _starting position pressing angles θ _PL3 and θ _PR3 (“NO” in step S721), the head 10 is biased toward the origin (back of the head). In step S718, a guide message “Please raise your head height” is output in video or audio. Then, after determining whether or not the head height adjustment is completed in step S719, the process returns to step S701.

When the forehead position expansion angle θ _XL1 and the origin position expansion angle θ _XL3 are substantially equal, and the forehead position expansion angle θ _XR1 and the origin position expansion angle θ _XR3 are approximately equal (“YES” in step S720), step S722 is performed. In step S722, assuming that the adjustment of the height position of the head 10 has been completed, a guide message “Head height position has been adjusted correctly” is output in video or audio. In this way, the head height position adjusting step S306 in FIG. 21 is performed.

Note that after step S722 in FIG. 29B, the pressing angle θ _P2 and the expansion / contraction angle θ _X2 at the time of the swing angle θ _S2 in the horizontal position may be evaluated, and the head insertion position may be readjusted as necessary. . Thus, after adjusting the insertion position and height position of the head 10, the discomfort of the person 8 sitting on the reclining seat 500 can be suppressed by adjusting the horizontal position again. .

Next, a specific example of the simple scanning operation for the case of the left arm 114L will be described with reference to FIG. As shown in FIG. 26, in the simple scanning operation, with respect to the swing angle theta _SL, horizontal position theta _H, an upper angle theta _U1 from the horizontal position theta _H, the angle theta _L1 lower than the horizontal position theta _H Scanned in three places. Since the scanning method is the same as the above-described scanning operation, detailed description thereof is omitted.

As the upper angle θ _U1 , for example, the upper limit point θ _SMAX determined in the swing range determination step S305 is set. The lower the angle theta _L1, the difference between the horizontal position _{θ H θ L (θ H -θ} L1) is the difference between the upper angle theta _U1 and horizontal position _{θ H θ U (θ U1 -θ} H) It is preferable to set the angles to be equal. Thereby, the height adjustment of the head 10 executed in the next head height position adjustment step S306 can be accurately performed.

However, in the simple scanning operation, the upper angle θ _U1 and the lower angle θ _L1 may be set to different angles from the above. For example, the lower angle θ _L1 may be set to the origin (θ _SL = 0 °). Further, in the simple scanning operation, always three points swing angle theta _SL, it is not necessary to perform in theta _SR, for example, two points swing angle theta _SL, may be carried out in theta _SR.

Returning to FIG. In the head height position adjustment step S306, as described with reference to FIGS. 29A and 29B, the height adjustment of the head 10 is executed by the head height adjustment control unit 708I. In the height adjustment of the head 10, the head 10 is adjusted so that the shift amount due to the swing angles θ _SL and θ _SR is reduced with respect to the pressing angles θ _PL and θ _PR detected and stored by the simple scanning operation. The height of is adjusted. For example, in the simple scanning operation, when the pressing angles θ _PL and θ _PR are larger at the lower angle θ _L1 than at the upper angle θ _U1 , the head 10 is adjusted to have a lower height. When the pressing angles θ _PL and θ _PR are smaller at the lower angle θ _L1 than at the upper angle θ _U1 , the head 10 is adjusted to have a higher height. Thereby, also in the height direction, the head 10 is set at an optimal position.

  Specifically, the height adjustment of the head 10 is performed by controlling the height adjustment device 510 by the height adjustment control unit 710 and adjusting the height of the reclining seat 500. In addition, when the height adjusting device 510 is not used, notification may be performed by video or audio so as to prompt manual height adjustment of the reclining seat 500.

  Further, as shown in FIG. 24B, when the height of the head 10 is adjusted, the head support operation may be performed on at least one of the left and right arms 114L and 114R by the head support control unit 708J. Thereby, the head 10 can be supported more stably by the arms 114L, 114R and the support body 112 arranged below the head 10.

  In this case, the vertical movement follow-up control unit 708K controls the pressing rotation of the arms 114L and 114R in which the head support operation has been performed so that the plurality of contacts 109 move up and down in accordance with the vertical movement of the head 10. You may be made to do. Thereby, during the height adjustment of the head 10, it is possible to reduce a burden on the neck due to a change in the posture of the head 10, and to reduce human discomfort.

  Hereinafter, a specific configuration of the automatic head washing apparatus 100 will be described with reference to FIGS.

  In FIG. 5, the figure which looked at the 3rd arms 107L and 108L of the left washing | cleaning unit 12L toward the normal line direction 215L of FIG. 4 from the skin surface of the head 10 is shown. In FIG. 5, in order to explain the drive transmission system, the arrangement of the arm base 103L, the first arm 105L, the second arm 106L, and the like is schematically represented.

  As shown in FIG. 5, a motor 301L is disposed in the second arm 106L. The rotation output of the motor 301L is transmitted to the drive shaft 304L via a gear 302L attached to the motor rotation output shaft and a gear 303L attached to the drive shaft 304. The drive shaft 304L is rotatably driven by the transmitted rotation output of the motor 301L.

  The rotation output of the gear 305L attached to one end of the drive shaft 304L is transmitted to the gear 307L and the gear 311L attached to the third arm 107L via the cylindrical rack 306L. The cylindrical rack 306L is rotatably supported by the second arm 106L by a support shaft 213L and is held so as to be movable in a direction parallel to the support shaft 213L. As the cylindrical rack 306L moves in a direction parallel to the support shaft 213L, the gear 307L rotates about the rotation shaft 308L and the gear 311L rotates about the rotation shaft 312L.

  The cylindrical rack 306L is formed in a substantially cylindrical shape as a whole, and includes an axisymmetric rack mechanism 306La on the side surface. The rack mechanism 306La is provided to engage with a gear 305L attached to the drive shaft 304L and to engage with a gear 307L and a gear 311L.

  A fourth arm 309L that couples the two contacts 109 is coupled to the gear 307L. The two contacts 109 are rotationally driven integrally with the gear 307L. Similarly, a fourth arm 310L that couples the two contacts 109 is coupled to the gear 311L. The two contacts 109 are rotationally driven integrally with the gear 311L. The fourth arms 309L and 310L are an example of a kneading operation arm.

  On the other hand, the rotation output of the gear 313L attached to the other end of the drive shaft 304L is transmitted to the gear 315L and the gear 318L attached to the third arm 108L via the cylindrical rack 314L. The cylindrical rack 314L is formed in a substantially cylindrical shape as a whole, and includes an axisymmetric rack mechanism 314La on the side surface thereof. The cylindrical rack 314L is rotatably supported by the second arm 106L by a support shaft 214L and is held so as to be movable in a direction parallel to the support shaft 214L. When the cylindrical rack 314L moves in a direction parallel to the support shaft 214L, the gear 315L rotates about the rotation shaft 316L and the gear 318L rotates about the rotation shaft 319L.

  A fourth arm 317L that couples the two contacts 109 is coupled to the gear 315L. The two contacts 109 move around the rotation shaft 316L integrally with the gear 315L. Similarly, a fourth arm 320L that couples the two contacts 109 is coupled to the gear 318L. The two contacts 109 move around the rotation shaft 319L integrally with the gear 318L. The fourth arms 317L and 320L are examples of the arm portion for the kneading operation.

  6A and 6B are explanatory diagrams for explaining the operation of the third main part of the drive configuration of the automatic head washing apparatus 100. FIG. In FIG. 6A, cylindrical racks 306L and 314L, gears 307L, 311L, 315L, and 318L, fourth arms 309L, 310L, 317L, and 320L and the contact 109 are schematically shown. FIG. 6B shows the fourth arms 309L, 310L, 317L, and 320L and the contact 109, and the cylindrical racks 306L and 314L and the gears 307L, 311L, 315L, and 318L are not shown. 6A and 6B, the second arm 106L and the third arms 107L and 108L are schematically shown as a bar 27 as a unit.

  As shown in FIG. 6A, in the left cleaning unit 12L, when the cylindrical rack 306L moves in the direction of the arrow 27a, the gears 307L and 311L adjacent to both sides of the cylindrical rack 306L rotate in the directions of the arrows 27b and 27c, respectively. Accordingly, the contact 109 attached to the gears 307L and 311L via the fourth arms 309L and 310L moves in the directions opposite to each other in the directions of arrows 27d and 27e.

  Similarly, when the cylindrical rack 314L moves in the direction of the arrow 27a, the gears 315L and 318L adjacent to both sides of the cylindrical rack 314L rotate in the directions of the arrows 27b and 27c, respectively. Accordingly, the contacts 109 attached to the gears 315L and 318L via the fourth arms 317L and 320L move in the directions opposite to each other in the directions of arrows 27d and 27e.

  When the cylindrical racks 306L and 314L move in the direction of the arrow 27a, the adjacent gears 307L and 318L attached to the adjacent third arms 107L and 108L (see FIG. 5) rotate in directions opposite to each other. . As a result, the contacts 109 attached to the gears 307L and 318L via the fourth arms 309L and 320L move in the directions opposite to each other in the directions of arrows 27d and 27e. Thus, when the cylindrical racks 306L and 314L move in the direction of the arrow 27a, the two contactors 109 adjacent in the direction orthogonal to the axial direction of the cylindrical racks 306L and 314L are close to each other in the direction of the arrows 27d and 27e. Or move away.

  When the cylindrical racks 306L and 314L move in the direction of the arrow 27a after the contact 109 comes into contact with the scalp of the human head 10, the regions of the scalp that are in contact with the contact 109 can be brought closer (or separated) from each other. As a result, the scalp of the human head 10 is shrunk (or stretched), and the scalp of the human head 10 is swollen.

  Further, when the cylindrical racks 306L and 314L move in the direction of the arrow 27a in a state where the contact 109 is in contact with the hair of the human head 10, the hair located between the contacts 109 can be pinched (or pulled). . As a result, the hair bundle constituting the hair can be displaced and moved in various directions, and the hair bundle can be massaged.

  On the other hand, when the cylindrical racks 306L and 314L are moved in the direction opposite to the arrow 27a, as shown in FIG. 6B, the gears 307L, 311L, 315L, and 318L and the contact 109 are respectively in directions opposite to the operation directions shown in FIG. Move to. In the left cleaning unit 12L, the cylindrical racks 306L and 314L are reciprocated in the direction of the arrow 27a and the direction opposite to the arrow 27a, so that the state A shown in FIG. 6A and the state B shown in FIG. The child 109 is swung. Thereby, as described above, an operation of pinching the head 10 by the plurality of contacts 109, that is, a rubbing operation is realized.

  The right cleaning unit 12R is configured in the same manner as the left cleaning unit 12L, except that it is symmetrical.

  That is, as shown in FIGS. 2 to 4, the right washing unit 12R includes a right arm 114R and a pipe 111R. The right arm 114R has an arm housing 115R. First to third arms 105R, 106R, 107R, 108R are accommodated in the arm housing 115R. The pipe 111R is configured similarly to the pipe 111L, and is attached to an arm base 103R fixed to the support shaft 104R. The first arm 105R is attached to the arm base 103R, and is configured to be rotatable around the support shaft 104R together with the arm base 103R. A second arm 106R is rotatably supported on the first arm 105R. Two third arms 107R and 108R are rotatably supported on the second arm 106R. A plurality of contacts 109 that come into contact with the human head 10 are attached to the third arms 107R and 108R. The contact 109 is provided exposed to the outside of the arm housing 115R.

  The rotation output of the motor 201R disposed in the support column 102R is transmitted to the support shaft 104R via the gear 203R attached to the motor rotation output shaft 202R and the gear 204R attached to the support shaft 104R. The arm base 103R attached to the support shaft 104R is configured to be rotatable in the direction of the arrow 205R. The arm rotation shaft 209R disposed in the arm base 103R is provided at a substantially right angle with respect to the support shaft 104R, and rotates together with the arm base 103R and the arms 105R, 106R, 107R, and 108R around the support shaft 104R. It is possible. The rotation output of the motor 206R is transmitted to the first arm 105R via a gear 207R attached to the motor rotation output shaft 207Ra and a gear 208R attached to the arm rotation shaft 209R of the first arm 105R. By the transmitted rotation output of the motor 206L, the first arm 105R is configured to be rotatable about the arm rotation shaft 209R in the direction of the arrow 210R. The first arm 105R includes a pressure sensor 211R for detecting a force pressing the human head 10 and supports the second arm 106R by a support shaft 212R so as to be rotatable. The second arm 106R rotatably supports the third arms 107R and 108R by support shafts 213R and 214R, respectively. Further, gears that engage with the cylindrical rack are attached to the third arms 107R and 108R, respectively. The cylindrical rack is rotatably supported by the second arm 106R by the support shafts 213R and 214R and is held so as to be movable in a direction parallel to the support shafts 213R and 214R. A fourth arm that connects the two contacts 109 is coupled to the gear. The two contacts 109 are rotationally driven integrally with this gear by a motor 301R (see FIG. 14) disposed in the second arm 106R.

  Next, a specific example of the second main part of the drive configuration of the automatic head washing apparatus 100 will be described.

  FIG. 7 is a side view showing a specific example of the second main part of the drive configuration of the automatic head washing apparatus 100. FIG. 8 is a perspective view showing a specific example of the second main part of the drive configuration of the automatic head washing apparatus 100. 7 and 8 show specific examples of the head care unit 40 configured by the second arm and the third arm. Moreover, in FIG.7 and FIG.8, the 2nd arm and the 3rd arm showed what was formed in substantially linear form, and the gearwheel attached to a 3rd arm has shown what was formed in fan shape.

  As shown in FIGS. 7 and 8, the head care unit 40 of the automatic head washing apparatus 100 includes a second arm 106L and third arms 107L and 108L. The head care unit 40 includes a drive shaft 304L that transmits output from the motor 301L disposed on the second arm 106L, and two cylindrical racks 306L that engage with gears 305L and 313L disposed on both ends of the drive shaft 304L, respectively. , 314L, and third arms 107L, 108L rotatably supported by support shafts 213L, 214L respectively corresponding to the central axes 306Lb, 314Lb of the two cylindrical racks 306L, 314L.

  In the head care unit 40, the rotational output of the motor 301L is output to gears 307L and 311L attached to the third arms 107L and 108L via gears 305L and 313L and cylindrical racks 306L and 314L arranged at both ends of the drive shaft 304L. , 315L, 318L. The gears 307L, 311L, 315L, and 318L are rotated by the transmitted rotational output of the motor 301L, and the two contacts 109 attached to the gears 307L, 311L, 315L, and 318L are rotated.

  The two cylindrical racks 306L and 314L are rotatably supported by the second arm 106L by support shafts 213L and 214L, respectively. A gear 307L that engages with the cylindrical rack 306L is coupled to a rotation shaft 308L that is rotatably held by the third arm 107L. The rotation shaft 308L is coupled to a fourth arm 309L that couples the two contacts 109. As a result, the gear 307L and the contact 109 can rotate integrally around the rotation shaft 308L. The rotating shaft 308L is configured to maintain the engagement state between the cylindrical rack 306L and the gear 307L, for example, by including a flange portion in the vertical direction across the third arm 107L.

  Similarly to the gear 307L, the gears 311L, 315L, and 318L are configured to be rotatable integrally with the contactor 109 around the respective rotation shafts 312L, 316L, and 319L. In the head care unit 40, the contact unit 13 that contacts the human head 10 includes a gear 307 </ b> L, a rotation shaft 308 </ b> L, a fourth arm 309 </ b> L, and a contact 109 attached to the third arm 107 </ b> L. The contact unit 13 includes a gear 307L having a central axis for rotating the two contacts 109 arranged at the tip of the third arm 108L.

  FIG. 9 is a perspective view showing a schematic configuration of the contact unit 13 of the automatic head washing apparatus 100. In FIG. 9, the gear 307L attached to the third arm 107L is shown as a circular shape. As shown in FIG. 9, in the contact unit 13, two contacts 109 that come into contact with the human head 10 are arranged at the tip of the fourth arm 309 </ b> L formed in a substantially V shape. In the contact unit 13, the rotation shaft 308L to which the gear 307L is coupled and the symmetry axis 309La of the fourth arm 309L are arranged so as to coincide with each other.

  As described above, in the contact unit 13, the gear 307L and the contact 109 are integrally rotated around the rotation shaft 308L. In the contact unit 13, the two contacts 109 are rotated around the rotation shaft 308L. However, in the contact unit 13, the two contacts 109 can be moved in a direction along a straight line connecting the two contacts 109, and a straight line connecting the two contacts 109. It is also possible to move in a direction orthogonal to

  The fourth arm 309L has a pair of branch portions 309Lb and a connecting portion 309Lc. The connecting portion 309Lc is coupled to the rotation shaft 308L. The pair of branch portions 309Lb are arranged symmetrically with respect to the symmetry axis 309La while the contact 109 is arranged at the tip. The connecting portion 309Lc connects the two branch portions 309Lb at the apexes of the two branch portions 309Lb arranged in a V shape.

  In the contact unit 13, the fourth arm 309 </ b> L is configured to include an elastic body in at least a part of a region from the vertex of the branch portion 309 </ b> Lc arranged in a V shape to the contact 109. In the fourth arm 309L of the contact unit 13 shown in FIG. 9, the branch portion 309Lb is configured as a leaf spring which is an example of an elastic body.

  In the contact unit 13, when the pressing force of the contact unit 13 against the human head 10 is increased in a state where the two contacts 109 are in contact with the human head 10, the contact unit 13 is arranged in a V shape. The distance between the apex of the two branch portions 309Lb and the human head 10 is reduced, and the distance between the two contacts 109 is increased. Conversely, when the pressing force of the contact unit 13 against the person's head 10 is reduced while the two contacts 109 are in contact with the person's head 10, the contact unit 13 is arranged in a V shape. The distance between the apex of the two branch portions 309Lb and the human head 10 is increased, and the distance between the two contacts 109 is decreased.

  In this way, when the pressing force of the contact unit 13 against the human head 10 changes while the two contacts 109 of the contact unit 13 are in contact with the human head 10, the V-shape of the contact unit 13 is changed. The distance between the apex of the two branch portions 309Lb arranged in the shape and the human head 10 is changed, and the distance between the two contacts 109 is changed. That is, the mutual distance between the two contacts 109 of the contact unit 13 can be adjusted by changing the pressing force of the contact unit 13 against the human head 10. Therefore, in the automatic head washing apparatus 100, it can wash | clean efficiently and reliably according to the shape of the person's head 10. FIG.

  When the contact unit 13 moves along the person's head 10, the contact 109 of the contact unit 13 moves smoothly and efficiently following the surface shape of the scalp 10a of the person's head 10. The contact 109 generates a shear stress on the scalp 10a by moving along the scalp 10a, and generates a vertical stress on the scalp 10a by being pressed against the scalp 10a. In the automatic head washing apparatus 100, washing is performed while changing the position of the contact 109 according to the shape of the person's head 10, so that the person's head 10 is not left unwashed and is efficiently washed uniformly. it can.

  In the contact unit 13, when the contact 109 is pressed against the human head 10, the symmetry axis 309La of the fourth arm 309L to which the contact 109 is attached is positioned so as to face the center of the human head 10. The contact 109 is positioned in the same direction as the normal perpendicular to the tangent that contacts the human head 10.

  In this way, the contact 109 is pressed toward the center of the human head 10 by the elastic force of the branching portion 309Lb configured as a leaf spring, so that the accuracy follows the surface shape of the human head 10. Move well. Thereby, the human head 10 can be washed smoothly and efficiently.

  The contact unit 13 is provided with an opening angle adjusting mechanism (not shown) for adjusting an opening angle between the pair of branch portions 309Lb arranged in a V shape, and the pair of branch portions 309Lb is provided by the opening angle adjustment mechanism. The opening angle between them may be elastically maintained within a predetermined angle range. This opening angle adjusting mechanism is preferably configured such that the opening angle between the pair of branch portions 309Lb is in the range of 60 ° to 150 °.

  In the head care unit 40 including the contact unit 13 configured in this way, the two contact units 13 are rotatably held by the third arms 107L and 108L, respectively, and the third arms 107L and 108L are respectively second The arm 106L is rotatably held by support shafts 213L and 214L.

  The second arm 106L is rotatably held on the first arm 105L by a support shaft 212L. When the first arm 105L is rotated in the direction toward the human head 10, the second arm 106L moves in the direction toward the human head 10, and the contact attached to the third arms 107L and 108L. 109 is brought into contact with the human head 10.

  10A and 10B are explanatory diagrams for explaining the operation of the fourth main part of the drive configuration of the automatic head washing apparatus 100. FIG. 10A and 10B show a state where the contacts 109 of the two contact units 13 are in contact with the scalp 10a of the human head 10. FIG. 10A and 10B show two contact units 13, a third arm 107 </ b> L to which the two contact units 13 are attached, and one divided unit portion 14. One division unit portion 14 is configured to include a cylindrical rack 306L supported by the third arm 107L and supported by the second arm 106L. 10A and 10B also show a gear 305 that engages with the cylindrical rack 306L.

  As shown in FIG. 10A, when the second arm 106L moves in the direction toward the human head 10, the third arm 107L moves in the direction toward the human head 10 and is attached to the third arm 107L. The contact unit 13 is pressed against the scalp 10 a of the human head 10. The movement of the second arm 106L in the direction toward the person's head 10 is caused by the movement of the first arm 105L in the direction toward the person's head 10, and the movement of the first arm 105L is caused by the motor 206L. This is done by controlling the operation.

  When one contact unit 13 attached to the third arm 107L is pressed against the scalp 10a of the human head 10, the two contacts 109 move away from each other in a direction orthogonal to the pressed direction. In FIGS. 10A and 10B, two contactors 109 are shown in an overlapped state.

  When the second arm 106L further moves in the direction toward the human head 10 and the pressing force of the contact unit 13 against the human head 10 increases, the third arm 107L tilts as shown in FIG. The other contact unit 13 attached to the three arms 107L is pressed against the human head 10. Note that, even when the third arm 107L is inclined, the engagement state between the cylindrical rack 306L and the gears 307L and 311L is maintained.

  In the automatic head washing apparatus 100, the pressing force for pressing the contact unit 13 against the human head 10 can be changed by controlling the operation of the motor 206L (see FIG. 4). The motor 206L functions as a pressing actuator that changes the pressing force. The operation of the motor 206L can be adjusted based on the force of pressing the human head 10 detected by the pressure sensors 211L and 211R, and is controlled so as to apply a predetermined pressure to the human head 10. The Thereby, with respect to each part shape of the human head 10, it is possible to maintain the optimal position where the plurality of contacts 109 press the head 10 and apply the optimal contact pressure to perform hair washing.

  It is also possible to provide pressure sensors for detecting contact with the human head 10 on the plurality of contacts 109 and to control the operation of the motor 206L based on detection signals from the pressure sensors. In addition, a distance sensor for detecting the distance from the human head 10 is provided in the division unit section 14 (for example, the third arms 107L and 108L of the division unit section 14), and based on the detection signal of the distance sensor. It is also possible to control the operation of the motor 206L.

  In the head care unit 40, the third arms 107L and 108L are rotatably supported by the second arm 106L by support shafts 213L and 214L, respectively, and the two divided unit portions 14 provided in the longitudinal direction of the cleaning unit 12L are: The second arm 106L is rotatably supported. As described above, the second arm 106L is rotatably supported on the first arm 105L by the support shaft 212L.

  In the head care unit 40, when the second arm 106L moves in the direction toward the human head 10, the third arm 107L moves in the direction toward the human head 10 and is attached to the second arm 106L. The division unit 14 is pressed against the scalp 10a of the human head 10. When the second arm 106L further moves in the direction toward the person's head 10, the other divided unit part 14 attached to the second arm 106L is pressed against the scalp 10a of the person's head 10, and the two divided unit parts. Each contact 109 provided on the side facing the 14 head support portions 11 contacts the scalp 10 a of the human head 10.

  As described above, the head care system 40 according to this embodiment includes the contact unit 13, the third arms 107L and 108L that rotatably hold the contact unit 13, and the third arms 107L and 108L. Support shafts 213L and 214L, cylindrical racks 306L and 314L, and a motor 301L that swings the plurality of contacts 109. Here, the third arms 107L and 108L are an example of a tilt stage. The gears 307L, 311L, 315L, and 318L are examples of rotating gears. The support shafts 213L and 214L are examples of tilt stage rotation shafts. The motor 301L is an example of a swing actuator. The contact unit 13 includes a plurality of contacts 109 at the tip and gears 307L, 311L, 315L, and 318L having central axes for rotating the plurality of contacts 109. The cylindrical racks 306L and 314L are held so as to be movable in a direction parallel to the support shafts 213L and 214L, and the gears 307L, 311L, 315L, and 318L of the contact unit 13 are rotated by moving in the directions. The motor 301L moves the cylindrical racks 306L, 314L in a direction parallel to the support shafts 213L, 214L, and rotates the gears 307L, 311L, 315L, 318L to swing the plurality of contacts 109.

  The head care system 40 includes a pressing mechanism that moves the support shafts 213L and 214L to the human head 10. The support shafts 213L and 214L are moved to the human head 10 by this pressing mechanism, and the plurality of contacts 109 are swung by the motor 301L, whereby stress is applied to the human head 10 by the plurality of contacts 109. be able to. The pressing mechanism includes a motor 206L, gears 207L and 208L, a first arm 105L, and a second arm 106L.

  Thereby, even when the shape of the person's head 10 is different, the scalp and hair of the person's head 10 can be efficiently and reliably washed according to the shape of the person's head 10. Thereby, while being able to reduce the usage-amount of water, a shampoo, etc., the amount of dirty water etc. can be reduced.

  Further, the head care unit 40 of the present embodiment has two third arms that rotatably hold the contact unit 13, but the present invention is not limited to this, and there are three or more. You may make it have the 3rd arm. Thus, in the head care unit 40, by having a plurality of third arms, it is possible to wash over a wide range of the human head 10, and more efficiently.

  In the head care unit 40, since the contact units 13 disposed on both sides of the cylindrical racks 306L and 314L are respectively disposed in the horizontal direction, the thickness direction of the head care unit 40 can be reduced. Therefore, the head care unit 40 can be reduced in size.

  In the automatic head washing apparatus 100, the washing unit 12 can be operated according to the shape of the human head 10 to wash the hair. Thereby, the automatic head washing apparatus 100 can wash | clean the human head 10 efficiently, can reduce the amount of dirty water etc. while reducing the usage-amount of water, a shampoo, etc. .

  The water supply unit and the water valve 216 form a water supply unit that supplies water to the cleaning units 12L and 12R. 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. In addition, 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.

  As shown in FIG. 3, in the automatic head washing apparatus 100, two drain ports 101b are provided in the bottom 101a of the bowl 101, and water used for cleaning is discharged from the drain port 101b. A drain pipe (not shown) is connected to the drain port 101b, and water used for cleaning is drained to the outside through the drain pipe.

  The bowl 101 is provided with a notch 101c for supporting the neck and a support 112 for supporting the back of the head 10 of the person. The notch 101 c is provided at the center in the left-right direction of the bowl 101. By setting the person's neck in the notch 101c, the person's head 10 is positioned at the center in the left-right direction in the bowl 101. The support 112 is configured to be vertically and horizontally adjustable, and can be adjusted based on the position of the person's head 10 detected by position detection means such as a camera that detects the position of the person's head 10, for example. is there.

  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 human ear. 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. Note that the support 112 can be configured to wash the back of the head 10 of the person's head 10 supported by the support 112.

  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 configured to be openable and closable 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 formed of a transparent material so as not to give a feeling of pressure or anxiety as much as possible during cleaning.

  Moreover, in the automatic head washing apparatus 100, as shown in FIG. 2, it is also possible to provide a cover 125 that covers the contacts 109 of the washing units 12L and 12R. The cover 125 may be provided so as to cover one contact 109 or may be provided so as to cover a plurality of contacts 109.

  In this manner, by attaching the cover 125 to the contact 109, it is possible to prevent water, shampoo, dirt, or the like from adhering to the contact 109. When dirt or the like adheres to the cover 125, it is possible to clean the portion that contacts the human head 10 by replacing the cover 125. Further, by replacing the cover 125 for each person whose head is washed, the person's head 10 can be washed in a clean state at all times.

  When the head 10 of the person 8 is washed by the automatic head washing apparatus 100, a visor type water shield visor (not shown) may be attached to the head 10. In this case, it is possible to prevent water or the like ejected from the nozzle 110 from being blocked by the water shield visor and splashing water on the face of the person 8.

  The automatic head washing system 1 includes a control device 700 (see FIG. 1) that comprehensively controls the overall operation of the automatic head washing system 1 as described later. The control device 700 can drive the cleaning units 12L and 12R independently of each other. The control device 700 controls various operations of the motors 201L and 201R, the motors 206L and 206R, the motor 301L, and the like. Here, the motors 201L and 201R drive the cleaning units 12L and 12R to be rotatable about the support shafts 104L and 104R, respectively. The motors 206L and 206R rotate the arms of the cleaning units 12L and 12R, respectively. The shafts 209L and 209R are driven to rotate about the shaft 209L, and the motor 301L drives the contactor 109 to rotate.

  The automatic head washing apparatus 100 is an apparatus for automatically washing the human head 10, and in a state where water or shampoo is not ejected from the nozzle 110, the human head 10 is moved by the contact 109. It is also possible to use as a device for automatically massaging.

  Hereinafter, the definition of coordinate polarity and the like in the automatic head washing apparatus 100 will be described with reference to FIGS. In FIGS. 11 to 13, only the left arm 114L is shown as a representative of the left and right arms 114L and 114R, but the same definition applies to the right arm 114R. In the following description, the plurality of contacts 109 provided on the left arm 114L are collectively referred to as “contact group L”, and the plurality of contacts 109 provided on the right arm 114R are referred to as “contact group R”. Collectively.

  FIG. 11 is an explanatory diagram for explaining a first operation direction of the automatic head washing apparatus 100. In the present embodiment, as shown in FIG. 11, the rotation of the left arm 114 </ b> L around the arm rotation shaft 209 </ b> L so as to approach or separate from the surface of the person's head 10 Will be called "moving". The direction in which the left arm 114L approaches the head 10 is referred to as a “pressing direction (direction of arrow 401)”, and the direction in which the left arm 114L is separated from the head 10 is referred to as a “release direction (direction of arrow 402)”. Called. Further, the angular position where the left arm 114L is farthest from the head 10 is 0 °, and the pressing direction is referred to as a positive direction.

  FIG. 12 is an explanatory diagram for explaining a second operation direction of the automatic head washing apparatus 100. As shown in FIG. 12, in the automatic head washing apparatus 100, turning the left arm 114L around the support shaft 104L in the front-rear direction of the head 10 is referred to as “swing turning”. Further, the angle position on the rear side of the head 10 is set to 0 °, and the direction toward the front side of the head 10 (the direction of the arrow 403) is defined as the positive direction. In the present embodiment, the left arm 114L is configured to be able to swing and rotate up to 130 °.

  FIG. 13 is an explanatory diagram for explaining a third operation direction of the automatic head washing apparatus 100. As shown in FIG. 13, in the automatic head washing apparatus 100, a plurality of contacts 109 are provided on the fourth arms 309L, 310L, 317L, and 320L of the third arms 107L and 108L that constitute a part of the left arm 114L. It is attached. When viewed from the third arms 107L and 108L, the direction of the arrow 404 is a direction in which the left arm 114L swings and swings to the front side of the head 10.

  In FIG. 13, the position angle of the contact group L indicated by a broken line is 0 °, and the direction of the arrow 405 is a positive polarity direction. The contact group L can be rotated to a state indicated by a solid line, and in the first embodiment, the contact group L is configured to be able to rotate to 60 °. The rotation of the fourth arms 309L, 310L, 317L, and 320L to which the two contacts 109 are attached in pairs around the rotation shafts 308L, 312L, 316L, and 319L is referred to as “stagnation and rotation”. .

  The “in-phase pressing rotation” means that the left arm 114L and the right arm 114R always press and rotate in the same direction (pressing direction or release direction). The “reverse-phase pressing rotation” means that the left arm 114L and the right arm 114R always press and rotate in opposite directions (pressing direction and release direction).

  Further, “in-phase swing rotation” means that the left arm 114L and the right arm 114R always swing and rotate in the same direction (a direction toward the front side or a direction toward the rear side of the head 10). “Reverse phase swing rotation” means that the left arm 114L and the right arm 114R always swing and rotate in opposite directions (a direction toward the front side and a direction toward the rear side of the head 10). When the left and right arms 114L and 114R swing and rotate in opposite phases, the sum of the angular positions of the swing rotation of both arms 114L and 114R is always equal to the maximum angle (130 °).

  Further, when the left and right contact groups L and R are compared, “in-phase stagnation rotation” means that both contact groups L and R always stagnate and rotate in a bilaterally symmetrical motion. Further, when comparing the left and right contact groups L and R, “reverse-phase stagnation rotation” means that both contact groups L and R always stagnate and rotate in a point-symmetric motion.

  On the other hand, when the fourth arms 309L, 310L, 317L, and 320L are compared with each other, “in-phase stagnation rotation” means that the fourth arms to be compared always stagnate and rotate in the same direction. Further, in this case, “reverse-phase stagnation rotation” means that the fourth arms to be compared always stagnate and rotate in opposite directions. Note that when the fourth arms to be compared are swung and rotated in opposite phases, the sum of the angular positions of the swiveling rotations is always equal to the maximum angle (60 °).

  The present invention has been described with reference to the above-described embodiments. However, the present invention is not limited to the above-described embodiments, and various modifications may be made without departing from the effects of the present invention.

  The automatic head care system controlled by the present invention can be widely used in the fields of beauty and barber and medical fields such as care and nursing, and is useful.

DESCRIPTION OF SYMBOLS 1 Automatic head washing system 10 Head 11 Head support part 100 Automatic head washing apparatus 101 Bowl 104L, 104R, 212L, 212R, 213L, 213R, 214L, 214R Support shaft 105L, 105R First arm 106L, 106R Second Arm 107L, 107R, 108L, 108R Third arm 309L, 309R, 310L, 310R, 317L, 317R, 320L, 320R Fourth arm 109 Contact 110 Nozzle 111L, 111R Pipe 114L Left arm 114R Right arm 115L, 115R Arm housing 125 Cover 211L, 211R Pressure sensor 216 Water system valve 217 Cleaning liquid system valve 218 Conditioner system valve 500 Reclining seat 510 Height adjustment device 530 Horizontal movement device 700 Control Device 701L, 701R Arm Swing Angle Control Unit 702L, 702R Arm Press Angle Control Unit 703L, 703R Contact Group Angle Control Unit 704 Water System Valve Control Unit 705 Cleaning Liquid System Valve Control Unit 706 Conditioner System Valve Control Unit 707 Operation Unit 708 System Control part 708A Storage part 708B Posture adjustment part 708C Head insertion preparation part 708D Head horizontal movement control part 708E Head insertion confirmation part 708F Head insertion completion confirmation part 708G Pseudo elasticity forming part 708H Simplified scanning part 708I Head height Adjustment control unit 708J Head support control unit 708K Vertical movement tracking control unit 708L Horizontal movement tracking control unit

Claims (14)

A bowl for supporting and accommodating a human head with a head support,
A pair of support shafts arranged on both the left and right sides sandwiching the head support portion;
A pair of arm rotation shafts rotatable about the support shaft;
The head can be pivoted in the front-rear direction of the head supported by the head support portion around the support shaft, and can be rotated toward or away from the head around the arm rotation shaft. A pair of arms that are possible;
A plurality of contacts respectively provided on the pair of arms;
A pressure sensor for detecting the pressing force of the contact;
A control unit that controls the driving of the pair of arms and cares for the head supported by the head support unit, and
The controller is
As a preparatory operation for inserting the head into the bowl, the angular position of the swing rotation about the support shaft for at least one of the arms is a horizontal position where the arm is disposed along a substantially horizontal direction. A head insertion preparation unit to control,
A head insertion confirmation unit for confirming that the head has been inserted into the bowl when the pressing force detected by the pressure sensor reaches a first pressure for the arm on which the preparation operation has been performed; Having
Automatic head care system. The controller is
When the pressing force detected by the pressure sensor reaches the first pressure with respect to the arm on which the preparatory operation has been executed, the pressing force is used as an elastic force forming operation that imparts pseudo elasticity to the arm. A pseudo-elasticity forming part that controls the rotation of the arm so as to be maintained at a pressure of 1.
The automatic head care system according to claim 1. The controller is
After the insertion of the head is confirmed by the head insertion confirmation unit, as a simple scanning operation, the angular position of the swing rotation when the pressing force detected by the pressure sensor becomes the second pressure is detected. A simple scanning unit to perform,
A head height adjustment control unit that adjusts the height of the head or notifies the adjustment of the height of the head so that the amount of displacement of the pressing angle at the angular position detected by the simple scanning operation is reduced. And having
The automatic head care system according to claim 1 or 2. The controller is
At the time of adjusting the height of the head, as the head support operation for supporting the head, at least one of the arms, the swing rotation angle to a position where the head can be supported from below by the arm. Having a head support controller for controlling the position;
The automatic head care system according to claim 3. The controller is
When adjusting the height of the head, the rotation of the arm is controlled so that the plurality of contacts move up and down in accordance with the vertical movement of the head with respect to the arm on which the head support operation is performed. Having a vertical movement follow-up control unit,
The automatic head care system according to claim 4. The controller is
In the state where the preparation operation is completed, when the head moves substantially horizontally with respect to the bowl, the swing rotation is performed so that the plurality of contacts of the arm on which the head support operation is performed move horizontally. Having a horizontal movement follow-up control unit for controlling movement,
The automatic head care system according to any one of claims 1 to 5. A water supply unit for supplying water or hot water to the head, a cleaning liquid supply unit for supplying a cleaning liquid to the head, and a conditioner supply unit for supplying a conditioner to the head,
The control unit supplies water, hot water, a cleaning liquid or a conditioner to the head, and controls the driving of the pair of arms to clean the head supported by the head support.
The automatic head care system according to any one of claims 1 to 6. After the head of the person inserted in the bowl is supported and accommodated by the head support, the head is centered on a pair of support shafts arranged on the left and right sides sandwiching the head support. Swinging in the front-rear direction of the part and rotating in a direction approaching or moving away from the head about an arm rotation shaft extending in a direction substantially perpendicular to the support shaft, In an automatic head care method for caring for the head with a plurality of contacts provided,
For at least one of the arms, after controlling the angular position of the swing rotation around the support shaft to a horizontal position where the arm is arranged substantially in the horizontal direction,
When the pressing force of the contact detected by the pressure sensor reaches the first pressure, the arm disposed along the substantially horizontal direction is confirmed to be inserted into the bowl. ,
Automatic head care method. When the pressing force detected by the pressure sensor reaches the first pressure with respect to the arm arranged along a substantially horizontal direction, the pressing force is formed as an elastic force forming operation for imparting pseudo elasticity to the arm. Controlling the rotation of the arm so that the pressure is maintained at a first pressure;
The automatic head care method according to claim 8. After the insertion of the head into the bowl is confirmed, as a simple scanning operation, the angular position of the swing rotation when the pressing force detected by the pressure sensor becomes the second pressure,
Adjusting the height of the head or notifying the height adjustment of the head so that the amount of displacement of the pressing angle at the angular position of the pressing rotation detected by the simple scanning operation is reduced;
The automatic head care method according to claim 8 or 9. When adjusting the height of the head, as a head support operation for supporting the head, the angular position of swing rotation of at least one of the arms is set to a position at which the head can be supported from below by the arm. Control,
The automatic head care method according to claim 10. When adjusting the height of the head, the rotation of the arm is controlled so that the plurality of contacts move up and down in accordance with the vertical movement of the head with respect to the arm on which the head support operation is performed. ,
The automatic head care method according to claim 11. When the head moves substantially horizontally in the direction in which the head is inserted or ejected with respect to the bowl, the plurality of contacts are arranged in accordance with the horizontal movement of the head with respect to the arm disposed along the substantially horizontal direction. Controlling the swing rotation to move horizontally,
The automatic head care method according to any one of claims 8 to 12. Supplying water, hot water, cleaning liquid or conditioner to the head, and cleaning the head with a plurality of contacts respectively provided on the pair of arms.
The automatic head care method according to any one of claims 8 to 13.

Images