KR102439540B1 - Bath robot with shape variable tool - Google Patents

Abstract

A bath robot having a shape-variable tool according to the present invention forms a space in which a user is located, a body having a bed on which the user can lie, and a body provided in the body, located in the inner space of the body It is coupled so as to be movable by the guide module to wash the user's body, and a washing module to which a tool for washing the user's body is coupled to one side, and a control module for controlling the driving of the guide module and the washing module, The shape of the tool varies according to the width of the cross-sectional area in close contact with the user's body.

Description

BATH ROBOT WITH SHAPE VARIABLE TOOL

The present invention relates to a bath robot having a shape-variable tool, and more particularly, such that the shape of the tool is varied according to the width of the cross-sectional area in which the user's body is in close contact with the tool for washing the user's body while the user is lying down. , It relates to a bath robot having a shape-variable tool that measures the pressure acting on the tool between washing and adjusting the pressure of the washing module and the rotational force of the tool so that stable and effective washing can be achieved.

Until now, the method of removing dirt while taking a bath has been to rub a cloth such as a bath towel on the skin soaked in warm water or rub a solid with an uneven surface such as a stone to the skin.

However, in general, when taking a washing bath, soak your body in water and then directly soap it with your hands to wash off secretions such as sweat and fat on the surface of the skin, or apply a loofah or a wet towel to the body soaked in warm water with your hands. It takes a lot of effort for the user to take a bath and takes a lot of time to take a bath, and there are obviously parts that cannot be touched depending on the length of the arm or the radius of rotation of the arm. There was a clear limit to removing the stain, and it was especially difficult for the weak, such as the elderly, the sick, or the handicapped, with weak arms or inability to move.

For this purpose, there is a professional washing machine in the bathroom, and only the requestor pays a certain fee to remove the body stains sequentially. People who are embarrassed to meet the requirements or who have difficulty in stating detailed requirements are often reluctant to use Sesinsa, so they often have a hard time removing the stains themselves.

In addition, people having difficulties alone had to go to the bathroom together with two or more, and in the case of people with reduced mobility, going to the bath itself was too difficult, so there were troublesome and difficult problems, such as having to borrow someone else's hand at home.

In order to solve this problem, a device has been developed that is fixed to the wall or automatically rotates when it is set up on a separate device, and the user moves the body directly thereto and washes the area that cannot be reached, but the height of each user is different. Inconvenience existed because it was not taken into account, and there was a problem that it was difficult to see that accurate washing was done.

Therefore, a method for solving these problems is required.

Republic of Korea Registered Utility Model Publication No. 20-0445641 Republic of Korea Patent Publication No. 10-1895471

The present invention is an invention devised to solve the problems of the prior art described above, and a tool for washing the user's body is moved while the user is comfortably lying down, so that the washing can be performed on a desired part of the user, and the user's body The shape of the tool is changed according to the width of the cross-sectional area where the tool and the tool are in close contact, so that efficient thinning can be achieved.

In addition, by measuring the shape and posture of the user's body, and calculating the movement route of the tool based on the measured data, washing can be performed automatically even if the user does not move, and the pressure acting on the tool in close contact with the user's body is measured Thus, it can be adjusted so that washing can be performed with an appropriate pressure, and by controlling the rotational force of the tool, the user's skin is not peeled or damaged, and washing can be performed effectively.

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

A bath robot having a shape-variable tool of the present invention for achieving the above object includes a body having a bed in which a user is located, and a bed on which the user can lie, provided in the body, In order to wash the user's body located in the inner space of the body, it is coupled to be movable by a guide module, and a washing module to which a tool for washing the user's body is coupled to one side, and to control the driving of the guide module and the washing module A control module is included, and the shape of the tool varies according to the width of the cross-sectional area in close contact with the user's body.

In addition, the bath robot may further include a measurement module for measuring the shape of the user's body and the user's posture located on the body, and calculating a movement route of the washing module based on the measured data.

In this case, the data value calculated by the measurement module is transmitted to the control module, and the control module can move the counting module in response to a change in the user's posture.

In addition, the control module may vary the shape of the tool according to the part where the fineness is made based on the shape of the user's body measured by the measuring module.

And the thin module is coupled to the inner surface of the body, a power unit having a driving motor and one side are coupled to the power unit to extend in the bed direction, and the tool is coupled to the other side by the driving motor It may include a shape-variable portion rotatable in one direction or in both directions.

At this time, the shape-variable part includes a fixed member having one side fixedly coupled to one side of the power unit and a moving member coupled to the fixed member, and capable of reciprocating movement along the longitudinal direction of the fixed member, the fixed member and the moving member The length of the shape-variable part may be adjusted through the connection.

In addition, the tool is made of a tube shape surrounding the variable shape portion, one side is coupled to the fixing member, the other side is coupled to the movable member as the length of the shape variable portion is adjusted by the fixing member and the movable member The shape of the tool is variable.

At this time, when the tool is in close contact with a wide part of the user's body, the moving member is moved toward the fixing member under the control of the control module, and the overall length of the shape variable part is shortened so that the shape of the tool is horizontal. It can be formed wide in the direction.

In addition, when the tool is in close contact with the side part of the user's body and washing is made, the movable member is moved to the opposite side of the fixing member under the control of the control module, so that the overall length of the shape variable part is increased to change the shape of the tool It may be formed to be long in the vertical direction.

And the washing module may further include an air supply for supplying air to the tool.

In addition, the thinning module may further include a pressure measuring sensor that can be linked to the control module, and measures the pressure applied to the tool while the tool is in close contact with the user's body.

At this time, the control module moves the counting module based on the pressure value applied to the tool measured by the pressure measuring sensor in the process of washing the user's body to act on the contact surface where the tool and the user's body are in close contact pressure can be regulated.

In addition, the control module may control the output of the drive motor based on the pressure value applied to the tool measured by the pressure measuring sensor in the process of washing the user's body to adjust the rotational force of the tool.

In addition, the washing module further includes a holding part that can be gripped by a user, and the user can move the washing module by holding the holding part so that washing is made on a desired part.

In addition, the washing module may further include a spraying unit for selectively spraying water or soapy water on the user's body under the control of the control module in the process of washing.

And the lower portion of the body may further include a height adjusting unit for adjusting the height of the body according to the height of the user so that the user can easily climb on the body.

In addition, the bath robot may further include an opening and closing part having one side hinged with the body so that the body can be opened and closed, and configured to cover the body corresponding to the neck of the user lying on the bed.

The bath robot having a shape-variable tool of the present invention for solving the above problems has the following effects.

First, even if the user does not directly move the body, the counting module with the tool can move the X-axis, Y-axis and Z-axis according to the shape of the user's body, so the counting can be performed, and thus, it is effective even to the part that the user's hand cannot reach. There is an advantage that washing can be done.

Second, by making the shape of the tool for washing in close contact with the user's body to be changed in the vertical or horizontal direction according to the width of the cross-sectional area in close contact with the user's body, effective washing is achieved and the time required for washing has the advantage of being shortened.

Third, there is an advantage in that the user can check the part where the counting is performed through the display unit in real time, and the user can reproduce the viewable image so that the user does not feel bored during the counting.

Fourth, by allowing the user to directly move the washing module, there is an advantage in that washing of the desired part can be performed more precisely.

Fifth, it is possible to measure the pressure acting on the tool through the pressure sensor so that an appropriate pressure can be adjusted between the three bodies, and there is an advantage in that the user's skin can be prevented from being damaged by adjusting the rotational force of the tool.

Sixth, by allowing the height of the body provided with the bed on which the user can lie down can be adjusted according to the height of the user, there is an advantage that the user can use the bath robot stably and easily.

The effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a structural diagram showing the overall structure of a bath robot having a shape-variable tool according to an embodiment of the present invention;
2 is an exemplary view showing a thinning module in a bath robot having a shape-variable tool according to an embodiment of the present invention;
3 is an exemplary view showing an air supply unit and a pressure measuring sensor in the bath robot having a shape-variable tool according to an embodiment of the present invention;
4 is an exemplary view showing a gripper in the bath robot having a shape-variable tool according to an embodiment of the present invention;
5 is an exemplary view illustrating a state in which a shape of a tool is changed in a bath robot having a shape-variable tool according to an embodiment of the present invention;
6 is an exemplary view showing an injection unit in the bath robot having a shape-variable tool according to an embodiment of the present invention; and
7 is a bath robot having a shape-variable tool according to an embodiment of the present invention, the user's body shape is measured by the measuring module and the movement route of the thinning module is calculated accordingly, so that the pressure of the thinning module and the rotational force of the tool are It is a block diagram showing the system to be controlled.

Hereinafter, preferred embodiments of the present invention in which the object of the present invention can be specifically realized will be described with reference to the accompanying drawings. In the description of the present embodiment, the same names and the same reference numerals are used for the same components, and an additional description thereof will be omitted.

The present invention allows the shape of the tool to be changed according to the width of the cross-sectional area in which the user's body is in close contact with the tool for washing the user's body in a state in which the user is lying down, and measures the pressure acting on the tool between thinning. It relates to a bath robot having a shape-variable tool that enables stable and effective washing by adjusting the pressure of the washing module with respect to the body and the rotational force of the tool, and FIG. 1 is a bath robot having a shape-variable tool according to the present invention. Structural diagram showing the overall structure.

According to an embodiment of the present invention, as shown in FIG. 1 , in the bath robot having the shape-variable tool, a space in which a user can be located may be formed, and a bed in which the user can comfortably lie on his/her body. A body 100 having a 110 and a movement is provided on one side of the body 100 in order to wash the user's body that is provided in the body 100 and can be located in the inner space of the body 100 . It can be coupled to be possible, and a tool 310 capable of washing the user's body on one side can be coupled to the washing module 300, and the guide module 200 and the washing module 300 can be controlled. It can be made by including the control module 400 that is.

At this time, the body 100 may have an open upper surface so that a user can comfortably lie on the bed 100 , and the open upper surface of the body 100 may be opened and closed on the body 100 . ) may be further provided with an opening/closing unit 130 that can be hinged to one side.

The opening/closing unit 130 may serve to protect the privacy of the user lying on the bed 110 as well as preventing foreign substances from jumping out of the body 100 in the process of washing. .

The opening/closing part 130 may have a structure that can cover the body corresponding to the lower part of the neck among the body of the user lying on the bed 110 .

This is to prevent the user from feeling cramped or afraid due to the closed space by not only preventing a difficult situation from being thrown on the user's face while washing, but also exposing the face to the outside.

According to an embodiment of the present invention, the thinning module 300 provided in the body 100 facilitates the user to enter the inner space of the body 100 as well as the opening and closing part 130 is the It is preferable to be provided on the inner surface of the body 100 so that washing can be made on the user's body in a state in which the body 100 is covered.

In addition, the thinning module 300 is coupled to the body 100 by a guide module 200 that enables the thinning module 300 to move in the X-axis, Y-axis, and Z-axis, so that the user can use the body The washing module 300 may be moved to fit the user's body in a state lying on the bed 110 provided in 100 so that washing can be performed.

At this time, the guide module 200 may be made in a combination method of a rail in which the horizontal axis and the vertical axis are interlocked with each other and a rail that enables elevating and lowering, but is not limited thereto. It may be made of a possible belt method or a mechanical structure capable of moving the X-axis, Y-axis, and Z-axis based on one axis.

That is, the thin module 300 is coupled to the inner surface of the body 100 by the guide module 200 having a structure capable of X-axis, Y-axis, and Z-axis movement, such as a rail method, a belt method, or a mechanical structure. can be, and by allowing the thinning module 300 to move in the X-axis, Y-axis, and Z-axis through the guide module 200 , the user is placed on the bed 110 provided in the body 100 . Even if you do not move while lying down, it can be done so that you can do it.

In addition, the tool 310 is the X-axis, Y-axis, Z-axis movement by the guide module 200 of the user lying on the bed 110 provided in the body 100 is By making the washing in close contact with the body, the shape can be changed in the vertical or horizontal direction according to the width of the cross-sectional area where the user's body and the tool 310 are in close contact, thereby improving the washing efficiency. can make it happen

According to an embodiment of the present invention, the bath robot is a user lying on the bed 110 and the shape of the user's body located in the body 100 so that the user's body can be automatically washed. The measurement module 500 may further include a measurement module 500 capable of measuring the change in posture in real time and calculating a movement route of the counting module 300 based on the measured data.

The measurement module 500 is preferably provided on the inner surface of the opening and closing part 130 in order to measure the user's body in real time between three periods in a state in which the opening and closing part 130 covers the body 100 .

The measurement module 500 is equipped with a laser-type or stereo-type scanning camera to obtain 3D data about the user's body, and based on the 3D data generated by the scanning camera, the counting module 300 is An information processing unit capable of calculating a route to be moved may be provided together.

At this time, the data value calculated by the measurement module 500 is transmitted to the control module 400, so that the control module 400 responds to the user's posture change in real time so that the counting module 300 smoothly can be made to move.

For example, the measurement module 500 may scan a user lying on the bed 110 provided in the body 100 to convert the shape of the user's body into 3D data, and obtain the obtained 3D data of the user's body. By designating each part of the user's body as a link based on it, it is possible to calculate a route through which the counting module 300 is moved so that effective counting can be achieved.

In this way, by dividing each part of the user's body to designate a link, and setting the priority of a predetermined link, it is possible to calculate a movement route in which the thinning module 300 moves in the longitudinal direction and the thickness direction according to the shape of the user's body. can

In addition, when the user changes the posture while lying down, the position of the link designated by the measurement module 500 is measured in real time according to the change in posture, and if the position of the designated link is greater than or equal to a certain value, the counting module 300 ), it is possible to newly calculate the movement route to be moved, and to respond in real time to changes in the user's posture so that precise finesse can be made.

That is, the movement route of the counting module 300 is calculated based on the link information on all parts of the user's body and body shape data measured initially by the measuring module 500, and real-time while counting is performed By applying the data value measured as , to the initially measured data value, the movement route of the counting module 300 according to the change of the user's posture can be corrected in real time.

As described above, the link designation of each part of the user's body can be understood with reference to the contents of L0 to L8 in the drawing shown in FIG. 7 .

In addition, by allowing the shape data of the user's body measured by the measurement module 500, that is, 3D data on the user's body, to also be transmitted to the control module 400, the control module 400 controls the measurement module ( 500), it is possible to control the shape of the tool 310 to be varied in the vertical direction or the horizontal direction according to the part where the thinning is made based on the shape of the user's body measured in FIG.

As a result, the thinning module 300 is moved to the optimal route with respect to the user's body through the control module 400, and the shape of the user's body, that is, the curvature of the body and the horizontally wide surface of the body. Accordingly, the shape of the tool 310 can be varied in a vertical direction or a horizontal direction in response to real-time so that efficient thinning can be achieved.

According to an embodiment of the present invention, the thinning module 300 can be coupled to the inner surface of the body 100, the power unit 320 and one side that can be provided with a driving motor 321 for generating power It is coupled to the power unit 320 and may be formed to extend in the direction of the bed 110 , more precisely, in a direction toward the bed 110 provided in the body 100 , and the tool 310 on the other side. ) may be combined to have a structure including a shape-variable part 330 capable of being rotated in one direction or in both directions by the driving motor 321 .

At this time, the shape-variable part 330 may be coupled to a fixing member 331 having one side fixedly coupled to the power unit 320 and the fixing member 331 , but along the longitudinal direction of the fixing member 331 . It may include a movable member 332 capable of reciprocating movement, and the length of the shape-variable part 330 may be adjusted through the connection of the fixing member 331 and the movable member 332 .

For example, the shape variable part 330 may be fixedly coupled to one side of the power unit 320 , and is inserted into the fixing member 331 and the fixing member 331 having a hollow inside, and the fixing member 331 is inserted into the fixing member 331 . Since it has a two-stage structure formed of a movable member 332 capable of reciprocating movement along the longitudinal direction of the member 331 , the overall length of the shape-variable part 330 can be adjusted.

In this case, the movable member 332 is not limited to being inserted into the fixing member 331 , and the movable member 332 is inserted so that the fixing member 331 is inserted into the movable member 332 . ) may be reciprocally moved along the outer surface of the fixing member 331 .

In this way, the fixing member 331 and the moving member 332 forming the shape variable portion 330 may have a sliding structure such as a telescope structure, but is not limited thereto, and such as a rack and pinion gear. The coupling may be made by a mechanical device capable of reciprocating, and the control module 400 controls the contact distance between the user's body and the tool 310 accurately in real time while washing is performed. It is preferable to allow the length control of the shape variable part 330 to be performed.

According to an embodiment of the present invention, the tool 310 may have a tube shape surrounding the shape-variable part 330 at the end of the shape-variable part 330 , and is connected to the driving motor 321 . By rotating in one or both directions by the shape-variable part 330 , the user's body in close contact with the tool 310 can be washed.

At this time, the tool 310 made of a tube shape can be washed by supplying air therein, so that washing can be performed by maintaining a constant volume, and for this purpose, the washing module 300 is The tool 310 may have a structure including an air supply unit 350 for supplying air to the tool 310 .

At this time, the air supply unit 350 may preferentially inject air into the tool 310 before washing begins so that the tool 310 has an appropriate volume for washing. No, when it is determined that the internal air of the tool 310 is insufficient in the process of washing, by additionally re-injecting, or by continuously injecting a small amount of air, the tool 310 is suitable for washing. volume can be maintained.

The air supply unit 350 is not limited to being provided by being coupled to one side of the thinning module 300, and may be configured in a separate configuration so that it can be used as needed.

According to an embodiment of the present invention, the tool 310 surrounds the shape variable part 330 , one side is coupled to the fixing member 331 , and the other side can be coupled to the movable member 332 . By doing so, the shape of the tool can be changed as the overall length of the shape variable part 330 is adjusted by the fixing member 331 and the moving member 332 .

For example, when the tool 310 is in close contact with a wide part of the user's body, that is, the front or rear of the body, the area to be counted based on the shape of the user's body measured by the measurement module 500 is selected. Accordingly, the moving member 332 is moved to the fixing member 331 side by the control of the control module 400, and more precisely, the power unit to which one side of the fixing member 331 is fixedly coupled. By moving toward the 320 side to shorten the overall length of the shape variable part 330 , the shape of the tool 310 may be widened in the horizontal direction.

That is, by making the shape of the tool 310 to be in close contact with a wide part of the user's body and to be thinned in the horizontal direction, the close contact cross-sectional area where the tool 310 and the user's body are in close contact is made wide. The time required can be reduced, and the washing can be performed stably so that the washing efficiency can be improved.

In addition, when the tool 310 is in close contact with the side of the user's body, that is, the side of the user's body or the side of the arm and leg, the user is preferentially measured by the measurement module 500 as described above. Based on the shape of the body, it is possible to grasp the part where the fineness is made, and accordingly, under the control of the control module 400, the movable member 332 is moved to the opposite side of the fixing member 331, more precisely, the fixing member ( By making one side of 331 move to the opposite side of the power unit 320 to which it is fixedly coupled to increase the overall length of the shape variable part 330, the shape of the tool 310 is formed to be long in the vertical direction. can make it happen

That is, by increasing the adhesion efficiency of the tool 310 and the side of the user's body by making the shape of the tool 310 to be in close contact with the side of the user's body to be elongated in the vertical direction, the thinning Even if the module 300 itself does not rotate, it is possible to achieve stable washing.

As described above, the variable shape of the tool 310 in the vertical direction or the horizontal direction according to the portion where the user's body and the tool 310 are in close contact can be understood more easily with reference to FIG. 5 .

In addition, even when the front or rear of the user's body arm and leg are counted, the control module 400 preferentially identifies the part where the count is made through the measurement module 500 and the shape variable part 330 . By adjusting the length of the tool 310, it is possible to control the tool 310 to have a shape that can form an appropriate close contact cross-sectional area with the width of the front or rear of the user's arm and leg.

According to an embodiment of the present invention, the thinning module 300 can be linked with the control module 400, and the pressure applied to the tool 310 while the tool 310 is in close contact with the user's body. It may further include a pressure measuring sensor 340 that can measure the.

At this time, as shown in FIG. 3 , the pressure measuring sensor 340 is located inside the tool 310 so as to more accurately measure the pressure of the tool 310 having a tube shape formed by supplying air therein. It is preferable to be provided so that the change in the internal pressure of the tool 310 can be measured in real time.

In addition, by allowing the distance between the washing module 300 and the user's body to be adjusted according to the pressure applied to the tool 310 measured by the pressure measuring sensor 340, the user is excessively You can avoid feeling pressure.

That is, in the process of washing the user's body, the pressure measuring sensor 340 measures the pressure applied to the tool 310, and based on the measured pressure value, the The washing module 300 is moved so that the pressure acting on the contact surface where the tool 310 and the user's body are in close contact is adjusted so that an appropriate pressure is maintained, so that the user feels pain due to excessive pressure or the pressure It is too low, so it can prevent the washing from not being done properly.

In addition, the control module 400 controls the output of the driving motor 321 based on the pressure value applied to the tool 310 measured by the pressure measuring sensor 340 in the process of washing the user's body. By making the rotational force of the tool 310 to be adjusted, it is possible to prevent the user's skin from peeling off due to friction generated between the tool 310 and the user's body, and washing is effectively performed. can make it happen

According to an embodiment of the present invention, as shown in FIG. 4 , the washing module 300 may further include a holding part 322 that a user can hold.

As described above, the holding part 322 is used for washing while the washing module 300 is automatically moved by the control module 400, and the user directly grips the holding part 322 as described above. This is to move the washing module 300 so that washing can be performed on a part desired by the user.

In this way, even when the user grips the gripper 322 and directly moves the washing module 300 to perform washing on a desired part, the pressure measuring sensor 340 applies to the tool 310. The pressure may be measured, and the rotational force of the tool 310 may be adjusted by the control module 400 based on the measured pressure value.

According to an embodiment of the present invention, the washing module 300 selectively sprays water or soapy water onto the user's body under the control of the control module 400 during washing, as shown in FIG. 6 . It may further include a spraying unit 360 that can be enabled.

The spray unit 360 is provided on one side of the body 100 or the opening and closing unit 130 to spray water or soapy water to a user lying on the bed 110 provided in the body 100 while washing is performed. The washing can be done cleanly, but it is not limited thereto, and by providing the washing module 300 with the injection unit 360 , as the washing module 300 moves, the washing is performed directly on the area. Water or soapy water can be sprayed with the stylus to ensure accurate washing and soaping.

At this time, the injection unit 360 provided in the washing module 300 may be provided on an external side of the washing module 300 , but in connection with the tool 310 of the washing module 300 , a user It may be provided in the shape-variable part 330 in which the tool 310 is provided in the thinning module 300 so that the body of the body can be soaped effectively, and in particular, the interior is hollow to form a space. The spraying part 360 is inserted into the shape-variable part 330 so that water or soapy water is sprayed through the end of the shape-variable part 330, so that when water is sprayed, it rotates. In connection with the tool 310, the cleaning of foreign substances can be made more easily, and even when soapy water is sprayed, it is linked with the rotating tool 310 to effectively apply soap to the user's body. it is preferable

In addition, a cover made of a soft material, such as a sponge, may be provided at the end of the shape-variable part 330 into which the spraying part 360 is inserted, so that water or soapy water is sprayed smoothly while on the user's body. The nozzle of the spray unit 360 may not directly contact.

According to an embodiment of the present invention, the inside of the body 100 or the opening/closing part 130 may be provided with a hot air blower capable of generating hot air toward the body of a user lying on the bed 110. After this, the user's body may be dried primarily, and the hot air blower may be provided with a plurality of injection holes so that the hot air can be evenly applied to the user's body as a whole.

According to an embodiment of the present invention, the body 100 or the opening/closing unit 130 may be linked with the control module 400 so that the user can directly check the part of the user's body in real time while the washing is performed. A display unit 140 capable of displaying the image may be further provided.

The display unit 140 may be provided on a portion of the outer surface of the opening/closing unit 130 on which the user's face is located or on a portion of the outer surface of the body 100 on which the user's face is located. It is preferable to have a structure in which the angle of provision can be adjusted corresponding to the field of view.

In addition, the display unit 140 enables the reproduction of images or images such as TV or movies in addition to the function of displaying the part of the user's body where the washing is performed, and the user while the washing is performed by the user watching the reproduced image It can also make you feel bored.

According to an embodiment of the present invention, a height adjustment unit 120 capable of adjusting the height of the body 100 may be provided at a lower portion of the body 100 .

The height adjustment unit 120 is such that the height of the body 100 can be adjusted in response to the height of the user who wants to use the bath robot having the shape-variable tool of the present invention, and the user can adjust the height of the body 100 . It is to be able to perform a role of making it easy to climb on the bed 110 provided in the .

The height adjustment unit 120 can selectively apply any one of various structures capable of adjusting the vertical height of the body 100, such as a frame of a foldable structure or a structure that moves up and down by a sliding rail, and the control The height may be adjusted by the control of the module 400, or the user may directly adjust the height.

As described above, preferred embodiments according to the present invention have been described, and the fact that the present invention can be embodied in other specific forms without departing from the spirit or scope of the present invention in addition to the above-described embodiments is one of ordinary skill in the art. It is obvious to them. Therefore, the above-described embodiments are to be regarded as illustrative rather than restrictive, and accordingly, the present invention is not limited to the above description, but may be modified within the scope of the appended claims and their equivalents.

100: body 110: bed
120: height adjustment unit 130: opening and closing unit
140: display unit 200: guide module
300: seshin module 310: tool
320: power unit 321: drive motor
322: grip part 330: shape variable part
331: fixed member 332: movable member
340: pressure measuring sensor 350: air supply
360: injection unit 400: control module
500: measurement module

Claims (17)

Forming a space in which the user is located, the body having a bed on which the user can lie down;
a washing module provided in the body, coupled to be movable by a guide module to wash the user's body located in the inner space of the body, and to which a tool for washing the user's body is coupled to one side; and
a control module for controlling the driving of the guide module and the sesin module;
including,
The tool is
A bath robot having a shape-variable tool that changes the shape of the user's body in the vertical or horizontal direction according to the width of the cross-sectional area in close contact with the user's body based on the user's body shape to make the user's body thin.
According to claim 1,
The bath robot,
a measuring module for measuring the shape of the user's body and the user's posture located on the body, and calculating a movement route of the sensin module based on the measured data;
Bath robot having a shape-variable tool further comprising a.
3. The method of claim 2,
The data value calculated by the measurement module is transmitted to the control module, and the bath robot having a shape-variable tool for moving the thinning module in response to a change in the user's posture in the control module.
3. The method of claim 2,
The control module is
A bath robot having a shape-variable tool that changes the shape of the tool according to a portion where a fine figure is made based on the shape of the user's body measured by the measurement module.
According to claim 1,
The Seshin module is
a power unit coupled to the inner surface of the body and having a driving motor; and
a shape variable part having one side coupled to the power unit and extending in the bed direction, the tool coupled to the other side and rotatable in one direction or both directions by the driving motor;
A bath robot having a shape-variable tool comprising a.
According to claim 5,
The shape variable part,
a fixing member having one side fixedly coupled to one side of the power unit; and
a moving member coupled to the fixing member and capable of reciprocating movement along the longitudinal direction of the fixing member;
includes,
A bath robot having a shape-variable tool in which the length of the shape-variable part is adjusted through the connection of the fixing member and the moving member.
7. The method of claim 6,
The tool is
The shape of the tool is made of a tube shape surrounding the variable shape portion, one side is coupled to the fixing member, and the other side is coupled to the movable member so that the length of the shape variable portion is adjusted by the fixing member and the movable member. A bath robot with a variable shape changeable tool.
8. The method of claim 7,
When the tool is in close contact with a wide part of the user's body, the moving member is moved toward the fixing member under the control of the control module, and the overall length of the shape variable part is shortened so that the shape of the tool is changed in the horizontal direction. A bath robot with a widely formed shape-variable tool.
8. The method of claim 7,
When the tool is in close contact with the side part of the user's body, the moving member is moved to the opposite side of the fixing member under the control of the control module to increase the overall length of the shape variable part so that the shape of the tool is changed in the vertical direction A bath robot having a shape-variable tool that is formed to be long.
According to claim 1,
The Seshin module is
an air supply unit for supplying air to the tool;
A bath robot having a shape-variable tool further comprising a.
6. The method of claim 5,
The Seshin module is
a pressure measuring sensor connectable to the control module and measuring the pressure applied to the tool while the tool is in close contact with the user's body;
A bath robot having a shape-variable tool further comprising a.
12. The method of claim 11,
The control module is
In the process of washing the user's body, based on the pressure value applied to the tool measured by the pressure measuring sensor, the washing module is moved to adjust the pressure acting on the contact surface where the tool and the user's body are in close contact. A bath robot with a shape-shifting tool.
12. The method of claim 11,
The control module is
A bath robot having a shape-variable tool that controls the output of the drive motor based on the pressure value applied to the tool measured by the pressure sensor in the process of washing the user's body so that the rotational force of the tool is adjusted.
According to claim 1,
The Seshin module is
a user gripping part;
further comprising,
A bath robot having a shape-variable tool for a user to move the thinning module by holding the holding part so that washing is performed on a desired part.
According to claim 1,
The Seshin module is
a spraying unit for selectively spraying water or soapy water on the user's body under the control of the control module in the process of washing;
A bath robot having a shape-variable tool further comprising a.
According to claim 1,
In the lower part of the body,
a height adjustment unit for adjusting the height of the body according to the height of the user so that the user can easily climb on the body;
A bath robot having a shape-variable tool further comprising a.
According to claim 1,
The bath robot,
an opening and shutting unit having one side hinged with the body so that the body can be opened and closed, and having a structure that can cover the body corresponding to the neck of the user lying on the bed;
A bath robot having a shape-variable tool further comprising a.

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