KR20200135585A - Driving module for hair care robot and hair care robot comprising the same - Google Patents

Abstract

Disclosed are a driving module for a hair care robot and a hair care robot having the same. According to the present invention, the driving module for a hair care robot comprises: a frame formed in a link type structure and closely attached to the head of a user to rub the scalp while rotating; a plurality of sensors installed in the frame, sensing the head, and measuring at least one among information generated during close adhesion, rotation, and rubbing of the scalp; and a motor connected to the frame to drive the frame.

Description

Driving module for hair care robot and hair care robot comprising the same {Driving module for hair care robot and hair care robot comprising the same}

The present invention relates to robot technology, and more particularly, to a driving module for a hair care robot and a hair care robot including the same, in which essential parts that receive force generated while performing hair care are designed to perform a function of a sensor.

In modern robots, efforts are being made to reduce the size and improve the function of the sensor for controlling, thereby preventing a phenomenon in which the satisfaction level is lowered in the control part that occurs in a sensorless robot without a sensor.

However, when the sensor is separately configured, the number of parts increases and the size increases, which has a problem of inferior assembly. In addition, since the parts for performing only the function of the sensor do not affect the operation of the robot at all, it is difficult to apply it to a small robot that must be reduced in size.

Korean Registered Patent Publication No. 10-1772193 (2017.08.28.)

An object of the present invention is to provide a driving module for a hair care robot and a hair care robot including the same, in which essential parts that receive force generated while performing a user's hair care are designed to perform the function of a sensor. .

In order to achieve the above object, the driving module for a hair care robot according to the present invention is formed in a link-type structure, is in close contact with the user's head, and a frame that rubs the scalp while performing a rotational motion, is installed on the frame, and And a plurality of sensors that sense and measure at least one of the contact, the rotational motion, and information generated while rubbing the scalp, and a motor connected to the frame to drive the frame.

In addition, the plurality of sensors may include a swing sensor that measures a collision or load generated by the rotational motion of the frame, a pressure sensor that measures a force pressed by the frame in close contact with the scalp, and the frame rubs the scalp. It characterized in that it comprises a rub sensor for measuring the generated torque.

In addition, in the swing sensor, a first through hole is formed in the center, a plurality of through holes are formed along an outer circumference of the first through hole, and between the first through hole and the plurality of through holes, It is characterized in that a plurality of small second through holes are formed at regular intervals.

In addition, the pressure sensor is formed in a rod shape, one third through hole is formed at each end, and a bar portion adjacent to the third through hole formed at one end is characterized in that the width is narrower than that of the remaining bar portions.

In addition, the rub sensor is formed in a rod shape, one fourth through hole is formed at each end, a fifth through hole equal to or smaller than the fourth through hole is formed in the center, and the fourth through hole and The width of the rod portion between the fifth through holes is narrower than that of the remaining rod portions.

In addition, the plurality of sensors is characterized in that the shape is formed based on the maximum strain and the average strain.

The hair care robot according to the present invention controls the washing unit and the washing unit including a main body supporting a user to receive hair care, a washing module for washing the user's hair, and a driving module for massaging the user's scalp. And a control unit for providing hair care to the user, wherein the driving module is formed in a link-type structure, and is in close contact with the user's head to perform a rotational motion while rubbing the scalp, and installed on the frame, It is characterized in that it comprises a plurality of sensors for sensing the head, measuring at least one of the contact, the rotational movement, and information generated by rubbing the scalp, and a motor connected to the frame to drive the frame.

In addition, the washing module includes a water supply unit for supplying water to the hair, a shampoo supply unit for supplying at least one of shampoo and conditioner to the hair to perform the washing, and a discharge unit for discharging the water after washing the hair to the outside. And it characterized in that it comprises a dry unit for drying the washed hair.

The driving module for the hair care robot of the present invention and the hair care robot including the same are designed so that essential parts that receive force generated while performing the user's hair care perform the functions of a swing sensor, a pressure sensor, and a rub sensor, The number of can be reduced.

In addition, essential parts function as sensors, so although it is a sensorless robot, precise control is possible.

1 is a block diagram illustrating a hair care robot according to an embodiment of the present invention.
2 is a view for explaining a driving module according to an embodiment of the present invention.
3 is a view for explaining a swing sensor according to an embodiment of the present invention.
4 is a view for explaining a push sensor according to an embodiment of the present invention.
5 is a view for explaining a rub sensor according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. First of all, in adding reference numerals to elements of each drawing, note that the same elements are to have the same numerals as possible even if they are indicated on different drawings. In addition, in describing the present invention, when it is determined that a detailed description of a related known configuration or function is apparent to those skilled in the art or may obscure the subject matter of the present invention, the detailed description thereof will be omitted.

1 is a block diagram illustrating a hair care robot according to an embodiment of the present invention.

Referring to FIG. 1, the hair care robot 100 automatically performs a user's hair care. The hair care robot 100 may wash the user's hair and massage the user's scalp. At this time, the hair care robot 100 is designed so that essential parts that receive force generated while performing the user's hair care perform the function of the sensor. The hair care robot 100 may include a body 110, a control unit 150 and a washing unit 170, and may further include an input unit 130 and a storage unit 190.

The body 110 supports the user to receive hair care. The body 110 may be a chair having a legrest, a backrest, an armrest, and a neckrest. Through this, the body 110 allows the user to comfortably lie down and receive hair care. Preferably, the main body 110 may automatically lay or raise the user while the legrest and the backrest move in the vertical direction.

The input unit 130 receives a user input. Here, the user input receives information on hair care desired by the user. For example, the input unit 130 may receive a user input for washing hair or a user input for a scalp massage. The input unit 130 may be implemented in various forms such as a switch, a keypad, and a touch screen.

The controller 150 controls the washing unit 170 according to a user input input from the input unit 130. For example, if the user input includes information on washing hair, the controller 150 may wash the user's head. In this case, the user input may include information on various washing modes such as shampoo washing, rinse washing, shampoo + rinse washing, water washing, and information on intensity of massaging the scalp.

The washing unit 170 cleans the user's hair and massages the user's scalp. To this end, the cleaning unit 170 includes a cleaning module 171 and a driving module 173.

The washing module 171 is a module for washing the user's hair, and includes a water supply unit, a shampoo supply unit, a discharge unit, and a dry unit. The water supply unit supplies water to the user's hair and may be connected to a faucet. The water supply unit may automatically adjust the water temperature by the control unit 150. The shampoo supply unit supplies at least one of shampoo and conditioner to the user's hair to perform washing. The shampoo supply unit is designed to separate and store shampoo and rinse, and to refill shampoo and rinse. The discharge part discharges the water after washing the hair to the outside. The discharge part is formed as a drain pipe of a predetermined size to facilitate water discharge. The dryer dries the washed hair. The dryer part removes moisture from the hair by generating wind. At this time, the dry unit can control the wind strength and temperature.

The driving module 173 is a module that massages the user's scalp, and operates in conjunction with the washing module 171 according to a user input. For example, if the user input includes information on rinse cleaning, the driving module 173 performs a scalp massage by interlocking with the supply of water and rinse aid from the cleaning module 171. Through this, the driving module 173 can perform a scalp massage while allowing the rinse supplied to the Merakarak to be cleaned cleanly. Details of the driving module 173 will be described with reference to FIGS. 2 to 5.

The storage unit 190 stores a program for driving the hair care robot 100. At this time, the storage unit 190 may also store information on various modes for performing hair care. The storage unit 190 includes a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (eg, SD or XD memory, etc.), RAM (Random Access Memory, RAM), SRAM (Static Random Access Memory), ROM (Read-Only Memory, ROM), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory), magnetic memory, It may include at least one storage medium of a magnetic disk and an optical disk.

2 is a view for explaining a driving module according to an embodiment of the present invention, Figure 3 is a view for explaining a swing sensor according to an embodiment of the present invention, Figure 4 is a pressure sensor according to an embodiment of the present invention 5 is a view for explaining a rub sensor according to an embodiment of the present invention. Here, FIG. 3(a) is a view showing an existing swing motor bracket and a swing sensor of the present invention in which the design is changed, and FIG. 3(b) is a view obtained by FEM analysis of FIG. 3(a), and FIG. 4(a) ) Is a diagram showing an existing press motor bracket and a press sensor of the present invention with a design change thereof, FIG. 4(b) is a diagram obtained by FEM analysis of FIG. 4(a), and FIG. 5(a) is a conventional rub. It is a view showing the motor bracket and the rub sensor of the present invention in which the design has been changed, and FIG. 5(b) is a FEM analysis of FIG. 5(a).

2 to 5, the driving module 173 reduces the size of the module to overcome the problem that the size and shape of the head is different for each user, and the module swings according to the head to provide a desired service. Design to be able to. The driving module 173 includes a swing sensor 10, a push sensor 30, a rub sensor 50, a motor 70, and a frame 90.

The frame 90 is in close contact with the user's head and performs a scalp massage that rubs the scalp while rotating. At this time, the frame 90 is formed in a link-type structure in which a plurality of links are connected. The frame 90 prevents damage to the scalp by forming a part in contact with the scalp made of an elastic material.

The plurality of sensors is installed on the frame 90, detects the head, and measures at least one of information generated while contacting, rotating, and rubbing the scalp. In this case, the plurality of sensors may be sensors in which essential parts of the frame 90 are designed and changed to perform a function of the sensor. The plurality of sensors are shaped based on the maximum strain and the average strain. Here, the maximum strain refers to the maximum strain among strains that occur in the sensor when a load occurs, and is related to durability, and the average strain refers to the strain that occurs on the surface to which the strain gauge is attached. It has to do with performance. The plurality of sensors includes a swing sensor 10, a push sensor 30 and a rub sensor 50.

The swing sensor 10 measures a collision or load generated by the rotational motion of the frame 90. That is, the swing sensor 10 may measure both a torque generated while the frame 90 rotates and a load generated during rotation. The swing sensor 10 may be formed in a shape in which the amount of deformation and the deformation rate are minimized so that fatigue failure does not occur against stress that continues to occur due to the rotational motion of the frame 90.

Meanwhile, the swing sensor 10 may be a sensor with a design change of the existing swing motor bracket 15. For example, in the swing sensor 10, a first through hole 11 may be formed in the center, and a plurality of through holes 12 may be formed along the outer periphery of the first through hole 11. In addition, in the swing sensor 10, a plurality of second through holes 13 smaller than the first through hole 11 may be formed between the first through hole 11 and the plurality of through holes 12 at regular intervals. . Due to this shape, the swing sensor 10 can lower the amount of deformation and the deformation rate than the conventional swing motor bracket 15.

The pressing sensor 30 measures the force pressed by the frame 90 in close contact with the user's scalp. That is, the pressing sensor 30 may be implemented as a load cell so that the frame 90 can press the user's scalp with a constant force. At this time, the pressure sensor 30 can obtain a greater strain only when the position of the load cell is close to the motor 70, but is installed in a position where waterproofing is easy to be applied due to the special nature that requires waterproofing.

Meanwhile, the push sensor 30 may be a sensor with a design change of the conventional push motor bracket 35. For example, the pressure sensor 30 may be formed in a rod shape, and one third through hole 31 and 32 may be formed at both ends. In addition, the push sensor 30 may be formed such that a bar portion 33 adjacent to the third through hole 31 formed at one end is narrower than the remaining bar portions. Due to this shape, the pressure sensor 30 can obtain a greater strain in the narrow bar portion 33.

The rub sensor 50 measures the torque generated by the frame 90 rubbing the user's scalp. That is, the rub sensor may measure the torque generated in the rubbing operation driven while the scalp is pressed against the frame 90. At this time, since the frame 90 including the rub sensor 50 is composed of a plurality of links (gears) starting from the motor 70, it is installed in the closest position to the part where the force acts in order to reduce the loss caused by the link. . Here, the plurality of links may be 2 to 5.

On the other hand, the rub sensor 50 may be a sensor with a design change of the conventional rub motor bracket 55. For example, the rub sensor 50 is formed in a rod shape, has one fourth through hole 51 formed at each end, and a fifth through hole equal or smaller than the fourth through hole 51 ( 52) can be formed. In addition, the rub sensor 50 may be formed such that the rod portion 53 between the fourth through hole 51 and the fifth through hole 52 is narrower than the rest of the rod portion. Due to this shape, the rub sensor 50 may obtain a greater strain in the narrow bar portion 53.

The motor 70 is connected to the frame 90 to drive the frame 90. In this case, the motor 70 may be provided with a plurality of motors so as to correspond to the respective sensors 10, 30, and 50 to drive the frame 90 or may drive the frame 90 through one motor. Preferably, the motor 70 may include a swing motor corresponding to the swing sensor 10, a push motor corresponding to the push sensor 30, and a rub motor corresponding to the rub sensor 50. Here, the swing motor is a motor that causes the frame 90 to swing, the pressing motor is a motor that causes the frame 90 to press the scalp with a constant force, and the rub motor is a motor that causes the frame 90 to rub the scalp.

As described above, the hair care robot 100 of the present invention is designed so that essential parts that receive force generated while performing the user's hair care perform the functions of a swing sensor, a push sensor, and a rub sensor, thereby reducing the number of unnecessary parts. Can be reduced. In addition, the hair care robot 100 is a sensorless robot with essential parts functioning as a sensor, but can perform precise control.

Although the preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific preferred embodiments described above, and without departing from the gist of the present invention claimed in the claims, in the technical field to which the present invention pertains. Anyone of ordinary skill in the art can implement various modifications, as well as such modifications will be within the scope of the claims.

10: swing sensor
30: push sensor
50: rub sensor
70: motor
90: frame
100: hair care robot
110: main body
130: input unit
150: control unit
170: washing unit
171: washing module
173: drive module
190: storage unit

Claims (8)

A frame formed in a link-type structure, which is in close contact with the user's head and rubs the scalp while rotating;
A plurality of sensors installed on the frame, sensing the head, and measuring at least one of information generated while rubbing the close contact, the rotational motion, and the scalp; And
A motor connected to the frame to drive the frame;
A driving module for a hair care robot comprising a. The method of claim 1,
The plurality of sensors,
A swing sensor for measuring a collision or load generated by the rotational motion of the frame;
A pressing sensor that measures a force pressed by the frame in close contact with the scalp; And
A rub sensor for measuring a torque generated by the frame rubbing the scalp;
A driving module for a hair care robot comprising a. The method of claim 2,
The swing sensor,
A first through-hole is formed in the center, a plurality of through-holes are formed along the outer periphery of the first through-hole, and a plurality of second through-holes smaller than the first through-hole between the first through-hole and the plurality of through-holes A driving module for a hair care robot, characterized in that spheres are formed at regular intervals. The method of claim 2,
The push sensor,
A driving module for a hair care robot, characterized in that it is formed in a rod shape, has one third through hole at each end, and a bar portion adjacent to the third through hole formed at one end is narrower than the rest of the bar. The method of claim 2,
The rub sensor,
It is formed in a rod shape, has one fourth through hole at each end, and a fifth through hole equal to or smaller than the fourth through hole is formed in the center, and between the fourth through hole and the fifth through hole The driving module for hair care robot, characterized in that the width of the rod part is narrower than the rest of the rod part. The method of claim 1,
The plurality of sensors,
A driving module for a hair care robot, characterized in that the shape is formed based on the maximum strain and the average strain. A main body supporting a user to receive hair care;
A washing unit including a washing module for washing the user's hair and a driving module for massaging the user's scalp; And
Including; a control unit for controlling the washing unit to provide hair care to the user,
The driving module,
A frame formed in a link-type structure and being in close contact with the user's head and rubbing the scalp while rotating;
A plurality of sensors installed on the frame, sensing the head, and measuring at least one of information generated while rubbing the close contact, the rotational motion, and the scalp; And
A motor connected to the frame to drive the frame;
Hair care robot comprising a. The method of claim 7,
The washing module,
A water supply unit supplying water to the hair;
A shampoo supply unit supplying at least one of shampoo and conditioner to the hair to perform the washing;
A discharge unit for discharging the water after washing the hair to the outside; And
A dryer for drying the washed hair;
Hair care robot comprising a.

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