WO2012172771A1 - ヘッドケアシステム及びこれを用いた洗髪装置 - Google Patents
ヘッドケアシステム及びこれを用いた洗髪装置 Download PDFInfo
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- WO2012172771A1 WO2012172771A1 PCT/JP2012/003782 JP2012003782W WO2012172771A1 WO 2012172771 A1 WO2012172771 A1 WO 2012172771A1 JP 2012003782 W JP2012003782 W JP 2012003782W WO 2012172771 A1 WO2012172771 A1 WO 2012172771A1
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- Prior art keywords
- arm
- head
- unit
- care system
- contact
- Prior art date
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Classifications
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- A—HUMAN NECESSITIES
- A45—HAND OR TRAVELLING ARTICLES
- A45D—HAIRDRESSING OR SHAVING EQUIPMENT; EQUIPMENT FOR COSMETICS OR COSMETIC TREATMENTS, e.g. FOR MANICURING OR PEDICURING
- A45D19/00—Devices for washing the hair or the scalp; Similar devices for colouring the hair
- A45D19/14—Closed washing devices, e.g. washing caps
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H35/00—Baths for specific parts of the body
- A61H35/008—Baths for specific parts of the body for the head
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
- A61H7/002—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for by rubbing or brushing
- A61H7/004—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for by rubbing or brushing power-driven, e.g. electrical
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/1215—Rotary drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1463—Special speed variation means, i.e. speed reducer
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1604—Head
- A61H2201/1607—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1664—Movement of interface, i.e. force application means linear
- A61H2201/1669—Movement of interface, i.e. force application means linear moving along the body in a reciprocating manner
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1671—Movement of interface, i.e. force application means rotational
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1676—Pivoting
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1683—Surface of interface
- A61H2201/169—Physical characteristics of the surface, e.g. material, relief, texture or indicia
- A61H2201/1692—Enhanced rubbing effect
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
Definitions
- the present invention relates to a head care system that automatically cares a person's head in fields such as medicine and beauty, and a hair washing apparatus using the head care system.
- An example of human head care is the cleaning of a human head.
- washing the head of a person, including hair requires manpower, and automation is desired.
- the cleaning of the head including the hair of a patient admitted to a hospital, requires manpower, and automation is desired.
- FIG. 8 is a schematic configuration diagram of a main part of a conventional automatic head washing apparatus.
- comb teeth 2 are formed at regular intervals on the inner peripheral side of the arc-shaped nozzle cleaning unit 1 of the conventional automatic head cleaning apparatus.
- a scalp washing nozzle 2 a is provided at the tip of the comb teeth 2, and a scalp washing nozzle 1 a is provided between the comb teeth 2.
- These nozzles 1 a and 2 a are connected to the spray liquid switching unit 3 via a liquid supply path (not shown) provided separately in the nozzle cleaning unit 1. Then, the cleaning agent and the cleaning liquid are sprayed from these nozzles 1a and 2a onto the scalp and the hair to clean the head.
- the nozzle cleaning unit 1 is driven by a cleaning unit reciprocating drive unit 4 via a rack 4a and a pinion 4b, and is configured to be movable in the direction of an arrow 4c. With this configuration, the nozzle cleaning unit 1 expands the scalp and hair cleaning range.
- the nozzle cleaning unit 1, the jet liquid switching unit 3, and the cleaning unit reciprocating drive unit 4 are supported by a cleaning unit support unit 5.
- the cleaning unit support unit 5 is driven by a cleaning unit rotation driving unit 6 through a gear 8 or the like to clean the scalp and hair of the entire human head, and is configured to be rotatable about a support shaft 7. ing.
- the jet liquid switching unit 3, the washing unit reciprocating drive unit 4, and the washing unit rotation driving unit 6 are controlled in conjunction with each other, and the head washing operation is executed.
- the scalp and hair of the entire human head can be washed automatically, and manpower can be saved.
- the present invention solves these problems, and even when the shape of a person's head is different, the head can efficiently and reliably care for the person's head according to the shape of the person's head.
- An object is to provide a care system and a hair washing apparatus using the same.
- a head care system includes a base part having a head support part for supporting a human head, and an arm unit for caring the human head, A pair of arm units each having a support shaft attached to the base portion and arranged with the head support portion interposed therebetween, and a support shaft drive portion for driving the arm units to be rotatable about the support shaft.
- a control unit that controls driving of the support shaft driving unit, and the arm unit includes a contact arm having a plurality of contacts at a tip, and a sub arm that rotatably supports the contact arm.
- a main arm that rotatably supports the sub arm and is rotatably supported by the base portion, and the main arm is constituted by a four-bar linkage mechanism, To do.
- the arm unit for caring a person's head is a washing unit for washing the person's head. It is characterized by that.
- the head care system and the hair washing apparatus using the head care system of the present invention even when the shape of the person's head is different, the person's head can be efficiently and reliably cared for according to the shape of the person's head. Can do.
- a hair washing apparatus for automatically washing a human head will be described as an example of a head care system that automatically cares for a human head.
- care of the human head means performing at least one of cleaning the human scalp, cleaning the human hair, and massaging the human head.
- FIG. 1 is a schematic configuration diagram of a hair washing apparatus according to an embodiment of the present invention
- FIG. 2 is a configuration diagram illustrating a first main part of a drive configuration of the hair washing apparatus according to the present embodiment
- FIG. 3 is a perspective view showing a second main part of the drive configuration of the hair washing apparatus according to the present embodiment
- FIG. 4 is a side view showing the second main part of the drive configuration of the hair washing apparatus according to the present embodiment.
- FIG. 2 to 4 the XYZ axes are displayed with the direction along the vertical direction as the Z axis and the directions perpendicular thereto as the X axis and the Y axis.
- a hair washing apparatus 100 has a bowl 101.
- the bowl 101 is an example of a base portion having a head support portion 11 that supports a human head 10, and is configured to wrap around a substantially half surface on the rear head side of the human head 10.
- Supports 102 ⁇ / b> L and 102 ⁇ / b> R are installed inside the housing 101 a constituting the bowl 101.
- the columns 102L and 102R are arranged so as to be located on the left and right of the head support portion 11 in the bowl 101.
- the hair washing apparatus 100 has a pair of two washing units 12 for washing a person's head 10 supported in a bowl 101.
- the pair of cleaning units 12 includes a left cleaning unit 12L and a right cleaning unit 12R that are disposed with the head support portion 11 in the bowl 101 interposed therebetween.
- the left cleaning unit 12L is an example of a first cleaning unit
- the right cleaning unit 12R is an example of a second cleaning unit.
- an arm-shaped unit is used as a washing unit, but the washing unit 12 is an example of an arm unit for caring a person's head in a head care system. It is.
- the left cleaning unit 12L is configured such that the support shaft 104L is connected to the support column 102L and is rotatable around the support shaft 104L.
- the right cleaning unit 12R is configured such that the support shaft 104R is connected to the support column 102R and is rotatable around the support shaft 104R.
- the hair washing apparatus 100 includes motors 201L and 201R as an example of a support shaft driving unit that rotatably drives the cleaning units 12L and 12R about the support shafts 104L and 104R, respectively (see FIG. 2).
- the left cleaning unit 12L includes arms 105L, 106L, 107L, 108L formed in a predetermined shape such as a substantially arc shape, and a pipe 111L (pipe) formed in a predetermined shape such as a substantially arc shape.
- the arms 105L, 106L, 107L, and 108L and the pipe 111L are disposed so as to face the head support portion 11.
- the pipe 111L of the left cleaning unit 12L has a plurality of nozzles 110 for ejecting at least one of water, hot water, 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 hair washing apparatus 100 includes a water system valve 216, a cleaning liquid system valve 217, and a conditioner system valve 218, as shown in FIG.
- the output ports of the water system valve 216, the cleaning liquid system valve 217, and the conditioner system valve 218 are connected in parallel, and are connected to the pipes 111L and 111R via the pipe 219.
- the water system valve 216 is configured such that its input port is connected to a water system supply unit (not shown) and water or hot water is supplied from the water system supply unit.
- the cleaning liquid valve 217 is configured such that a mousse-like cleaning liquid is supplied to the input port to which a mixing unit 220 for mixing the cleaning liquid and the compressed air is connected.
- the mousse-like cleaning liquid supplied to the cleaning liquid system valve 217 is manufactured by mixing the cleaning liquid from the cleaning liquid supply unit 222 for supplying a cleaning liquid such as shampoo and compressed air in the mixing unit 220.
- the conditioner system valve 218 is connected to a conditioner supply unit 221 at an input port thereof, and a conditioner (for example, rinse liquid) is supplied from the conditioner supply unit 221.
- the hair washing apparatus 100 appropriately controls the water system valve 216, the cleaning liquid system valve 217, and the conditioner system valve 218, so that water, hot water, mousse cleaning liquid or conditioner is supplied from the plurality of nozzles 110 provided on the pipes 111L and 111R. Can be erupted.
- cleaning unit 12L, 12R is comprised by the water-system supply part and the water-system valve
- the cleaning liquid supply unit that supplies the cleaning liquid to the cleaning units 12L and 12R includes a cleaning liquid supply unit 222, a mixing unit 220, and a cleaning liquid system valve 217.
- the conditioner supply unit that supplies the conditioner to the cleaning units 12L and 12R includes a conditioner supply unit 221 and a conditioner system valve 218.
- the first arm 105L as an example of the main arm is rotatably attached to the arm base 103L via the arm rotation shaft 209L, and is installed to be rotatable around the support shaft 104L together with the arm base 103L. Yes. That is, the first arm 105L is rotatably supported by the bowl 101 via the support column 102L.
- a second arm 106L as an example of a sub arm is rotatably supported by the first arm 105L via a support shaft 212L. As shown in FIG. 3, the second arm 106L is supported on the support shaft 212L of the first arm 105L. Between the first arm 105L and the second arm 106L, an elastic body 212La such as a spring is provided as an example of the first elastic body so as to hold the second arm 106L at a predetermined position with respect to the first arm 105L. It has been. That is, the first elastic body regulates the positional relationship between the second arm 106L and the first arm 105L between the first arm 105L and the second arm 106L.
- An elastic body 212La such as a spring connects the second arm 106L and the support shaft 212L of the first arm 105L.
- the first elastic body 212La other means for supporting the second arm 106L on the first arm 105L so as to be capable of automatic alignment can be used.
- the first arm 105L includes two four-bar linkage mechanisms 231L and a support shaft 212L.
- the two four-bar linkage mechanisms 231L have the same shape and are arranged in parallel. That is, the first arm 105L is configured by a parallel four-bar linkage mechanism.
- the support shaft 212L is a connecting member that connects the two four-bar linkage mechanisms 231L.
- the four-link mechanism 231L includes a drive link 105La, a driven link 105Lb, and an intermediate link 105Lc.
- the drive link 105La is fixedly attached to the arm rotation shaft 209L and has a substantially arc shape.
- the driven link 105Lb has the same shape as the drive link 105La and is rotatably attached to a support shaft 215L provided on the arm base 103L.
- the intermediate link 105Lc is fixedly attached to the support shaft 212L, is rotatably connected to the drive link 105La via the support shaft 212L, and is rotatably connected to the driven link 105Lb via the support shaft 216L. Yes.
- the drive link 105La and the driven link 105Lb are formed in the same shape, and the drive link 105La and the driven link 105Lb are arranged in parallel via the intermediate link 105Lc and the arm base 103L.
- the four-bar link mechanism 231L of the present embodiment is a parallel four-bar link.
- the first arm 105L supports the second arm 106L on the support shaft 212L between the two four-bar linkage mechanisms 231L.
- the hair washing apparatus 100 of this embodiment has the arm comprised by the parallel 4-joint link, It is characterized by the above-mentioned. The effect of configuring a part of the arm with a parallel four-bar link will be described later.
- two third arms 107L and 108L are rotatably supported on the second arm 106L.
- the second arm 106L is configured in a substantially V shape, and the third arm 107L is rotatably supported at one end via a support shaft 213L, and the third arm 106L is supported at the other end via a support shaft 214L.
- the arm 108L is rotatably supported.
- the two third arms 107L and 108L are supported so as to be substantially symmetrical with respect to the support shaft 212L.
- the third arm 107L, 108L and the second arm 106L are connected between the second arm 106L and the third arm 107L, 108L, respectively.
- An elastic body (not shown) such as a spring is provided as an example of the second elastic body that couples the arm 106L. That is, the second elastic body regulates the positional relationship between the second arm 106L and the third arms 107L and 108L.
- the third arm 107L, 108L can be held at a predetermined position with respect to the second arm 106L by an elastic body such as a spring. It is also possible to use other means for supporting the third arms 107L and 108L on the second arm 106L so that automatic alignment can be performed without using the second elastic body.
- the third arms 107L and 108L are provided with a plurality of contacts 109 that come into contact with the head 10 of the person supported by the head support 11 respectively.
- a plurality of contacts 109 are attached to the third arm 107L by supporting a branch arm 310L having a V shape with two contacts 109 at the tip of the third arm 107L. It has been.
- a plurality of contacts 109 are attached to the third arm 108L by supporting a branch arm 310L having a V shape with two contacts 109 at the tip of the third arm 108L. Yes.
- FIG. 5 is a perspective view showing a third main part of the drive configuration of the hair washing apparatus according to the present embodiment, and is a perspective view showing the branch arm 310L.
- the branch arm 310L includes a pair of branch portions 310La and a connecting portion 310Lb.
- the pair of branch portions 310La are arranged symmetrically with respect to the central axis C1 while the contact 109 is arranged at the tip.
- the connecting portion 310Lb connects the two branch portions 310La at the apexes of the two branch portions 310La arranged in a V shape.
- the branch arm 310L is configured to include an elastic body in at least a part of a region from the apex of the branch portion 310La arranged in a V shape to the contact 109.
- the branch portion 310La is configured as a leaf spring.
- the contact 109 is pressed toward the center of the human head 10 by the elastic force of the branching portion 310La configured as a leaf spring, so that the contact 109 is accurately positioned following the surface shape of the human head 10. . Therefore, the contact 109 of the hair washing apparatus 100 according to the present embodiment can efficiently and efficiently care for the human head 10 even when the shape and size of the human head 10 are different.
- the contact 109 is made of a flexible rubber material.
- the branch arm 310L configured as described above is configured such that the connecting portion 310Lb supported by the third arm 107L can rotate with respect to the central axis C1 as indicated by an arrow 310Ld, and a plurality of branch arms 310L attached to the branch arm 310L.
- the contact 109 is swingable.
- the hair washing apparatus 100 of the present embodiment is configured so that the branch arm 310L is rotated with respect to the central axis C1 in a state where the plurality of contacts 109 are in contact with the person's head 10, so The scalp and hair of the head 10 can be pinched or pulled.
- the hair washing apparatus 100 of this embodiment can care the human head 10 by pinching or pulling the scalp and hair of the human head 10 with the plurality of contacts 109.
- the hair washing apparatus 100 includes a contactor drive unit 401 such as a motor that swings the contactor 109 by driving the branch arm 310L to be rotatable with respect to the central axis C1.
- the branch arm 310L is also rotatable as shown by an arrow 310Le with respect to the central axis C2 by a connecting portion 310Lb supported by the third arm 107L.
- the central axis C2 is the central axis of the V-shaped opening angle centered on the V-shaped apex.
- the central axis C3 and the central axis C2 of the support shaft 213L are provided so as to intersect at a substantially right angle.
- the center axis C3 of the support shaft 213L is a rotation shaft by which the third arm 107L is supported by the second arm 106L
- the center axis C2 is a rotation by which the branch arm 310L is supported by the third arm 107L. Is the axis.
- the third arm 108L is configured similarly to the third arm 107L. As shown in FIG. 4, the plurality of contacts 109 of the branch arm 310 ⁇ / b> L supported by the third arms 107 ⁇ / b> L and 108 ⁇ / b> L are arranged in a substantially arc shape substantially along the shape of the human head 10.
- the first arm 105L, the second arm 106L, and the third arms 107L and 108L are accommodated in the arm housing 115L.
- the contact 109 attached to the third arms 107L and 108L is disposed outside the arm housing 115L.
- a motor 201L is arranged as shown in FIG.
- the rotation output of the motor 201L is transmitted to the support shaft 104L via a gear 203L attached to the motor rotation output shaft 202L and a gear 204L attached to the support shaft 104L.
- the arm base 103L attached to the support shaft 104L is driven to rotate in the direction of the arrow 205L by the transmitted rotation output of the motor 201L.
- the driving of the motor 201L is controlled by the control unit 400.
- a motor 206L is disposed in the arm base 103L.
- the rotation output of the motor 206L is transmitted via a gear 207L attached to the motor rotation output shaft 207La and a gear (not shown) attached to the arm rotation shaft 209L of the first arm 105L engaged with the gear 207L. , Transmitted to the first arm 105L.
- the first arm 105L is driven to rotate in the direction of the arrow 210L around the arm rotation shaft 209L by the transmitted rotation output of the motor 206L.
- the motor 206L functions as an arm rotation shaft driving unit that drives the first arm 105L so as to move toward and away from the head support unit 11 around the arm rotation shaft 209L.
- the driving of the motor 206L is controlled by the control unit 400.
- the hair washing apparatus 100 includes the contactor driving unit 401 such as a motor that drives the branch arm 310L to be rotatable with respect to the central axis C1.
- the driving of the contact drive unit 401 is controlled by the control unit 400.
- the right cleaning unit 12R is configured similarly to the left cleaning unit 12L.
- the right washing unit 12R includes arms 105R, 106R, 107R, 108R and a pipe 111R.
- the arms 105R, 106R, 107R and 108R and the pipe 111R are arranged so as to face the head support portion 11.
- the pipe 111R is configured similarly to the pipe 111L.
- the pipe 111R has a plurality of nozzles 110 for ejecting at least one of water, hot water, cleaning liquid, and a conditioner via the pipe 219, and is attached to an arm base 103R fixed to the support shaft 104R. Yes.
- the pipe 111R is installed so as to be rotatable around the support shaft 104R together with the arm base 103R.
- the arms 105R, 106R, 107R, 108R of the cleaning unit 12R are attached to an arm base 103R fixed to the support shaft 104R.
- the first arm 105R is rotatably attached to the arm base 103R via an arm rotation shaft 209R, and is installed so as to be rotatable around the support shaft 104R together with the arm base 103R.
- the second arm 106R is rotatably supported by the first arm 105R via a support shaft 212R.
- An elastic body (not shown) such as a spring is provided as an example of the first elastic body between the first arm 105R and the second arm 106R.
- An elastic body such as a spring connects the second arm 106R and the support shaft 212R of the first arm 105R so as to hold the second arm 106R in a predetermined position with respect to the first arm 105R.
- the first arm 105R includes two parallel four-bar link mechanisms and a support shaft 212R as an example of a connecting member that connects the two parallel four-bar link mechanisms.
- the second arm 106R is supported by the support shaft 212R between the two parallel four-joint link mechanisms.
- Two second arms 107R and 108R are rotatably supported by the second arm 106R via support shafts 213R and 214R, respectively. Between the second arm 106R and the third arms 107R, 108R, the third arm 107R, 108R and the second arm 107R, 108R are respectively held in a predetermined position with respect to the second arm 106R.
- An elastic body (not shown) such as a spring is provided as an example of a second elastic body that couples the arm 106R.
- Each of the third arms 107R and 108R is supported by two branch arms each having a V-shape with two contactors 109 at the tip thereof so as to be rotatable.
- This branch arm is configured such that the contact 109 is swung by the contact drive unit 401.
- a motor 201R is disposed in the support column 102R of the right washing unit 12R.
- the rotation output of the motor 201R is transmitted to the support shaft 104R via a gear 203R attached to the motor rotation output shaft 202R and a gear 204R attached to the support shaft 104R.
- the arm base 103R attached to the support shaft 104R is driven to rotate in the direction of the arrow 205R by the transmitted rotation output of the motor 201R.
- the driving of the motor 201R is controlled by the control unit 400.
- a motor 206R is disposed in the arm base 103R.
- the rotation output of the motor 206R is transmitted via a gear 207R attached to the motor rotation output shaft 207Ra and a gear (not shown) attached to the arm rotation shaft 209R of the first arm 105R meshed with the gear 207R. Is transmitted to the first arm 105R.
- the first arm 105R is driven to rotate in the direction of the arrow 210R around the arm rotation shaft 209R by the transmitted rotation output of the motor 206R.
- the driving of the motor 206R is controlled by the control unit 400.
- the branch arm supported by the third arms 107R and 108R of the right washing unit 12R is configured such that the contact 109 is swung by the drive of the contact drive unit 401.
- the driving of the contact drive unit 401 is controlled by the control unit 400.
- the first arm 105R, the second arm 106R, and the third arms 107R and 108R are accommodated in the arm housing 115R.
- the contact 109 attached to the third arms 107R and 108R is disposed outside the arm housing 115R.
- the control unit 400 drives the motors 206L and 206R to bring the first arms 105L and 105R closer to the head support unit 11 and the second arms 106L and 106R.
- the third arms 107L, 108L, 107R, and 108R are brought close to the head support portion 11, and the contact 109 is brought into contact with the human head 10 supported by the head support portion 11.
- the motors 201 ⁇ / b> L and 201 ⁇ / b> R and the contact drive unit 401 are driven to care for the human head 10.
- control unit 400 drives the motors 201L and 201R and the contact drive unit 401 to care for the human head 10
- the control unit 400 uses the water supply unit, the cleaning liquid supply unit, and the conditioner.
- the human head 10 can be washed by controlling the operation of the supply unit.
- the bowl 101 of the hair washing apparatus 100 is provided with a notch 101 c for supporting a person's neck supported by the head support 11.
- the bowl 101 is provided with a support 112 for supporting the back of the head 10 of the person.
- the support body 112 is configured to be positionally adjustable in the vertical and horizontal directions.
- the support body 112 can adjust the position of the support body 112 based on the position of the human head 10 detected by position detection means such as a camera, for example.
- the support 112 is preferably adjusted so that the support shafts 104L and 104R of the cleaning units 12L and 12R are positioned near the ears of the person supported by the head support unit 11.
- 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
- a hood 113 that can be opened and closed is detachably attached to the bowl 101 in order to prevent water, shampoo, and the like from splashing outside during cleaning.
- the hood 113 is preferably made of a transparent material so as not to give the person a feeling of pressure or anxiety as much as possible during cleaning.
- the hair washing apparatus 100 is an apparatus that automatically cleans the human head 10, and in the state where water or shampoo is not ejected from the nozzle 110, the human head 10 is moved by the contact 109. It can be used as a head care system that massages automatically.
- FIG. 6 is an explanatory diagram for explaining the operation of the second main part of the drive configuration of the hair washing apparatus according to the present embodiment.
- the state in which the contact 109 of the left cleaning unit 12L is in contact with the human head 10 is indicated by a solid line
- the state in which the contact 109 of the left cleaning unit 12L is separated from the human head 10 is indicated by a two-dot chain line. Show.
- the first arm 105L is configured to include the parallel four-bar linkage mechanism 231L as described above. For this reason, when the first arm 105L rotates around the arm rotation shaft 209L, the second arm 106L and the third arms 107L and 108L are in a state where the state is substantially maintained with respect to the first arm 105L. Move in parallel. As a result, the plurality of contacts 109 move in parallel with the first arm 105L substantially maintaining its state.
- FIG. 7 is for explaining the operation when the first arm of a single link is used instead of the first arm of the four-bar link in the second main part of the drive configuration of the hair washing apparatus according to the present embodiment. It is explanatory drawing of. That is, FIG. 7 is a diagram for explaining a hair washing apparatus that does not include the four-bar linkage mechanism that is a feature of the present invention.
- the contact 109 of the left washing unit 12 ⁇ / b> L is placed on the human head 10 in the case where the first arm 105 ⁇ / b> L shown in FIG. 6 is configured by a single link (first arm 105 ⁇ / b> L ′) composed only of the drive link 105 ⁇ / b> La.
- the contacted state is indicated by a solid line, and the contact 109 of the left washing unit 12L is separated from the human head 10 by a two-dot chain line.
- the second arm 106L is held between the first arm 105L ′ and the second arm 106L so that the second arm 106L is held at a predetermined position with respect to the first arm 105L ′.
- a first elastic body (not shown) that connects the two arms 106L and the support shaft 212L of the first arm 105L ′ is provided.
- the contact 109 becomes human. Can be driven in a state where the head 10 is in contact with the human head 10 and in a state where the contact 109 is separated from the human head 10.
- the first arm 105L ' is a single link
- all of the first arm 105L', the second arm 106L, and the third arms 107L and 108L move around the arm rotation shaft 209L. That is, in the configuration in which the first arm 105L 'is a single link, as shown in FIG.
- the plurality of contacts 109 rotate around the arm rotation shaft 209L and move. Therefore, in the configuration of the single link as shown in FIG. 7, when a plurality of contacts 109 come into contact with the human head 10, the remaining contacts 109 come into contact with some of the contacts 109. It will be. In this way, when the contact 109 comes into contact with the human head 10 with a time difference, the contact surface of the contact 109 with the human head 10 may change, and the human head 10 hair may be involved. Yes, there is a possibility of applying a load to the scalp of the human head 10. Further, in the configuration of a single link as shown in FIG. 7, it may take a long time until all the contacts 109 come into contact with the human head 10.
- the hair washing apparatus 100 includes the first arm 105L with the parallel four-joint link mechanism 231L, so that a plurality of contacts 109 can be placed on a person compared to a single link mechanism. Contact can be made while substantially following the shape of the head 10, and the load on the human head 10 can be suppressed.
- the hair washing apparatus 100 of this embodiment comprises the 1st arm 105L by the parallel 4-joint link mechanism 231L, and as shown in FIG.6 and FIG.7, compared with the case of a single link mechanism, it is 1st.
- the movable range of the one arm 105L, the second arm 106L, and the third arms 107L and 108L can be reduced. Therefore, the hair washing apparatus 100 of this embodiment can move the 1st arm 105L, the 2nd arm 106L, the 3rd arm 107L, 108L compactly, and occupies the space by operating the left washing unit 12L. Can be small.
- the hair washing apparatus 100 of this embodiment improves the rigidity of the first arm 105L by configuring the first arm 105L with a parallel four-bar linkage mechanism 231L as compared with a single link mechanism. be able to. Therefore, in the state where the contact 109 of the left cleaning unit 12L is in contact with the human head 10, the follow-up performance when the left cleaning unit 12L is moved can be improved, and according to the shape of the human head 10 Can be cleaned reliably.
- the two branch arms 310L are rotatably supported by the third arms 107L and 108L.
- the present invention is not limited to this, and three or more branch arms are provided. It is also possible to support 310L so that rotation is possible.
- the effect of the hair washing apparatus 100 according to the present embodiment described above has not only the left washing unit 12L but also the right washing unit 12R configured in the same manner.
- the head care system and hair washing apparatus of the present invention can be widely used in the fields of beauty and barber and medical fields such as care and nursing, and are useful.
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Dermatology (AREA)
- Otolaryngology (AREA)
- Cleaning And Drying Hair (AREA)
Abstract
Description
12 洗浄ユニット
12L 左洗浄ユニット
12R 右洗浄ユニット
100 洗髪装置
101 ボウル
103L,103R アーム基台
104L,104R,212L,212R,213L,213R,214L、214R,215L,216L 支持軸
105L,105R 第一アーム
106L,106R 第二アーム
107L,107R,108L,108R 第三アーム
109 接触子
110 ノズル
111L,111R パイプ
201L,201R,206L,206R モータ
209L,209R アーム回動軸
216 水系バルブ
217 洗浄液系バルブ
218 コンディショナー系バルブ
219 配管
220 混合部
221 コンディショナー供給部
222 洗浄液供給部
231L 4節リンク機構
310L 分岐アーム
400 制御部
401 接触子駆動部
C1,C2,C3 中心軸
Claims (10)
- 人の頭部を支持する頭部支持部を有する基台部と、
人の頭部をケアするためのアームユニットであって、前記基台部にそれぞれの支持軸が取り付けられると共に前記頭部支持部を挟んで配置された一対のアームユニットと、
該アームユニットをそれぞれ前記支持軸中心として回動自在に駆動させる支持軸駆動部と、
該支持軸駆動部の駆動を制御する制御部と、
を備え、
前記アームユニットは、複数の接触子を先端に備えた接触子アームと、該接触子アームを回動可能に支持する副アームと、該副アームを回動可能に支持すると共に前記基台部に回動可能に支持された主アームと、を有し、
前記主アームは、4節リンク機構で構成された、
ヘッドケアシステム。 - 前記接触子アームは、複数の接触子を先端に備えてV字状に構成される少なくとも2つの分岐アームを回動可能に支持する、
請求項1に記載のヘッドケアシステム。 - 前記接触子アームが前記副アームに支持される回動軸と、前記分岐アームが前記接触子アームに支持される回動軸とが交差するように設けられた、
請求項2に記載のヘッドケアシステム。 - 前記主アームは、平行4節リンク機構で構成された、
請求項1から請求項3の何れか1項に記載のヘッドケアシステム。 - 前記主アームは、同一形状を有すると共に平行に配設された2つの4節リンク機構と、前記2つの4節リンク機構を連結する連結部材とを備え、
前記副アームは、前記2つの4節リンク機構の間において前記連結部材に支持されている、
請求項1から請求項4の何れか1項に記載のヘッドケアシステム。 - 前記副アームと前記主アームとの位置関係を規制するために前記副アームと前記主アームとを連結する第一弾性体を備える、
請求項1から請求項5の何れか1項に記載のヘッドケアシステム。 - 前記接触子アームと前記副アームとの位置関係を規制するために前記接触子アームと前記副アームとを連結する第二弾性体を備える、
請求項1から請求項6の何れか1項に記載のヘッドケアシステム。 - 前記制御部は、前記主アームを前記頭部支持部に対して接近及び離間させるように回動自在に駆動させるアーム回動軸駆動部の駆動を制御し、前記制御部により前記主アームを前記頭部支持部に対して接近させることにより前記副アーム及び前記接触子アームを前記頭部支持部に対して接近させ、前記接触子によって人の頭部をケアする、
請求項1から請求項7の何れか1項に記載のヘッドケアシステム。 - 請求項1から請求項8の何れか一項に記載のヘッドケアシステムにおいて、
人の頭部をケアするための前記アームユニットが、人の頭部を洗浄するための洗浄ユニットである、
ヘッドケアシステムを用いた洗髪装置。 - 前記洗浄ユニットに水又は湯を供給する給水部と、
前記洗浄ユニットに洗浄液を供給する洗浄液供給部と、
前記洗浄ユニットにコンディショナーを供給するコンディショナー供給部と、を備えた、
請求項9に記載のヘッドケアシステムを用いた洗髪装置。
Priority Applications (4)
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JP2013520428A JP5502237B2 (ja) | 2011-06-14 | 2012-06-11 | ヘッドケアシステム及びこれを用いた洗髪装置 |
EP12801149.1A EP2659802A1 (en) | 2011-06-14 | 2012-06-11 | Head care system and hair-washing device using same |
CN2012800026439A CN103108567A (zh) | 2011-06-14 | 2012-06-11 | 头护理系统及使用该头护理系统的洗发装置 |
US13/819,497 US20130160198A1 (en) | 2011-06-14 | 2012-06-11 | Head care system and hair washing apparatus using the system |
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JP2011131945 | 2011-06-14 | ||
JP2011-131945 | 2011-06-14 |
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EP (1) | EP2659802A1 (ja) |
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WO2010055521A1 (en) * | 2008-11-17 | 2010-05-20 | Dovi Brock | A method and a system for rapidly and controlled elevation of a raisable floor for pools |
JP5502236B2 (ja) * | 2011-04-25 | 2014-05-28 | パナソニック株式会社 | 自動ヘッドケア装置及び自動ヘッドケア方法 |
CN105249653B (zh) * | 2015-11-10 | 2019-05-07 | 新昌县泽宇智能科技有限公司 | 智能洗发机器人揉搓部下压定位机构 |
CN105291110A (zh) * | 2015-11-25 | 2016-02-03 | 新昌县泽宇智能科技有限公司 | 智能洗发机器人侧部清洗装置 |
CN105563469B (zh) * | 2016-02-03 | 2017-08-11 | 哈工大机器人集团(哈尔滨)资产经营管理有限公司 | 一种可调式六自由度人体头部按摩保健机器人 |
CN106617611A (zh) * | 2016-11-30 | 2017-05-10 | 李正福 | 一种带有按摩头部的洗头装置 |
CN109431046B (zh) * | 2018-12-28 | 2023-11-21 | 深圳首明科技有限公司 | 一种智能洗头机 |
CN112075748B (zh) * | 2020-09-29 | 2023-08-29 | 哈工大机器人(中山)无人装备与人工智能研究院 | 一种自动洗头机 |
CN112826201B (zh) * | 2021-01-04 | 2022-03-01 | 哈工大机器人(中山)无人装备与人工智能研究院 | 一种机械臂及洗头机 |
CN112656104B (zh) * | 2021-01-04 | 2023-03-31 | 哈工大机器人(中山)无人装备与人工智能研究院 | 一种机械臂及洗头机 |
CN112690550A (zh) * | 2021-01-04 | 2021-04-23 | 哈工大机器人(中山)无人装备与人工智能研究院 | 一种后脑按摩手升降驱动装置及洗头机 |
CN112545140B (zh) * | 2021-01-20 | 2022-09-06 | 福建农林大学 | 头戴式洗发烘干一体机 |
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US20130160198A1 (en) | 2013-06-27 |
JP5502237B2 (ja) | 2014-05-28 |
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