WO2022213884A1 - 一种立式家用洗发机器人 - Google Patents

一种立式家用洗发机器人 Download PDF

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Publication number
WO2022213884A1
WO2022213884A1 PCT/CN2022/084530 CN2022084530W WO2022213884A1 WO 2022213884 A1 WO2022213884 A1 WO 2022213884A1 CN 2022084530 W CN2022084530 W CN 2022084530W WO 2022213884 A1 WO2022213884 A1 WO 2022213884A1
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WO
WIPO (PCT)
Prior art keywords
arc
casing
rotating shaft
rubbing
robot according
Prior art date
Application number
PCT/CN2022/084530
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English (en)
French (fr)
Inventor
刘海涛
田雪虹
孙宁
吴志豪
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广东海洋大学
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Application filed by 广东海洋大学 filed Critical 广东海洋大学
Publication of WO2022213884A1 publication Critical patent/WO2022213884A1/zh

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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
    • 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
    • A61H7/007—Kneading
    • 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
    • A61H2201/0115—Constructive details used in water
    • 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
    • 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
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/02—Head
    • A61H2205/021—Scalp

Definitions

  • the invention belongs to the field of personal hygiene care robots, in particular to a vertical household shampooing robot.
  • the shampoo machine developed by SAROBOT Sanubo Intelligent Technology Co., Ltd.
  • the main cleaning device of the machine is two "swing arms".
  • the cleaning water is sprayed from the water outlet on the two "swing arms”. out, spray the washing water and the pre-mixed shampoo liquid onto the hair under high pressure.
  • the two "swing arms” rotate freely around the axis without interruption, so that the entire head of the user can be cleaned. Since the fully automatic shampoo machine does not have any contact with the hair and scalp, it does not simulate artificial shampooing. During the process of rubbing, massaging and other finger operations, only relying on water flow to rinse, so it cannot achieve a better cleaning effect.
  • the shampoo machine developed by Tiangong Intelligent Technology Co., Ltd.
  • the main structure of the machine is a ring-shaped washing arm, with two rows of contact airbags inlaid inside, and a flushing hole is also provided for spraying water and shampoo.
  • the hair scalp is in contact with the two rows of airbags, and the hair and scalp are cleaned through the continuous rotation of the cleaning arm around the axis and the contact airbag to the hair scalp, so as to complete the process of washing the hair.
  • the four airbag headrests in the cleaning pool can support and protect the head and neck.
  • JACESLIN Jesslin
  • the purpose of the present invention is to provide a vertical household shampooing robot with simple operation, low price, small occupied space, safe cleaning and good effect, etc., which is more suitable for use in the home.
  • a vertical household shampooing robot includes a casing, a rotating device, a roller, a linear guide mechanism and a control system, the front side of the casing is provided with a groove-type flushing pool, and the interior of the flushing pool is provided with a semi-annular
  • the rotating device the semi-annular open end of the rotating device faces downward, and is driven to rotate by a transmission mechanism installed inside the casing.
  • the washing tank is also provided with a roller through the second bearing, and the roller is arranged on the semi-annular ring of the rotating device.
  • the lower end of the flushing tank is provided with a small opening, and the rear side of the casing is slidably provided on the linear guide mechanism through the slider, and the slider can be adjusted through the linear guide mechanism.
  • the high and low positions of the casing, and a control system is arranged inside the casing.
  • the rotating device includes an arc-shaped arm, a water outlet pipe, a shampoo outlet, a micro-hydraulic cylinder and a rubbing device, and four rubbing devices are evenly arranged on the arc inner side wall of the arc-shaped arm through the micro-hydraulic cylinder.
  • a water outlet pipe and a shampoo outlet are arranged on the inner wall of the arc of the arc-shaped arm.
  • the rubbing device includes a rotating shaft, a connecting pin shaft and a rubbing fingertip, the rotating shaft is connected with a micro hydraulic cylinder, and the rotating shaft connects two left and right rubbing fingertips corresponding to each other through the connecting pin shaft, and is composed of The micro hydraulic cylinder drives the kneading fingertips to rotate through the rotating shaft.
  • the arc-shaped arm is bounded by the first rotation axis, and the swing angle of the arc-shaped arm on the upper side of the bounded line is 110°, so that the working range of the arc-shaped arm is kept within the range of the top side of the head.
  • the rubbing fingertip is made of rubber material, and a pressure sensor is installed inside the rubbing fingertip through a spring.
  • the water outlet of the water outlet pipe faces the direction of the head, and the soft water pipe connected with the water outlet pipe is arranged inside the arm body of the arc-shaped arm, and is connected with the faucet outside the arm body.
  • the bottom side of the casing is provided with a sewage discharge port.
  • the transmission mechanism includes a first DC motor, a first bearing and a first rotating shaft, the first DC motor is installed inside the casing, and the output shaft of the first DC motor is connected with the first bevel gear through the first bevel gear.
  • the second bevel gear on the first rotating shaft is connected, the first rotating shaft is connected with the casing through the first bearing, the end of the first rotating shaft is connected with the rotation connection hole of the arc-shaped arm, the first DC motor
  • the arc-shaped arm is driven to swing back and forth by the first rotating shaft.
  • the linear guide rail mechanism includes a sliding block and a sliding rail
  • the sliding rails are two rails vertically arranged in parallel with each other
  • the sliding rails are provided with a plurality of fixing holes
  • the fixing holes are fixed on the fixing holes by self-tapping screws.
  • the sliding block is arranged on the sliding rail and can slide up and down along the track of the sliding rail.
  • the sliding block has a self-locking hole, and the sliding block is connected with the corresponding locking hole on the sliding rail through the self-locking hole. Cooperate to realize the opening or locking of the slider and the slide rail.
  • control system includes a chip, a pressure sensor, a driver and a relay module, the chip is respectively electrically connected with the pressure sensor, the driver, the relay module, the LED display screen and the power supply, and the relay module is connected to the solenoid valve control module. connected, the driver is provided with a switch button.
  • the space of the flushing pool is more universally adaptable.
  • the human head is an irregular sphere. This design is based on the national standard - Chinese Adult Head and Face Dimensions (GB/T 2428-1998) and Anthropometric Basic Items for Technical Design (GB/T 5703-2010), The size design of the space shape of the washing pool is made, and the rubbing fingertips at the end are equipped with springs, which are more suitable for most people.
  • the end effector of the present invention adopts the rubbing fingertips made of rubber to simulate the process of rubbing the hair and massaging the head in a rotating manner, replacing the potential safety hazard problem that the existing airbag manipulator directly contacts the scalp, and makes the rubbing change more secure.
  • the height of the robot is adjusted by the double guide rail device of the linear guide rail mechanism, which can meet the use of people of different heights.
  • Fig. 1 is the structural representation of the present invention
  • Fig. 2 is the structural schematic diagram of the shell front side of the present invention.
  • Fig. 3 is the structural schematic diagram of the rear side of the casing of the present invention.
  • Fig. 4 is the transmission mechanism schematic diagram of the present invention.
  • FIG. 5 is a schematic diagram of the structure of the arc-shaped arm of the present invention.
  • FIG. 6 is a schematic structural diagram of the rubbing device of the present invention.
  • Fig. 7 is the structural representation of the neck ring of the present invention.
  • Fig. 8 is the structural schematic diagram of the position of the sewage outlet at the bottom of the casing of the present invention.
  • FIG. 9 is a schematic structural diagram of a linear guide rail mechanism of the present invention.
  • Figure 10 is a schematic diagram of the three-dimensional structure of the present invention.
  • FIG 11 is a schematic structural diagram of the drum transmission system of the present invention.
  • FIG. 12 is a schematic diagram of the control system of the present invention.
  • a vertical household hair washing robot includes a casing 1, a rotating device, a drum 3, a linear guide mechanism and a control system.
  • the front side of the casing 1 is provided with a groove-type washing pool,
  • the flushing pool is used to wash and rub the user's head.
  • the interior of the flushing pool is provided with a semi-annular rotating device.
  • the transmission mechanism drives the rotation, and the rotating device is used for multi-directional rubbing and massaging of the top side of the user's head.
  • the washing pool is also provided with a roller 3 through the second bearing 27.
  • the roller 3 On the casing 1 at the relative position of the semi-circular open end, the roller 3 is used for rubbing and massaging the back pillow of the user's head, and the lower end of the washing pool is provided with a small opening 4.
  • the small opening 4 is used as the entry position of the user's neck.
  • the rear side of the casing 1 is slidably arranged on the linear guide mechanism through the slider 17, and the slider 17 can adjust the height of the casing 1 through the linear guide mechanism.
  • the housing 1 is provided with a control system inside the casing 1 to suit the sitting or standing use requirements of people of different heights.
  • the rotating device includes an arc-shaped arm 5, a water outlet pipe 6, a shampoo outlet 23, a micro-hydraulic cylinder 7 and a rubbing device.
  • the arc inner side wall of the arc-shaped arm 5 is evenly provided with four micro-hydraulic cylinders 7.
  • a kneading device, the micro hydraulic cylinder 7 protrudes from the rotation hole 22 of the arc-shaped arm 5, and the wall inside the arc of the arc-shaped arm 5 is provided with a water outlet pipe 6 and a shampoo outlet 23.
  • the micro-hydraulic cylinder 7 can drive the kneading device to reciprocate and rotate to knead and massage the head.
  • the micro-hydraulic cylinder 7 can also adjust the pressure relative to the head during kneading and massaging through telescopic operation, so as to make the user feel comfortable. Effect.
  • the kneading device includes a rotating shaft 8, a connecting pin 9 and a kneading fingertip 10, the rotating shaft 8 is connected with the micro hydraulic cylinder 7, and the rotating shaft 8 connects two left and right corresponding kneading through the connecting pin 9.
  • the fingertips 10 are driven to rotate by the micro hydraulic cylinder 7 through the rotating shaft 8, so as to perform rubbing and massaging work on the user's head.
  • the arc-shaped arm 5 is bounded by the first rotating shaft 16, and the swing angle of the arc-shaped arm 5 on the upper side of the bounded line is 110°, so that the working range of the arc-shaped arm 5 is kept within the range of the top side of the head.
  • the rubbing fingertip 10 is made of rubber material, and a pressure sensor is installed inside the rubbing fingertip 10 through a spring. When the rubbing fingertip 10 is working, the pressure sensor is used to detect the pressure of the rubbing fingertip 10 to the head. The pressure is pressed, and the pressure is fed back to the control system, and the control system can adjust the rubbing pressure and the continuous reciprocating motion of rubbing the fingertips 10 according to preset parameters.
  • the water outlet of the water outlet pipe 6 faces the direction of the head, the soft water pipe connected with the water outlet pipe 6 is arranged inside the arm body of the arc-shaped arm 5, and is connected with the faucet outside the arm, and the shampoo outlet 23 passes through the pipe. It is connected with the shampoo storage bottle provided in the arc-shaped arm 5.
  • the bottom side of the casing 1 is provided with a sewage discharge port 11, which is used to discharge the sewage for cleaning the head, so as to achieve convenient centralized collection and treatment.
  • the small opening portion 4 is provided with a neck ring, which is fitted inside the small opening portion 4 and is used for wearing by the user when cleaning, so as to prevent sewage from flowing into the user's body from the neck opening.
  • the neck ring is: Made of rubber material, and in order to adapt to the thickness of the neck of different people, the collar has a variety of sizes for selection.
  • the transmission mechanism includes a first DC motor 12 , a first bearing 15 and a first rotating shaft 16 , the first DC motor 12 is installed inside the casing 1 , and the output shaft of the first DC motor 12 passes through the first DC motor 12 .
  • the bevel gear 13 is connected with the second bevel gear 14 on the first rotating shaft 16
  • the first rotating shaft 16 is connected with the casing 1 through the first bearing 15
  • the end of the first rotating shaft 16 is connected with the arc-shaped arm 5 .
  • the rotating connection hole 21 is connected, the first DC motor 12 drives the arc-shaped arm 5 to swing back and forth through the first rotating shaft 16, and the reciprocating swing of the arc-shaped arm 5 drives the rubbing fingertips 10 to be used repeatedly from different angles. The effect of massaging and rubbing the user's head.
  • the linear guide rail mechanism includes a sliding block 17 and a sliding rail 2.
  • the sliding rail 2 is two rails that are erected parallel to each other.
  • the sliding rail 2 is provided with a plurality of fixing holes 18, and the fixing holes 18 are self-tapping.
  • the screw is fixed on the indoor wall.
  • the slider 17 is arranged on the slide rail 2 and can slide up and down along the track of the slide rail 2.
  • the slider 17 has a self-locking hole 19, and the slider 17 passes through the self-locking hole. 19 is matched with the corresponding lock hole 20 on the slide rail 2, so as to realize the opening or locking of the slide block 17 and the slide rail 2.
  • the slide block 17 can move up and down along the slide rail 2 to adjust the position.
  • the self-locking holes 19 on the slider 17 and the corresponding locking holes 20 on the slide rail 2 are inserted into the pins for locking, so as to be suitable for people of different heights.
  • the drum 3 is connected with the drum transmission system, and the drum transmission system drives the drum 3 to rotate.
  • the drum transmission system includes a second DC motor 24, a second bearing 27 and a second rotating shaft 28, the second DC motor 24 is installed inside the casing 1, and the output shaft of the second DC motor 24 passes through the first shaft.
  • the third bevel gear 25 is connected with the fourth bevel gear 26 on the second rotating shaft 28, the second rotating shaft 28 is connected with the housing 1 through the second bearing 27, the second rotating shaft 28 is provided with the drum 3, the The second DC motor 24 drives the drum 3 to rotate through the second rotating shaft 28 .
  • the control system includes a chip, a pressure sensor, a driver and a relay module, the chip is electrically connected with the pressure sensor, the driver, the relay module, the LED display screen and the power supply respectively, and the relay module is connected with the solenoid valve control module, so the The driver is provided with a switch button.
  • the chip adopts MCS-51 series 8031 single-chip microcomputer, which is used to collect and analyze the pressure information of the pressure sensor, and develop instructions to the relay module;
  • the pressure sensor is used for feeding back the detected pressure information to the chip.
  • the driver is used to drive the forward and reverse motion of the first DC motor 12 .
  • the relay module is used to control the on-off of the solenoid valve control module circuit, and the solenoid valve control module includes the flushing water switch solenoid valve control module, the shampoo switch solenoid valve control module and the micro hydraulic cylinder 7 switch solenoid valve control module .
  • the rubbing fingertip 10 feeds back the detected pressure information to the chip through the pressure sensor, and the chip adjusts the relay module by collecting and analyzing the pressure information, and the relay module controls the solenoid valve control by adopting the power-on and power-off method.
  • Modules such as: the micro hydraulic cylinder 7 switch solenoid valve control module adjusts the pressure of rubbing the fingertips 10 by adjusting the telescopic movement of the micro hydraulic cylinder 7 .
  • the forward and reverse operation of the first DC motor 12 is driven by the driver L298N, the start and stop of the first DC motor 12 are controlled by switch buttons, and the working time and status are displayed and output through the LED display screen.
  • Control system process When the switch button is pressed, it will start after a delay of 30 seconds, and the pressure sensor will feedback whether the pressure of rubbing the fingertip 10 on the head is greater than 4N. When it is greater than 4N, stop the movement of rubbing the fingertip 10 and rub the fingertip 10 After the movement stops, start the forward rotation of the first DC motor 12, turn off the shampoo switch solenoid valve control module through the chip-controlled relay module, and turn on the rinse water switch solenoid valve control module to make the water outlet pipe 6 start spraying water. After the first DC motor 12 rotates forward for 6 seconds, stops forward rotation and delays for 2 seconds, the first DC motor 12 starts to reverse and returns to the initial setting parameter position. After repeated forward and reverse cycles for 3 times, wash the hair.
  • the liquid switch solenoid valve control module is automatically turned on, so that the shampoo is squeezed out from the shampoo outlet 23, the first DC motor 12 repeats the previous forward and reverse motion once, the shampoo switch solenoid valve control module is closed, and the first DC motor 12 After repeating the previous forward and reverse movements 3 times, the shampooing is over, and the program returns to initialization.
  • the front of the user's head is the positive X direction
  • the top of the head is the positive Y direction
  • the side of the head is the Z direction
  • the first DC motor 12 is used to drive the semi-ring arc-shaped arm 5 to rotate in the Z direction. Because it is a household shampoo robot and is installed in the bathroom, the water inlet of the soft water pipe is provided by the faucet. If the water pressure of the soft water pipe is not enough, an additional booster pump can be added to the water outlet of the faucet. .
  • the material used for the shell 1 of the shampoo robot is engineering plastics, and the overall height of the designed shell 1 is 570mm, the overall width is 630mm, and the overall thickness is 530mm.
  • the total height of the flushing pool is 490mm, the width is 480mm, and the depth is 300mm.
  • a rectangular template is also provided on the rear half of the casing 1 as a control template, and the control template is connected to the control system for controlling the operation of the control system.
  • Described semi-annular arc-shaped arm 5 can draw that the inner ring lateral distance of the semi-annular rotating arm is 295mm according to the national head and face standard, the lateral distance of the outer ring is 445mm, and the thickness inside the semi-annular rotating arm is the shell of 5mm.

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  • Health & Medical Sciences (AREA)
  • Dermatology (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)
  • Cleaning And Drying Hair (AREA)

Abstract

一种立式家用洗发机器人，包括外壳（1）、旋转装置、滚筒（3）、直线导轨机构和控制系统，外壳（1）的前侧面设有凹槽型的冲洗池，冲洗池的内部设有呈半环形的旋转装置，旋转装置的半环形开口端朝下，并由安装在外壳（1）的内部的传动机构带动转动，冲洗池内通过第二轴承（27）还设有滚筒（3），滚筒（3）设在旋转装置的半环形开口端的相对位置的外壳（1）上，冲洗池的下端设有小型开口部（4），外壳（1）的后侧面通过滑块（17）可滑动地设在直线导轨机构上，滑块（17）通过直线导轨机构可以调节外壳（1）的高低位置，外壳（1）内部设有控制系统。洗发机器人操作简单、价格低廉，占用空间小、清洗安全且效果好等，比较适合放置在家庭中使用。

Description

一种立式家用洗发机器人 技术领域
本发明属于个人卫生护理机器人领域，特别涉及一种立式家用洗发机器人。
背景技术
随着生活水平的提高，人们对生活质量也有了更高的追求，希望在头发的清洗卫生方面足不出户也能享受到高质量的服务。因为到美发店进行头发清洗时，美发店人较多，等待时间长，且店内的消毒卫生搞得不好也容易造成细菌交叉感染等问题。
同时由于现在的美发店内所设置的洗发机器人占用空间大、价格高昂，而不能走进千家万户，走进大众的生活中。比如：
1.SAROBOT莎奴博智能科技有限公司研发的洗头机，该机的主体清洗装置为两根“摆臂”，机器运作时，清洗用水便从两根“摆臂”上的出水喷口喷洒而出，把清洗用水和预先就混合好的洗发清洗液高压喷射到头发上。同时，两根“摆臂”又以轴心不间断地自由旋转，从而实现对使用者整个头部进行清洗，由于该全自动洗头机对头发及头皮没有任何的接触，没有模拟人工洗发过程时的揉搓、按摩等手指操作，仅仅单纯的依靠水流冲洗，所以无法达到较好的清洗效果。
2.天工智能科技有限公司研发的洗头机，该机的主体结构是一个环形清洗臂，内部镶嵌两排接触式气囊，同时也设置有冲洗孔用以喷洒清水和洗发水。当该机运作时，头发头皮和两排气囊接触，通过清洗臂的不断绕轴旋转和接触式气囊对头发头皮的接触清洗，从而达到完成洗头作业过程。除此之外，其清洗水池中的四个气囊头枕可以起到对头部、颈部的支撑保护作用。
3.JACESLIN(杰丝林)气囊机械手式洗头机,一是存在安全隐患，由于气囊机械手与头皮直接接触不可避免地产生安全为题。二是不具 备普适性。因为清洗气囊的固定性，它不能自主适应不同头型大小的客户。
上述的SAROBOT莎奴博智能科技有限公司和天工智能科技有限公司分别研发的洗头机，均面临成本高、不能在市场上大范围普及。
发明内容
本发明的目的在于提供一种立式家用洗发机器人，操作简单、价格低廉，占用空间小、清洗安全且效果好等，比较适合放置在家庭中使用。
为了实现上述目的，本发明采用了如下技术方案：
一种立式家用洗发机器人，包括外壳、旋转装置、滚筒、直线导轨机构和控制系统，所述外壳的前侧面设有凹槽型的冲洗池，所述冲洗池的内部设有呈半环形的旋转装置，旋转装置的半环形开口端朝下，并由安装在外壳的内部的传动机构带动转动，所述冲洗池内通过第二轴承还设有滚筒，所述滚筒设在旋转装置的半环形开口端的相对位置的外壳上，所述冲洗池的下端设有小型的开口部，所述外壳的后侧面通过滑块可滑动地设在直线导轨机构上，所述滑块通过直线导轨机构可以调节外壳的高低位置，所述外壳内部设有控制系统。
进一步地，所述旋转装置，包括弧形臂、出水管、洗发液出口、微型液压缸和揉搓装置，所述弧形臂的弧内侧壁体上通过微型液压缸均匀设有四个揉搓装置，所述弧形臂的弧内侧的壁体上设有出水管和洗发液出口。
进一步地，所述揉搓装置，包括旋转轴、连接销轴和揉搓指尖，所述旋转轴与微型液压缸连接，所述旋转轴通过连接销轴连接两个左右相互对应的揉搓指尖，由微型液压缸通过旋转轴带动揉搓指尖转动。
进一步地，所述弧形臂以第一转动轴为界线，弧形臂在所述界线的上侧的摆动角度为110°，使得弧形臂的工作范围保持头部的顶侧 范围内。
进一步地，所述揉搓指尖为采用橡胶材料制作，所述揉搓指尖的内部通过弹簧安装有压力传感器。
进一步地，所述出水管的出水口朝向头部方向，与出水管相连接的软水管设在弧形臂的臂体内部，并与臂体外的水龙头连接。
进一步地，所述外壳的底侧设有污水排出口。
进一步地，所述传动机构，包括第一直流电机、第一轴承和第一转动轴，所述第一直流电机安装在外壳的内部，所述第一直流电机的输出轴通过第一伞齿轮与第一转动轴上的第二伞齿轮相连接，所述第一转动轴通过第一轴承与外壳连接，第一转动轴的端部与弧形臂的旋转连接孔连接，所述第一直流电机通过第一转动轴带动弧形臂往复摆动。
进一步地，所述直线导轨机构，包括滑块和滑轨，所述滑轨为两条相互平行竖立设置的轨道，所述滑轨上设有多个固定孔，固定孔通过自攻螺钉固定于室内的墙壁上，所述滑块设于滑轨上并可以沿着滑轨的轨道上下滑动，所述滑块带有自锁孔，滑块通过自锁孔与滑轨上的相应锁孔相配合，从而实现滑块与滑轨的打开或锁定。
进一步地，所述控制系统，包括芯片、压力传感器、驱动器和继电器模块，所述芯片分别与压力传感器、驱动器、继电器模块、LED显示屏和电源电性连接，所述继电器模块与电磁阀控制模块连接，所述驱动器上设有开关按键。
本发明的优点是：
(1)冲洗池的空间更具有普遍适应性。人体头部是一个不规则的球体，本设计根据国家标准——中国成年人头、面部尺寸(GB/T 2428-1998)和用于技术设计的人体测量基础项目(GB/T 5703-2010)，做出冲洗池的空间形状的大小设计，同时末端的揉搓指尖配有弹簧，更适合绝大多数人群。
(2)采用半环形旋转臂式橡胶手指和协同控制出水口，既能够节约用水，同时能够保证清洗效果。
(3)本发明的末端执行器采用橡胶制作的揉搓指尖，以旋转的方式来模拟揉搓头发和按摩头部的过程，替代现有气囊机械手直接接触头皮存在的安全隐患问题，并且让揉搓变得更为安全。
(4)采用直线导轨机构的双导轨装置调整机器人的高低度，能够满足对不同身高人群的使用。
附图说明
图1为本发明的结构示意图；
图2为本发明的外壳正侧面结构示意图；
图3为本发明的外壳后侧面结构示意图；
图4为本发明的传动机构示意图；
图5为本发明的弧形臂结构示意图；
图6为本发明的揉搓装置结构示意图；
图7为本发明的脖圈结构示意图；
图8为本发明外壳底部污水出口位置结构示意图；
图9为本发明的直线导轨机构结构示意图；
图10为本发明的立体结构示意图；
图11为本发明的滚筒传动系统结构示意图；
图12为本发明的控制系统示意图。
图中：1外壳、2滑轨、3滚筒、4小型开口部、5弧形臂、6出水管、7微型液压缸、8旋转轴、9连接销轴、10揉搓指尖、11污水排出口、12第一直流电机、13第一伞齿轮、14第二伞齿轮、15第一轴承、16第一转动轴、17滑块、18固定孔、19自锁孔、20相应锁孔、21旋转连接孔、22旋转孔、23洗发液出口、24第二直流电机、25第三伞齿轮、26第四伞齿轮、27第二轴承、28第二转动轴。
具体实施方式
下面结合附图与具体实施方式对本发明作进一步详细描述。
如图1-12所示，一种立式家用洗发机器人，包括外壳1、旋转装置、滚筒3、直线导轨机构和控制系统，所述外壳1的前侧面设有凹槽型的冲洗池，冲洗池用于对使用者的头部的进入冲洗和揉搓，所述冲洗池的内部设有呈半环形的旋转装置，旋转装置的半环形开口端朝下，并由安装在外壳1的内部的传动机构带动转动，所述旋转装置用于对使用者的头部顶侧的多方位揉搓和按摩，所述冲洗池内通过第二轴承27还设有滚筒3，所述滚筒3设在旋转装置的半环形开口端的相对位置的外壳1上，所述滚筒3用于对使用者的头部的后枕部位进行揉搓按摩，所述冲洗池的下端设有小型的开口部4，所述小型开口部4用于作为使用者的勃颈部位进入位置，所述外壳1的后侧面通过滑块17可滑动地设在直线导轨机构上，所述滑块17通过直线导轨机构可以调节外壳1的高低位置，以适合不同身高的人进行的坐或立姿使用要求，所述外壳1内部设有控制系统。
所述旋转装置，包括弧形臂5、出水管6、洗发液出口23、微型液压缸7和揉搓装置，所述弧形臂5的弧内侧壁体上通过微型液压缸7均匀设有四个揉搓装置，所述微型液压缸7从弧形臂5的旋转孔22中伸出，所述弧形臂5的弧内侧的壁体上设有出水管6和洗发液出口23，所述微型液压缸7可以带动揉搓装置进行往复旋转揉搓和按摩头部，所述微型液压缸7还可以通过伸缩运作进行调整揉搓和按摩时相对于头部的压力，以达到让使用者感觉适舒适的效果。
所述揉搓装置，包括旋转轴8、连接销轴9和揉搓指尖10，所述旋转轴8与微型液压缸7连接，所述旋转轴8通过连接销轴9连接两个左右相互对应的揉搓指尖10，由微型液压缸7通过旋转轴8带动揉搓指尖10转动，从而实现给使用者的头部进行揉搓和按摩工作。
所述弧形臂5以第一转动轴16为界线，弧形臂5在所述界线的上侧的摆动角度为110°，使得弧形臂5的工作范围保持头部的顶侧 范围内。
所述揉搓指尖10为采用橡胶材料制作，所述揉搓指尖10的内部通过弹簧安装有压力传感器，所述揉搓指尖10在工作时，压力传感器用于检测揉搓指尖10对头部的按压压力大小，并将该压力反馈给控制系统，控制系统可以根据预设置的参数进行调整揉搓压力和揉搓指尖10的连续往复运动。
所述出水管6的出水口朝向头部方向，与出水管6相连接的软水管设在弧形臂5的臂体内部，并与臂体外的水龙头连接，所述洗发液出口23通过管道与弧形臂5内设置的洗发液存储瓶相连接。
所述外壳1的底侧设有污水排出口11，用于排出清洗头部的污水，以达到方便地集中收集处理。
所述小型开口部4设有脖圈，所述脖圈贴合在小型开口部4内侧，用于给使用者清洗时佩戴，以避免污水从衣领口流入使用者的身体，所述脖圈为橡胶材料制作，同时为了适应不同人脖子粗细问题，脖圈有大小多种型号，以供选择使用。
所述传动机构，包括第一直流电机12、第一轴承15和第一转动轴16，所述第一直流电机12安装在外壳1的内部，所述第一直流电机12的输出轴通过第一伞齿轮13与第一转动轴16上的第二伞齿轮14相连接，所述第一转动轴16通过第一轴承15与外壳1连接，第一转动轴16的端部与弧形臂5的旋转连接孔21连接，所述第一直流电机12通过第一转动轴16带动弧形臂5往复摆动，通过弧形臂5的往复摆动，从而带动揉搓指尖10从不同的角度范围反复给使用者的头部进行按摩和揉搓的效果作用。
所述直线导轨机构，包括滑块17和滑轨2，所述滑轨2为两条相互平行竖立设置的轨道，所述滑轨2上设有多个固定孔18，固定孔18通过自攻螺钉固定于室内的墙壁上，所述滑块17设于滑轨2上并可以沿着滑轨2的轨道上下滑动，所述滑块17带有自锁孔19，滑 块17通过自锁孔19与滑轨2上的相应锁孔20相配合，从而实现滑块17与滑轨2的打开或锁定，打开时滑块17可以沿着滑轨2上下移动调整位置，位置调整妥当后可通过滑块17上的自锁孔19与滑轨2上相应锁孔20插入销轴进行锁定，以适合于不同的身高者使用。
所述滚筒3与滚筒传动系统相连接，由滚筒传动系统带动滚筒3转动。
所述滚筒传动系统，包括第二直流电机24、第二轴承27和第二转动轴28，所述第二直流电机24安装在外壳1的内部，所述第二直流电机24的输出轴通过第三伞齿轮25与第二转动轴28上的第四伞齿轮26相连接，所述第二转动轴28通过第二轴承27与外壳1连接，第二转动轴28上设有滚筒3，所述第二直流电机24通过第二转动轴28带动滚筒3转动。
所述控制系统，包括芯片、压力传感器、驱动器和继电器模块，所述芯片分别与压力传感器、驱动器、继电器模块、LED显示屏和电源电性连接，所述继电器模块与电磁阀控制模块连接，所述驱动器上设有开关按键。
所述芯片采用MCS-51系列8031的单片机，用于收集分析压力传感器的压力信息，并向继电器模块发达指令；
所述压力传感器，用于将检测到的压力信息反馈给芯片。
所述驱动器，用于驱动直流第一直流电机12的正反转运动。
所述继电器模块，用于控制电磁阀控制模块电路的通断，所述电磁阀控制模块包括冲洗水开关电磁阀控制模块、洗发液开关电磁阀控制模块和微型液压缸7开关电磁阀控制模块。
工作时，所述揉搓指尖10通过压力传感器，把检测到的压力信息反馈给芯片，芯片通过对压力信息的收集分析进行调整继电器模块，继电器模块通过采用通断电的方式来控制电磁阀控制模块，如：微型液压缸7开关电磁阀控制模块通过调整微型液压缸7的伸缩运 动，从而调节揉搓指尖10的压力大小。所述第一直流电机12的正反转运行通过采用驱动器L298N驱动，第一直流电机12的开启和停止由通过开关按键控制，工作时间以及状态则通过LED显示屏显示输出。
控制系统流程：开关按键按下时，延时30秒启动，通过压力传感器反馈揉搓指尖10对于头部的压力是否大于4牛，大于4牛时停止揉搓指尖10的运动，揉搓指尖10运动停止后，开始启动第一直流电机12的正转，通过芯片控制的继电器模块将洗发液开关电磁阀控制模块关闭，并且接通冲洗水开关电磁阀控制模块使出水管6开始喷水。第一直流电机12正转6s后，停止正转并延时2S后，第一直流电机12开始反转，并返回到初始设置参数位置，经反复的正反转循环3次后，将洗发液开关电磁阀控制模块自动开启，使洗发液从洗发液出口23挤出，第一直流电机12重复之前的正反转动作一次，洗发液开关电磁阀控制模块关闭，第一直流电机12重复之前正反转动作3次后，洗头结束，程序返回初始化。
本发明以使用者的头部正前为X正方向，头顶往上为Y正方向，头的侧面为Z方向，采用第一直流电机12驱动半环形弧形臂5的Z方向旋转运动。因为是家用洗发机器人，安装于浴室，所以软水管的进水口由水龙头提供，如软水管的水压不够可以在水龙头出水口额外加增压泵。。
所述洗发机器人的外壳1所用材料为工程塑料，设计外壳1总高为570mm，总宽为630mm，总厚为530mm。冲洗池总高为490mm，宽为480mm，深度为300mm。
所述外壳1后半部分上还设有矩形模板为控制模板，所述控制模板与控制系统连接，用于控制所述控制系统的运行。
所述半环形弧形臂5根据国家头面部标准可以得出半环形旋转臂的内环横向距离为295mm,外环的横向距离为445mm，半环形旋转 臂内部的厚度为5mm的壳体。内部设置四个旋转轴为8φ30mm微型液压缸7，在旋转轴孔中伸出。
以上所述仅为本发明的优选实施方式而已，当然不能以此来限定本发明之权利范围，应当指出，对于本技术领域的普通技术人员来说，对本发明的技术方案进行修改或者等同替换，都不脱离本发明技术方案的保护范围。

Claims (10)

  1. 一种立式家用洗发机器人，其特征在于：包括外壳(1)、旋转装置、滚筒(3)、直线导轨机构和控制系统，所述外壳(1)的前侧面设有凹槽型的冲洗池，所述冲洗池的内部设有呈半环形的旋转装置，旋转装置的半环形开口端朝下，并由安装在外壳(1)的内部的传动机构带动转动，所述冲洗池内通过第二轴承(27)还设有滚筒(3)，所述滚筒(3)设在旋转装置的半环形开口端的相对位置的外壳(1)上，所述冲洗池的下端设有小型的开口部(4)，所述外壳(1)的后侧面通过滑块(17)可滑动地设在直线导轨机构上，所述滑块(17)通过直线导轨机构可以调节外壳(1)的高低位置，所述外壳(1)内部设有控制系统。
  2. 根据权利要求1所述一种立式家用洗发机器人，其特征在于：所述旋转装置，包括弧形臂(5)、出水管(6)、洗发液出口(23)、微型液压缸(7)和揉搓装置，所述弧形臂(5)的弧内侧壁体上通过微型液压缸(7)均匀设有四个揉搓装置，所述弧形臂(5)的弧内侧的壁体上设有出水管(6)和洗发液出口(23)。
  3. 根据权利要求2所述一种立式家用洗发机器人，其特征在于：所述揉搓装置，包括旋转轴(8)、连接销轴(9)和揉搓指尖(10)，所述旋转轴(8)与微型液压缸(7)连接，所述旋转轴(8)通过连接销轴(9)连接两个左右相互对应的揉搓指尖(10)，由微型液压缸(7)通过旋转轴(8)带动揉搓指尖(10)转动。
  4. 根据权利要求2所述一种立式家用洗发机器人，其特征在于：所述弧形臂(5)以第一转动轴(16)为界线，弧形臂(5)在所述界线的上侧的摆动角度为110°，使得弧形臂(5)的工作范围保持头部的顶侧范围内。
  5. 根据权利要求3所述一种立式家用洗发机器人，其特征在于：所述揉搓指尖(10)为采用橡胶材料制作，所述揉搓指尖(10)的内部通过弹簧安装有压力传感器。
  6. 根据权利要求2所述一种立式家用洗发机器人，其特征在于：所述出水管(6)的出水口朝向头部方向，与出水管(6)相连接的软水管设在弧形臂(5)的臂体内部，并与臂体外的水龙头连接。
  7. 根据权利要求1所述一种立式家用洗发机器人，其特征在于：所述外壳(1)的底侧设有污水排出口(11)。
  8. 根据权利要求1所述一种立式家用洗发机器人，其特征在于：所述传动机构，包括第一直流电机(12)、第一轴承(15)和第一转动轴(16)，所述第一直流电机(12)安装在外壳(1)的内部，所述第一直流电机(12)的输出轴通过第一伞齿轮(13)与第一转动轴(16)上的第二伞齿轮(14)相连接，所述第一转动轴(16)通过第一轴承(15)与外壳(1)连接，第一转动轴(16)的端部与弧形臂(5)的旋转连接孔(21)连接，所述第一直流电机(12)通过第一转动轴(16)带动弧形臂(5)往复摆动。
  9. 根据权利要求1所述一种立式家用洗发机器人，其特征在于：所述直线导轨机构，包括滑块(17)和滑轨(2)，所述滑轨(2)为两条相互平行竖立设置的轨道，所述滑轨(2)上设有多个固定孔(18)，固定孔(18)通过自攻螺钉固定于室内的墙壁上，所述滑块(17)设于滑轨(2)上并可以沿着滑轨(2)的轨道上下滑动，所述滑块(17)带有自锁孔(19)，滑块(17)通过自锁孔(19)与滑轨(2)上的相应锁孔(20)相配合，从而实现滑块(17)与滑轨(2)的打开或锁定。
  10. 根据权利要求1所述一种立式家用洗发机器人，其特征在于：所述控制系统，包括芯片、压力传感器、驱动器和继电器模块，所述芯片分别与压力传感器、驱动器、继电器模块、LED显示屏和电源电性连接，所述继电器模块与电磁阀控制模块连接，所述驱动器上设有开关按键。
PCT/CN2022/084530 2021-04-09 2022-03-31 一种立式家用洗发机器人 WO2022213884A1 (zh)

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