A series of double-arm automatic hair washing machine

Abstract

A tandem double-arm automatic hair washing machine comprises a frame, a blowing and drying device installed on the frame, a hair washing device, a back-of-head support and massage device, a foam generation and shower device, a folding bed and a control device, wherein the hair washing device is located above the back-of-head support and massage device, the blowing and drying device is located behind the back-of-head support and massage device, and the air outlet faces the hair washing device, the folding bed is located in front of the back-of-head support and massage device, and the blowing and drying device, the hair washing device, the back-of-head support and massage device, and the foam generation and shower device are respectively connected to the control device. The present invention provides a tandem double-arm automatic hair washing machine, which can adapt to different head features for bathing and massage, and integrates a foam generation and shower module and a blowing and drying module into one, providing users with a complete and comfortable hair washing experience.

Description

Technical Field

[0001] The invention relates to a serial double-arm automatic hair washing machine. Background Art

[0002] There is relatively little research in the field of personal care in my country. The research and development of shampoo machines started relatively late, but it has developed rapidly. From the initial simple planar mechanism, various models have been developed, and they have shown an automated and intelligent development trend. The more classic domestic ones are fully automatic double-arm shampoo machines and airbag shampoo machines. However, the former is a water-powered flushing machine without any contact with the head, and the washing effect is poor. The latter cannot be used for people with different head shapes, and both have certain defects. At present, the shampoo machines studied in China still have the key problem of high manufacturing costs, so it is still difficult to promote and popularize them.

[0003] Compared with China, the research on shampooing machines abroad is more mature, and Japan is the representative. Japan is facing the problem of an aging population. In order to improve the happiness of the elderly and solve social problems, Japan is at the forefront of the world in the research of automatic shampooing technology. The fully automatic shampooing machine currently launched in Japan uses robot technology, has the functions of shampooing and massage, and has a relatively mature appearance design. In addition, it also has auxiliary functions such as water temperature control, but its cost is also very expensive, and it is still a long way from being popularized in life.

[0004] With the arrival of an aging population, research on shampooing machines will gradually become more in-depth and innovative, and intelligent and automated shampooing machines will become the mainstream. Reducing costs while ensuring full functionality is a key issue that needs to be addressed. Summary of the invention

[0005] In order to overcome the defects of existing shampooing machines, the present invention provides a series-type double-arm automatic shampooing machine, which can adapt to different head features for bathing and massage, and integrates a foam generation and rinsing module and a blowing and drying module into one, providing users with a complete and comfortable shampooing experience.

[0006] The technical solution adopted by the present invention to solve its technical problem is:

[0007] A tandem double-arm automatic hair washing machine, comprising a frame, a blowing and drying device installed on the frame, a hair washing device, a back-of-head support and massage device, a foam generating and showering device, a folding bed and a control device, wherein the hair washing device is located above the back-of-head support and massage device, the blowing and drying device is located behind the back-of-head support and massage device, and the air outlet faces the hair washing device, the folding bed is located in front of the back-of-head support and massage device, and the blowing and drying device, the hair washing device, the back-of-head support and massage device, the foam generating and showering device are respectively connected to the control device;

[0008] The shampooing device comprises two shampooing units, which are arranged symmetrically on the left and right. Each shampooing unit comprises a shampooing mechanical arm and an inductive shampooing massage box. The massage working surface of the massage device supporting the back of the head is tangent to the arc surface swept by the working surface of the shampooing massage box when the shampooing mechanical arm rotates circumferentially. The shampooing mechanical arm comprises a stepping motor, a worm gear reducer, a main shaft connecting piece, a large torque servo, a servo mounting plate, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, an upper mounting plate of the shampooing massage box and a lower mounting plate of the shampooing massage box. The stepping motor is connected to the worm gear reducer, which is installed on the frame through the reducer mounting plate. The output shaft of the worm gear reducer is connected to the servo mounting plate and the main shaft connecting piece through the first flange coupling. The large torque servo is located above the main shaft connecting piece and is installed on the servo mounting plate through the servo bracket. The connecting piece is C-shaped, one end of the first connecting rod and one end of the second connecting rod are respectively hinged on the upper surface of the main shaft connecting piece, the other end of the first connecting rod and the other end of the second connecting rod are respectively hinged to the upper mounting plate of the shampoo massage box, one end of the third connecting rod and one end of the fourth connecting rod are respectively hinged to the lower surface of the main shaft connecting piece, the other end of the third connecting rod and the other end of the fourth connecting rod are respectively hinged to the lower mounting plate of the shampoo massage box, the first connecting rod and the third connecting rod, the second connecting rod and the fourth connecting rod are respectively connected by studs, a parallelogram connecting rod mechanism is formed between the four connecting rods, the upper mounting plate of the shampoo massage box and the lower mounting plate of the shampoo massage box are connected by copper columns; the output end of the large torque servo is connected to one end of the first connecting rod through the second flange coupling, driving the first connecting rod to swing, so that the upper mounting plate of the shampoo massage box and the lower mounting plate of the shampoo massage box move parallel to the main shaft connecting piece;

[0009] The inductive shampooing massage box is installed between the upper mounting plate of the shampooing massage box and the lower mounting plate of the shampooing massage box, and includes a waterproof box and a pair of inductive massage tentacles. The waterproof box is V-shaped, and the V-shaped opening is arranged toward the back of the head to support the massage device. The pair of inductive massage tentacles are installed on the waterproof box at 120 degrees to each other. The inductive massage tentacles include a tentacle base, a limit switch, four first return springs, a first tentacle mounting plate, a first rocker mounting shaft, a first gourd-shaped rocker, a first DC reduction waterproof motor, a third flange coupling, a first L-shaped connecting rod and a first massage finger. The first DC reduction waterproof motor is installed on the third motor bracket through the first motor bracket. On a tentacle mounting plate, its output shaft is connected to the third flange coupling, one end of the first L-shaped connecting rod is eccentrically hinged to the flange of the third flange coupling, the other end of the first L-shaped connecting rod is hinged to the first gourd-shaped rocker, the first gourd-shaped rocker is rotatably mounted on the first rocker mounting shaft, the first rocker mounting shaft is fixed to the first tentacle mounting plate to form a crank rocker mechanism, the first massage finger is mounted on the first gourd-shaped rocker through a copper column, so as to realize the reciprocating rotation of the first massage finger; the first tentacle mounting plate and the tentacle base are connected by a first reset spring of a sub-bolt sleeve to form a self-reset sliding pair, and a limit switch is mounted on the tentacle base;

[0010] A clean water nozzle is provided on the upper mounting plate of the shampoo massage box, and a foam nozzle is provided on the lower mounting plate of the shampoo massage box. The clean water nozzle and the foam nozzle are both V-shaped with their openings facing the back of the head to support the massage device, and are respectively connected to the foam generation and shower device;

[0011] First, pull the folding bed out and lay it flat, and connect the water inlet of the foam generating and showering device to the faucet. The user lies flat on the folding bed with the head on the supporting massage device at the back of the head. The shampooing mode is selected through the control device. The shampooing robot arm will first be folded to make the inductive shampooing massage box touch the head. When the limit switch is triggered, the shampooing robot arm will make a slow circular reciprocating rotation, and the clean water nozzle will spray clean water to moisten the head. After the moistening is completed, the foam nozzle will take over the clean water nozzle to spray foam. After the foam covers the head, the massage tentacles in the supporting massage device at the back of the head and the inductive shampooing massage box start to reciprocate, and the shampooing robot arm continues to make a slow circular reciprocating rotation. After the kneading is completed, the clean water nozzle will spray clean water to rinse the foam. After the rinsing is completed, the shampooing robot arm will rotate counterclockwise to above the forehead, and the blowing and drying device will start to work. After the drying is completed, the machine stops working, the shampooing robot arm opens and resets, and the user leaves the folding bed.

[0012] Furthermore, the back of the head massage device comprises a profile support and four massage tentacles, two massage tentacles are arranged in the middle of the profile support along the front-to-back direction, and one massage tentacle is arranged on the left and right sides of the two massage tentacles respectively;

[0013] Each massage tentacle includes four stepped threaded shafts, four second return springs, a second tentacle mounting plate, a second DC reduction waterproof motor, a second L-shaped connecting rod, a fourth flange coupling, a second massage finger, a second gourd-shaped rocker and a second rocker mounting shaft. The second DC reduction waterproof motor is mounted on the second tentacle mounting plate through a motor bracket, and its output shaft is connected to the fourth flange coupling. One end of the second L-shaped connecting rod is eccentrically hinged to the flange of the fourth flange coupling, and the other end of the second L-shaped connecting rod is hinged to the second gourd-shaped rocker. The second gourd-shaped rocker is rotatably mounted on the second rocker mounting shaft, and the second rocker mounting shaft is fixed on A crank rocker mechanism is formed on the second tentacle mounting plate; the second massage finger is mounted on the second gourd-shaped rocker through a copper column, thereby realizing the reciprocating rotation of the massage finger, the upper ends of the four stepped threaded shafts are hinged at the four corners of the bottom of the second tentacle mounting plate through a hinge respectively, a vertical through hole is provided on the profile bracket, the lower end of each stepped threaded shaft passes through the corresponding vertical through hole, four second reset springs are respectively mounted on the four stepped threaded shafts, the upper end of each second reset spring is connected to the hinge, and the lower end of each second reset spring is connected to the profile bracket, the massage tentacles on the left and right sides are inclined toward the middle massage tentacle and the two are arranged in a V shape.

[0014] Furthermore, the blowing and drying device includes two hot air generating devices, a swing air outlet and a digital servo. The swing air outlet is rotatably mounted on a frame and is provided with two blowing outlets. Each hot air generating device is a simple hair dryer with a fan and a heating wire in a heat-resistant shell. The air outlet is connected to the corresponding blowing outlet on the swing air outlet through a heat-resistant hose. The digital servo is installed on the frame through a servo bracket, and the output end is connected to the swing air outlet through a steering wheel to realize the up and down swing of the swing air outlet.

[0015] Furthermore, the foam generating and showering device comprises a boosting pump mounting plate, a boosting pump, a first solenoid valve, a second solenoid valve and a foam generator. The boosting pump is mounted on a frame through the boosting pump mounting plate. The water inlet pipe is connected to the boosting pump. The water outlet of the boosting pump is connected to a three-way interface. The two outlets of the three-way interface are respectively connected to a clean water outlet pipe and a foam outlet pipe through a first solenoid valve and a second solenoid valve. The foam generator is mounted on the foam outlet pipe. The clean water outlet pipe is connected to a clean water nozzle. The foam outlet pipe is connected to the foam nozzle. The water and foam used in the shampooing process are collected by a water collecting pool. The water collecting pool is composed of a plurality of plates and is mounted inside the frame. A dewatering device is mounted on the bottom plate thereof.

[0016] Furthermore, the folding bed includes a bed frame and four legs, the bed frame is divided into two parts, the two parts are hinged to the two legs at the rear side through a T-shaped connector, a cross bar is provided between the two legs at the rear side, the upper ends of the two legs at the front side are connected to the cross bar at the same time, the cross bar is hinged to the cross beam of the front part of the bed frame through a hinge, the lower ends of the two legs at the front side are respectively provided with pulleys, the two legs at the front side are respectively connected to the cross bar through a profile, and the front and rear ends of each profile are respectively hinged to the legs and the cross bar through a small hinge; the rear end of the rear part of the bed frame is hinged to the frame through a large hinge; and a handle is provided on the legs at the rear side;

[0017] When folding, the rear bed frame rotates 90 degrees clockwise around the T-shaped connector, while the front bed frame rotates 90 degrees counterclockwise around the T-shaped connector. At the same time, the cross bars on the two front legs and the front bed frame, as well as the profiles and the legs are folded.

[0018] The beneficial effects of the present invention are mainly manifested in:

[0019] 1) The tandem mechanical arm including a parallelogram linkage mechanism is adopted, which has a simple, stable and reliable structure, and at the same time ensures the adaptability of the shampooing mechanical arm to the head;

[0020] 2) It uses an adaptive massager with a sensing function, which provides flexible contact while limiting excessive pressure, ensuring the comfort of washing your hair;

[0021] 3) The self-pressurized water supply system integrating foaming and showering is adopted, which reduces the size and cost of the device and ensures the showering effect;

[0022] 4) A support module with integrated hinges and springs and its arrangement are designed so that it can fit the back of the head well and provide flexible support. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0024] Figure 2 It is an assembly relationship diagram between the shampooing device and the back of the head supporting massage device.

[0025] Figure 3 It is a structural diagram of a shampooing robot arm.

[0026] Figure 4 It is a structural schematic diagram of a blowing and drying device.

[0027] Figure 5 It is a structural schematic diagram of an induction type shampooing massage box.

[0028] Figure 6 It is a schematic diagram of the structure of the inductive massage tentacle.

[0029] Figure 7 It is a structural schematic diagram of a back-of-head support massage device.

[0030] Figure 8 It is a schematic diagram of the structure of the massage tentacle.

[0031] Fig. 9 It is a structural schematic diagram of a foam generating and showering device.

[0032] Fig.10 It is a schematic diagram of the assembly of the clean water nozzle and the foam nozzle.

[0033] Fig.11 It is a structural diagram of a folding bed.

[0034] Fig.12 This is a schematic diagram of the water collection pool.

[0035] Fig.13 It is a schematic diagram of the structure of the rack. DETAILED DESCRIPTION

[0036] The present invention will be further described below in conjunction with the accompanying drawings.

[0037] Reference Figures 1 to 13 A tandem double-arm automatic hair washing machine comprises a frame 7, a blowing and drying device 1 installed on the frame 7, a hair washing device, a back-of-head support and massage device 4, a foam generating and showering device 5, a folding bed 6 and a control device, wherein the hair washing device is located above the back-of-head support and massage device 4, the blowing and drying device 1 is located behind the back-of-head support and massage device 4, and the air outlet faces the hair washing device, the folding bed 6 is located in front of the back-of-head support and massage device 4, the blowing and drying device 1, the hair washing device, the back-of-head support and massage device 4, and the foam generating and showering device 5 are respectively connected to the control device; and are controlled by a single-chip microcomputer;

[0038] A clean water nozzle is provided on the upper mounting plate 21 of the shampoo massage box, and a foam nozzle is provided on the lower mounting plate 22 of the shampoo massage box. Both the clean water nozzle and the foam nozzle are V-shaped with their openings facing the back of the head to support the massage device, and are respectively connected to the foam generating and showering device 5.

[0039] The control device comprises a control panel and a single chip microcomputer, and the control panel is provided with full set, shampoo, massage, hair drying and main switch buttons.

[0040] like Figure 2As shown, two shampooing mechanical arms 2 are installed in the middle of the frame, symmetrically, the induction shampooing massage box 3 is installed at the end of the shampooing mechanical arms, the back of the head support massage device 4 is installed below the installation symmetry axis of the two shampooing mechanical arms 2, and its installation height makes its massage working surface tangent to the arc surface swept by the working surface of the shampooing massage box 3 when the mechanical arms rotate circumferentially, the foam generation and shower device 5 is installed at the bottom of the frame 7, the blowing and drying device 1 is installed at the rear of the frame 7, and the air outlet faces the shampooing mechanical arms 2, and the folding bed 6 is installed in front of the frame;

[0041] The single shampooing robot arm 2 comprises a worm gear reducer 12, a main shaft connection 13, a stepper motor 14, a steering gear mounting plate 15, a large torque steering gear 16, a first connecting rod 17, a second connecting rod 18, a third connecting rod 19, a fourth connecting rod 20, an upper mounting plate 21 of a shampooing massage box, and a lower mounting plate 22 of a shampooing massage box. The stepper motor 14 is mounted on the side of the worm gear reducer 12, and its output shaft is connected to the input shaft of the worm gear reducer. The worm gear reducer 12 is mounted on the frame 7 through the reducer mounting plate. The reducer output shaft is connected to the steering gear mounting plate 15 and the main shaft connection 13 through the first flange coupling. The first connecting rod 17 and the second connecting rod 18 are mounted on the upper surface of the main shaft connection 13, and the ends of the connecting rods are connected to the upper mounting plate 21 of the shampooing massage box. The third connecting rod 19 and the fourth connecting rod 20 are mounted on the main shaft connection 1 3, the ends of the connecting rods are connected to the lower mounting plate 22 of the shampoo massage box, the first connecting rod 17 is connected to the third connecting rod 19, the second connecting rod 18 is connected to the fourth connecting rod 20 through studs, and the above connecting rods are connected to the main shaft connecting piece 13 and the upper mounting plate 21 and the lower mounting plate 22 of the shampoo massage box through bolts and nuts to form a parallelogram connecting rod mechanism, the bolts and the mounting holes are connected by cup bearings to form a revolving pair, wherein the upper mounting plate 21 and the lower mounting plate 22 of the shampoo massage box are connected to each other by copper columns. The large torque steering gear 16 is installed on the steering gear mounting plate 15 through a steering gear bracket, and its output end is connected to the upper surface of one end of the second connecting rod 18 through a second flange coupling, driving the second connecting rod 18 to swing, so that the upper mounting plate 21 and the lower mounting plate 22 of the shampoo massage box move parallel to the main shaft connecting piece 13.

[0042] The inductive shampooing massage box 3 includes a waterproof box and a pair of inductive massage tentacles 25; the waterproof box includes a waterproof box body 23 and a waterproof box cover 24, the waterproof box cover 24 is installed on the upper part of the waterproof box body 23, the waterproof box body 23 is a box body with openings on the side, an open structure with the opening facing upward, and the vertical projection of the waterproof box cover is an isometric figure on the bottom surface of the waterproof box body; the inductive massage tentacles 25 include a tentacle base 26, a limit switch 27, four first return springs 28, a first tentacle mounting plate 29, a first DC reduction waterproof motor 30, a third flange coupling 31, a first massage finger 32, a first L-shaped connecting rod 33, a first rocker mounting shaft 35, and a first gourd-shaped rocker 34. The first DC reduction waterproof motor 30 is installed on the first tentacle mounting plate 29 through the first motor bracket, and its output shaft is connected to the third flange coupling 31. One end of the first L-shaped connecting rod 33 is connected to the flange mounting hole, and the other end is connected to the first gourd-shaped rocker 34. The first gourd-shaped rocker 34 is fixed to the first tentacle mounting plate 29 through the first rocker mounting shaft 35 to form a crank rocker mechanism. The first massage finger 32 is installed on the first gourd-shaped rocker 34 through a copper column, so as to realize the reciprocating rotation of the first massage finger 32; the first tentacle mounting plate 29 and the tentacle base 26 are connected by a first reset spring 28 with a sub-bolt sleeve to form a self-reset sliding pair, and the limit switch is installed on the tentacle base 26. Two induction massage tentacles 25 are installed on the waterproof box, 120 degrees apart to ensure the fit with the head. Two massage fingers are provided on the first massage finger.

[0043] The back of the head massage device 4 includes a profile bracket 36, four massage tentacles, a plurality of hinges 41, a second return spring 42 and a stepped threaded shaft 43. The four massage tentacles include a first massage tentacle 37, a second massage tentacle 38, a third massage tentacle 39 and a fourth massage tentacle 40. The profile bracket 36 has a plurality of vertical through holes, the stepped threaded shaft is inserted into the vertical through holes, and the second return spring is covered. The stepped threaded shaft 43 is connected to the four massage tentacles through the hinge 41, so as to realize the elastic sliding of the massage tentacles up and down and the adjustment of the installation angle. The massage tentacles include a second tentacle mounting plate 44, a second DC reduction waterproof motor 45, a second L-shaped connecting rod 46, a fourth flange coupling 47, a second massage finger 48, a second gourd-shaped rocker 49, and a second rocker mounting shaft 50. The second DC reduction waterproof motor 45 is installed on the second tentacle mounting plate 44 through the motor bracket, and its output shaft is connected to the fourth flange coupling 47. One end of the second L-shaped connecting rod 46 is connected to the flange mounting hole of the fourth flange coupling, and the other end is connected to the second gourd-shaped rocker 49. The second gourd-shaped rocker 49 is fixed to the second tentacle mounting plate 44 through the second rocker mounting shaft 50 to form a crank rocker mechanism. The second massage finger 48 is installed on the second gourd-shaped rocker 49 through the copper column, so as to realize the reciprocating rotation of the massage finger. A massage tentacle 37 and a third massage tentacle 38 are installed at the left and right ends, and the two are inclined in a V shape. The third massage tentacle 39 and the fourth massage tentacle 40 are longitudinally installed in the middle of the profile bracket, one in front and one behind; the upper end of each second return spring is connected to the hinge, and the lower end of each second return spring is connected to the profile bracket. The two stepped threaded shafts on the left and right sides of the massage tentacles away from the middle massage tentacle are higher than the two stepped threaded shafts on the side close to the middle massage tentacle, and the corresponding second return spring is also longer than the side close to the middle massage tentacle.

[0044] The blowing and drying device 1 comprises a hot air generating device 8, a swing air outlet 9, a digital steering gear 10, and a pillar 11. The hot air generating device 7 is a simple hair dryer with a fan and a heating wire in a heat-resistant shell, and its air outlet is connected to the swing air outlet 9 through a heat-resistant hose. The swing air outlet is provided with two through holes, and the blowing outlet is installed in the through holes. The swing air outlet is connected to the pillars 10 on both sides through bolts to form a rotating pair. The digital steering gear 10 is installed on the pillar 11 through a steering gear bracket, and its output end is coaxially connected to the swing air outlet 9 and the rotating pair center of the pillar 11 through a steering plate to realize the up and down swing of the swing air outlet 9.

[0045] The foam generation and shower device 5 includes a plurality of water inlet pipes 51, a booster pump mounting plate 52, a booster pump 53, a first solenoid valve 54, a second solenoid valve 55, and a foam generator 56. The booster pump 51 is mounted on the frame 7 through the booster pump mounting plate 52, the water inlet pipe is connected to the booster pump, the booster pump outlet is divided into two paths through a three-way interface, and is connected to the clean water outlet pipe and the foam outlet pipe through the first solenoid valve 54 and the second solenoid valve 55 respectively, the foam generator 56 is mounted on the foam outlet pipe, the clean water outlet pipe is connected to the clean water nozzle, and the foam outlet pipe is connected to the foam nozzle. The clean water nozzle and the foam nozzle are respectively provided with a plurality of nozzles; the water and foam used in the shampooing process are collected by a water collecting pool, which is composed of a plurality of plates and is installed inside the frame, and a dewatering device is installed on the bottom plate thereof.

[0046] The folding bed 6 includes four pulleys 59, four small hinges 60, profiles 61, profiles 62, profiles 63, profiles 64, profiles 65, profiles 66, four T-shaped connectors 68, profile 68, two large hinges 70, profiles 69, profiles 71, profiles 72, profiles 73, profiles 74 and other profiles; profiles 62 and 63 are parallel to each other, and one end of both has a through hole, which is connected to two T-shaped connectors 68 through an axis to form a rotating pair, and the T-shaped connectors 68 are installed in pairs on both sides of the top of profiles 72 and 74, and profiles 73 are installed between profiles 72 and 74. One end of profiles 69 and 71 has a through hole, which is also connected to T-shaped connectors 68 in pairs through an axle pin. Two large hinges 70 are installed on the other end of profiles 69 and 71, and small hinges 60 are installed at both ends of profiles 66 and 67. Profile 66 is connected to profile 61 and profile 73 respectively through small hinges, profile 67 is connected to profile 64 and profile 73 respectively through small hinges, profile 61 and profile 64 are connected to profile 65 respectively, and profile 65 is connected to the upper beam through a movable hinge, thereby forming two parallelogram linkage mechanisms. When profiles 69 and profile 71 rotate 90 degrees clockwise around the hinge rotation axis, profiles 72 and profile 74 remain vertical to the ground and rise. At this time, profiles 69 and profile 71 rotate clockwise relative to profiles 72 and profile 74, and at the same time, profiles 62 and profile 63 rotate 90 degrees counterclockwise around the rotation axis. Profiles 61 and profile 64 remain parallel to profiles 72 and profile 74 through the linkage mechanism and rotate 90 degrees clockwise around the movable hinge rotation center; finally, profiles 71, profile 74, profile 61, and profile 62 are all parallel to each other, completing the folding of the bed.

[0047] The frame 7 is composed of a plurality of profiles, and the frame has a rectangular shape, a concave space in the middle front part, and the profiles are connected by angle brackets.

[0048] When the user uses the folding bed, he first holds the handle on the rear support leg, i.e., the profile 74 or 72, and pulls it outward to make the folding bed flat, turns on the power, and connects the water inlet of the foam generation and shower device to the faucet, then lies flat on the folding bed with the head placed on the support and massage device at the back of the head, selects the shampooing mode through the control panel, and the shampooing robot arm will first fold to make the inductive shampooing massage box touch the head. When the limit switch is triggered, the shampooing robot arm makes a slow reciprocating rotation in a circle, and the clean water nozzle sprays clean water to moisten the head. When the moistening is completed, the foam nozzle takes over to spray foam; when the foam covers the head, the massage device supporting the back of the head and the massage tentacles in the induction shampooing massage box begin to reciprocate, and the shampooing robot arm continues to make a slow reciprocating rotation in a circle; after the kneading and washing is completed, the clean water nozzle sprays clean water to rinse the foam, and after the rinsing is completed, the shampooing robot arm rotates counterclockwise to above the forehead, the blowing and drying device starts to work, the hot air generating device discharges air, and the swing air outlet swings back and forth up and down to make the hot air dry the hair evenly; after drying, the machine stops working, the shampooing robot arm opens and returns to a position parallel to the ground, and the user leaves the folding bed.

Claims

1. A tandem double-arm automatic hair washing machine, characterized in that: The device comprises a frame, a hair-drying device, a hair-washing device, a back-of-head support and massage device, a foam-generating and showering device, a folding bed and a control device, wherein the hair-drying device is located above the back-of-head support and massage device, the hair-drying device is located behind the back-of-head support and massage device, and the air outlet faces the hair-drying device, the folding bed is located in front of the back-of-head support and massage device, and the hair-drying device, the hair-washing device, the back-of-head support and massage device, the foam-generating and showering device are connected to the control device respectively; The shampooing device comprises two shampooing units, which are arranged symmetrically on the left and right. Each shampooing unit comprises a shampooing mechanical arm and an inductive shampooing massage box. The massage working surface of the massage device supporting the back of the head is tangent to the arc surface swept by the working surface of the shampooing massage box when the shampooing mechanical arm rotates circumferentially. The shampooing mechanical arm comprises a stepping motor, a worm gear reducer, a main shaft connecting piece, a large torque servo, a servo mounting plate, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, an upper mounting plate of the shampooing massage box and a lower mounting plate of the shampooing massage box. The stepping motor is connected to the worm gear reducer, which is installed on the frame through the reducer mounting plate. The output shaft of the worm gear reducer is connected to the servo mounting plate and the main shaft connecting piece through the first flange coupling. The large torque servo is located above the main shaft connecting piece and is installed on the servo mounting plate through the servo bracket. The connecting piece is C-shaped, one end of the first connecting rod and one end of the second connecting rod are respectively hinged on the upper surface of the main shaft connecting piece, the other end of the first connecting rod and the other end of the second connecting rod are respectively hinged to the upper mounting plate of the shampoo massage box, one end of the third connecting rod and one end of the fourth connecting rod are respectively hinged to the lower surface of the main shaft connecting piece, the other end of the third connecting rod and the other end of the fourth connecting rod are respectively hinged to the lower mounting plate of the shampoo massage box, the first connecting rod and the third connecting rod, the second connecting rod and the fourth connecting rod are respectively connected by studs, a parallelogram connecting rod mechanism is formed between the four connecting rods, the upper mounting plate of the shampoo massage box and the lower mounting plate of the shampoo massage box are connected by copper columns; the output end of the large torque servo is connected to one end of the first connecting rod through the second flange coupling, driving the first connecting rod to swing, so that the upper mounting plate of the shampoo massage box and the lower mounting plate of the shampoo massage box move parallel to the main shaft connecting piece; The inductive shampooing massage box is installed between the upper mounting plate of the shampooing massage box and the lower mounting plate of the shampooing massage box, and includes a waterproof box and a pair of inductive massage tentacles. The waterproof box is V-shaped, and the V-shaped opening is arranged toward the back of the head to support the massage device. The pair of inductive massage tentacles are installed on the waterproof box at 120 degrees to each other. The inductive massage tentacles include a tentacle base, a limit switch, four first return springs, a first tentacle mounting plate, a first rocker mounting shaft, a first gourd-shaped rocker, a first DC reduction waterproof motor, a third flange coupling, a first L-shaped connecting rod and a first massage finger. The first DC reduction waterproof motor is installed on the third motor bracket through the first motor bracket. On a tentacle mounting plate, its output shaft is connected to the third flange coupling, one end of the first L-shaped connecting rod is eccentrically hinged to the flange of the third flange coupling, the other end of the first L-shaped connecting rod is hinged to the first gourd-shaped rocker, the first gourd-shaped rocker is rotatably mounted on the first rocker mounting shaft, the first rocker mounting shaft is fixed to the first tentacle mounting plate to form a crank rocker mechanism, the first massage finger is mounted on the first gourd-shaped rocker through a copper column, so as to realize the reciprocating rotation of the first massage finger; the first tentacle mounting plate and the tentacle base are connected by a first reset spring of a sub-bolt sleeve to form a self-reset sliding pair, and a limit switch is mounted on the tentacle base; A clean water nozzle is provided on the upper mounting plate of the shampoo massage box, and a foam nozzle is provided on the lower mounting plate of the shampoo massage box. The clean water nozzle and the foam nozzle are both V-shaped with their openings facing the back of the head to support the massage device, and are respectively connected to the foam generation and shower device; First, pull the folding bed outward and lay it flat, and connect the water inlet of the foam generation and shower device to the faucet. The user lies flat on the folding bed with the head placed on the support massage device behind the head. Select the shampooing mode through the control device. The shampooing mechanical arm will first fold to make the inductive shampooing massage box touch the head. When the limit switch is triggered, the shampooing mechanical arm will make a slow circular reciprocating rotation, and the clean water nozzle will spray clean water to wet the head. After the wetting is completed, the foam nozzle will take over the clean water nozzle to spray foam. When the foam covers the head, the massage device supporting the back of the head and the massage tentacles in the induction shampoo massage box start to reciprocate, and the shampoo mechanical arm continues to make slow circumferential reciprocating rotations; after the kneading and washing is completed, the clean water nozzle sprays clean water to wash the foam, and after the rinsing is completed, the shampoo mechanical arm rotates counterclockwise to above the forehead, and the blowing and drying device starts to work. After the drying is completed, the machine stops working, the shampoo mechanical arm opens and resets, and the user leaves the folding bed; The back of the head massage device comprises a profile support and four massage tentacles, two massage tentacles are arranged in the middle of the profile support along the front-back direction, and one massage tentacle is arranged on the left and right sides of the two massage tentacles respectively; Each massage tentacle includes four stepped threaded shafts, four second return springs, a second tentacle mounting plate, a second DC reduction waterproof motor, a second L-shaped connecting rod, a fourth flange coupling, a second massage finger, a second gourd-shaped rocker and a second rocker mounting shaft. The second DC reduction waterproof motor is mounted on the second tentacle mounting plate through a motor bracket, and its output shaft is connected to the fourth flange coupling. One end of the second L-shaped connecting rod is eccentrically hinged to the flange of the fourth flange coupling, and the other end of the second L-shaped connecting rod is hinged to the second gourd-shaped rocker. The second gourd-shaped rocker is rotatably mounted on the second rocker mounting shaft, and the second rocker mounting shaft is fixed on A crank rocker mechanism is formed on the second tentacle mounting plate; the second massage finger is mounted on the second gourd-shaped rocker through a copper column, thereby realizing the reciprocating rotation of the massage finger, the upper ends of the four stepped threaded shafts are hinged at the four corners of the bottom of the second tentacle mounting plate through a hinge respectively, a vertical through hole is provided on the profile bracket, the lower end of each stepped threaded shaft passes through the corresponding vertical through hole, four second reset springs are respectively mounted on the four stepped threaded shafts, the upper end of each second reset spring is connected to the hinge, and the lower end of each second reset spring is connected to the profile bracket, the massage tentacles on the left and right sides are inclined toward the middle massage tentacle and the two are arranged in a V shape.

2. A tandem double-arm automatic hair washing machine as claimed in claim 1, characterized in that: The blowing and drying device includes two hot air generating devices, a swing air outlet and a digital servo. The swing air outlet is rotatably installed on a frame and is provided with two blowing outlets. Each hot air generating device is a simple hair dryer with a fan and a heating wire installed in a heat-resistant shell. The air outlet is connected to the corresponding blowing outlet on the swing air outlet through a heat-resistant hose. The digital servo is installed on the frame through a servo bracket, and the output end is connected to the swing air outlet through a steering plate to realize the up and down swing of the swing air outlet.

3. A tandem double-arm automatic hair washing machine as claimed in claim 1 or 2, characterized in that: The foam generating and showering device comprises a booster pump mounting plate, a booster pump, a first solenoid valve, a second solenoid valve and a foam generator. The booster pump is mounted on a frame through the booster pump mounting plate. A water inlet pipe is connected to the booster pump. A water outlet of the booster pump is connected to a three-way interface. Two outlets of the three-way interface are respectively connected to a clean water outlet pipe and a foam outlet pipe through a first solenoid valve and a second solenoid valve. The foam generator is mounted on the foam outlet pipe. The clean water outlet pipe is connected to a clean water nozzle. The foam outlet pipe is connected to the foam nozzle.

4. A tandem double-arm automatic hair washing machine as claimed in claim 1 or 2, characterized in that: The folding bed comprises a bed frame and four legs. The bed frame is divided into two parts. The two parts are hinged to the two legs at the rear side through a T-shaped connector. A crossbar is provided between the two legs at the rear side. The upper ends of the two legs at the front side are connected to the crossbar at the same time. The crossbar is hinged to the crossbeam of the bed frame at the front part through a hinge. The lower ends of the two legs at the front side are respectively provided with pulleys. The two legs at the front side are respectively connected to the crossbar through a profile. The front and rear ends of each profile are respectively hinged to the legs and the crossbar through a small hinge. The rear end of the bed frame at the rear part is hinged to the frame through a large hinge. The legs at the rear side are provided with handles. When folding, the rear bed frame rotates 90 degrees clockwise around the T-shaped connector, while the front bed frame rotates 90 degrees counterclockwise around the T-shaped connector. At the same time, the cross bars on the two front legs and the front bed frame, as well as the profiles and the legs are folded.

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