A hydraulic massage head and an elderly foot washing robot

Abstract

The present invention relates to the field of elderly care technology, and in particular to a hydraulic massage head and an elderly foot washing robot. The hydraulic massage head includes a nozzle, a U-shaped frame, a connecting rod and a turntable. The nozzle is rotatably installed in the U-shaped opening of the U-shaped frame, and is connected to the turntable through a connecting rod at the bottom of the U-shaped frame. A pressure sensor is adsorbed on one side of the connecting rod, and the pressure sensor can be deformed as the connecting rod is deformed. The nozzle is connected to the liquid outlet of a variable liquid pump. This hydraulic massage head is applied to the elderly foot washing robot, and an automatic sock removal device is provided. The pressure sensor senses the deformation of the sensor to judge the size of the action and reaction force between the hydraulic massage head and the human foot, so that the massage force can be better controlled; through the sock removal mechanism provided, the sock removal can be completed without the user bending over.

Description

Technical Field

[0001] The present invention relates to the technical field of elderly care, and in particular to a hydraulic massage head and an elderly foot washing robot. Background Art

[0002] If the elderly can soak their feet every night, they can relieve the physical and psychological stress of the day, relax their body and mind, promote sleep, and warm their feet. At the same time, the health effects of soaking feet in different seasons are different. In summer, soaking feet can remove the heat; in autumn, soaking feet can moisturize the intestines and play a health care effect of strengthening the stomach and digestion; in winter, soaking feet can not only warm the body, but also warm the internal organs. Therefore, it is said that soaking feet frequently can prolong life.

[0003] Existing foot washing and care products are usually simple-structured footbaths, which can only perform mechanical massage on the soles of the user's feet, are difficult to use for elderly people with limited self-care ability, and cannot massage the user's feet, ankles and other parts; at the same time, this footbath cannot remove the socks of the elderly with limited mobility, and caregivers are required to assist the elderly in removing the socks, which limits the scope of application of this footbath. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a hydraulic massage head and an elderly foot washing robot in response to the above-mentioned technical deficiencies. The hydraulic massage head provided with a pressure sensor is used to perform hydraulic impact massage on different parts of the elderly's feet, thereby solving the problem that the user's feet, ankles and other parts cannot be massaged. A sock-removing mechanism is provided, which cooperates with the rotation of the rotating cover and the forward and backward movement of the robot body, thereby solving the problem that the elderly with limited mobility need the assistance of caregivers when taking off their socks.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a hydraulic massage head, which includes a nozzle, a U-shaped frame, a connecting rod and a turntable. The nozzle is rotatably installed in the U-shaped opening of the U-shaped frame, and is connected to the turntable through a connecting rod at the bottom of the U-shaped frame. A pressure sensor is adsorbed on one side of the connecting rod, and the pressure sensor can be deformed as the connecting rod is deformed. The nozzle is connected to the liquid outlet of a variable liquid pump.

[0006] As a hydraulic massage head to further optimize the technical solution, a first steering servo is fixed inside the nozzle, the output shaft of the first servo is fixedly connected to an extending arm on one side of the U-shaped frame, a liquid pipe is arranged inside the extending arm on the other side of the U-shaped frame, the liquid pipe is connected to the nozzle, the liquid pipe is provided with a spiral portion, and the spiral portion is arranged inside the connecting rod.

[0007] A long through hole is arranged in the connecting rod, the length direction of the long through hole is the same as the length direction of the connecting rod, and the depth direction of the long through hole is parallel to the plane of the U-shaped frame.

[0008] A bearing position and a steering gear are provided on one side where the connecting rod is connected to the turntable. A second steering gear is fixed inside the turntable. The output shaft of the second steering gear is meshed and transmitted with the steering gear of the connecting rod. The turntable is coaxially rotatably connected to the bearing position of the connecting rod through a bearing.

[0009] To further optimize the technical solution, the pressure sensor uses silicon-sapphire as a semiconductor sensitive element.

[0010] The present invention also discloses a foot washing robot for the elderly, comprising a massage mechanism, a sock-removing mechanism, an electronic control unit, a shell with an opening on the upper part, and a walking drive device located at the bottom of the shell. The shell comprises an inner shell and an outer shell, a liquid chamber and an equipment chamber are arranged between the inner shell and the outer shell, the bottom area inside the inner shell is a washing and massage area, a drying area is arranged on the upper front end of the inner shell, an arc-shaped hot air outlet is arranged at the front of the drying area, and a hot air blower is connected to the arc-shaped hot air outlet. The massage mechanism comprises a foot massage part and a foot massage part, a foot outer massage part and an ankle massage part provided with the hydraulic massage head of the above technical solution, and the massage mechanism is arranged inside the inner shell.

[0011] The foot massage part is mainly composed of two hydraulic massage heads with axially opposite connection rods, and the foot massage part is fixed to the upper front end of the cleaning and massage area through a turntable;

[0012] The foot outer side massage part is mainly composed of two hydraulic massage heads respectively fixed on the left and right sides of the inner shell, and the spray heads of the hydraulic massage heads face the middle of the cleaning massage area.

[0013] To further optimize the technical solution, the ankle massage part is mainly composed of two hydraulic massage heads with axially opposite connecting rods, an ankle massage frame is fixed to the rear side of the cleaning massage area, a lead screw and a smooth rod are arranged in the vertical direction of the ankle massage frame, a threaded sleeve is arranged in the turntable of the hydraulic massage head and is threadedly connected with the lead screw, a sliding sleeve is also arranged in the turntable, the smooth rod is inserted into the sliding sleeve, and the lead screw is connected to a lifting motor.

[0014] Further optimizing the technical solution, the foot massage part includes a vibration plate, an exciter is fixed in the vibration plate, and the bottom of the vibration plate is connected to the inner shell through a vibration isolation spring. The upper surface of the vibration plate is provided with a plurality of columnar elastic protrusions, and the elastic protrusions in the vibration plate corresponding to the human arch are higher than the elastic protrusions at the corresponding heels. The vibration plate is provided with a bottom spray hole with the spray port facing upward, and the bottom spray hole is located between the elastic protrusions.

[0015] To further optimize the technical solution, a rotating cover is provided at the opening of the shell, and two outwardly protruding rotating shafts are coaxially provided on the left and right sides of the outer shell. The rotating cover is rotatably connected to the outer shell around the rotating shaft with the rotating shaft as the axis, and a bevel gear plate is coaxially fixed outside the rotating axis of the rotating cover. A rotating motor is provided on the rear side of the outer shell at a position corresponding to the bevel gear plate, and the output shaft of the rotating motor is meshed and connected with the bevel gear plate through a bevel gear.

[0016] To further optimize the technical solution, a fixed platform is fixedly connected to the upper side of the rotating axis of the rotating cover, a sock-removing mechanism is arranged on the upper part of the fixed platform, and a mounting hole connected to the sock-removing mechanism is arranged in the middle part of the fixed platform, the sock-removing mechanism comprises an ankle clamping part and a toe clamping part, the bottom of the ankle clamping part is an arc-shaped base with a middle part convex upward, two arc-shaped clamping walls convex upward are arranged on the left and right sides of the arc-shaped base, an ankle contact part is arranged at the edge of the inner side of the upper part of the clamping wall, and a hook-surface Velcro is arranged on the upper surface of the ankle contact part, an elastic plate is extended obliquely upward from the front end of the arc-shaped base, the top end of the elastic plate is bent upward to form a toe clamping part with an S-shaped cross-section, one end of the toe clamping part opening is connected to the top end of the elastic plate to form an elastic part, and the other end of the S-shaped opening is a free end, and the arc surface on one side of the free end contacts the upper surface of the elastic plate, and the bottom of the arc-shaped base is threadedly connected to the mounting hole in the fixed platform through a fixing screw.

[0017] To further optimize the technical solution, the S-shaped arc length of the cross section on one side of the toe clamping portion is greater than the S-shaped arc length of the cross section on the other side.

[0018] To further optimize the technical solution, a rolling cleaning device is provided at the bottom of the outer shell, a hot air outlet is provided on one side of the rolling cleaning device, the hot air outlet is connected to the hot air blower, and walking drive devices are provided on both sides of the bottom of the outer shell, and the walking drive device is electrically connected to the electronic control unit.

[0019] To further optimize the technical solution, the electronic control unit 3 includes a controller and a human-computer interaction module, a program storage module and a power supply module electrically connected to the controller respectively; the pressure sensor 105, the human-computer interaction module, the program storage module are electrically connected to the signal input end of the controller; the first servo 106, the second servo 1019, the variable liquid pump, the rotary motor 902, and the travel drive device 1001 are electrically connected to the signal output end of the controller.

[0020] Compared with the prior art, the present invention has the following advantages: 1. A pressure sensor is adsorbed on one side of the hydraulic massage head connecting rod. When the hydraulic massage head is working, the force is mutual, and the working state of the hydraulic nozzle can be monitored in real time through the deformation of the pressure sensor, making it easier to control the strength of the massage head; 2. The massage head can have a wider range of action by arranging the first servo and the second servo in the hydraulic massage head; 3. By arranging a spiral part in the liquid pipe connecting the nozzle and arranging the spiral part inside the connecting rod, the influence of the deformation of the liquid pipe on the pressure sensor on one side of the connecting rod during operation can be reduced, and the measurement accuracy of the hydraulic sensor can be improved; 4. Through the sock-taking mechanism, the sock-taking can be completed without the user bending over, and combined with the rotation of the rotating cover and the forward and backward movement of the walking drive device, the sock-taking function can be better realized for the elderly. 5. The foot washing robot for the elderly including the hydraulic massage head can wash and care for the feet of the elderly more comprehensively, will not cause mechanical damage to the feet, and has a wider range of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The present invention is a partial cross-sectional view of a hydraulic massage head.

[0022] Figure 2 for Figure 1 Full cross-sectional view.

[0023] Figure 3 for Figure 1 Cross-sectional view of the connecting rod section.

[0024] Figure 4 This is a schematic diagram of the external structure of a foot washing robot for the elderly.

[0025] Figure 5 for Figure 4 Top view of the .

[0026] Figure 6 for Figure 5 Cross-sectional view at AA in the middle.

[0027] Figure 7 for Figure 6 Schematic diagram of the structure of the midfoot massage area.

[0028] Figure 8 for Figure 6Schematic diagram of the structure of the mid-ankle massage section.

[0029] Fig. 9 for Figure 6 Schematic diagram of the structure of the middle foot massage part.

[0030] Fig.10 for Figure 4 Schematic diagram of the structure of the sock-removing mechanism.

[0031] In the figure: 1. hydraulic massage head; 101. nozzle; 1017. liquid pipe; 1018. spiral part; 1019. second steering gear; 102. U-shaped frame; 103. connecting rod; 1031. long through hole; 1032. bearing position; 1033. steering gear; 104. turntable; 105. pressure sensor; 106. first steering gear; 2. sock removal mechanism; 201. ankle clamping part; 202. toe clamping part; 203. arc base; 204. clamping wall; 205. ankle contact part; 206. elastic plate; 207. fixing screw; 3. electronic control unit; 4. shell; 401. outer shell; 4011 , rotating shaft; 402, inner shell; 403, cleaning massage area; 404, drying area; 4041, arc-shaped hot air outlet; 405, hot air blower; 406, cleaning device; 407, hot air outlet; 5, foot massage part; 6, outer foot massage part; 7, ankle massage part; 701, ankle massage frame; 702, lead screw; 703, lifting motor; 8, sole massage part; 801, vibration plate; 802, exciter; 803, vibration isolation spring; 804, elastic protrusion; 805, bottom spray hole; 9, rotating cover; 901, bevel gear disc; 902, rotating motor; 903, fixed platform; 1001, walking drive device. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0033] Unless otherwise defined, the technical or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which the invention belongs. The words "first", "second" and similar terms used in the patent application specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "include" or "comprise" and similar words mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0034] Specific implementation method: Combination Figure 1-3 As shown, a hydraulic massage head, the hydraulic massage head 1 comprises a nozzle 101, a U-shaped frame 102, a connecting rod 103 and a turntable 104, the nozzle 101 is rotatably installed in the U-shaped opening of the U-shaped frame 102, and is connected to the turntable 104 through the connecting rod 103 at the bottom of the U-shaped frame 102, a pressure sensor 105 is adsorbed on one side of the connecting rod 103, and the pressure sensor 105 can be deformed with the deformation of the connecting rod 103, and the nozzle 101 is connected to the liquid outlet of the variable liquid pump. A first steering servo 106 is fixed inside the nozzle 101. The output shaft of the first steering servo 106 is fixedly connected to an extension arm on one side of the U-shaped frame 102. A liquid pipe 1017 is arranged inside the extension arm on the other side of the U-shaped frame 102. The liquid pipe 1017 is connected to the nozzle 101. The liquid pipe 1017 is provided with a spiral portion 1018. The spiral portion 1018 is arranged inside the connecting rod 103. A long through hole 1031 is arranged in the connecting rod 103. The degree direction is the same as the length direction of the connecting rod 103, and the depth direction of the long through hole 1031 is parallel to the plane of the U-shaped frame 102; a bearing position 1032 and a steering gear 1033 are provided on the side where the connecting rod 103 is connected to the turntable 104, and a second steering gear 1019 is fixed inside the turntable 104, and the output shaft of the second steering gear 1019 is meshed with the steering gear 1033 of the connecting rod 103 for transmission, and the turntable 104 is coaxially rotatably connected to the bearing position 1032 of the connecting rod 103 through a bearing.

[0035] A further optimized embodiment: the pressure sensor 105 uses silicon-sapphire as a semiconductor sensitive element.

[0036] Combination Figures 4 to 6As shown: the hydraulic massage head 1 of the above embodiment is applied to a foot washing robot for the elderly, including: a massage mechanism, a sock removal mechanism 2, an electronic control unit 3, a shell 4 with an opening on the upper part, and a walking drive device 1001 located at the bottom of the shell 4.

[0037] The housing 4 includes an inner housing 402 and an outer housing 401, a liquid cavity and an equipment cavity are provided between the inner housing 402 and the outer housing 401, the liquid cavity can contain warm water for foot washing, the bottom area inside the inner housing 402 is a washing and massage area 403, a drying area 404 is provided on the upper front side of the inner housing 402, the front part of the drying area 404 is provided with an arc-shaped hot air outlet 4041, and the arc-shaped hot air outlet 4041 is connected to a hot air blower 405. When in use, after washing the feet of the elderly, the feet can be lifted up and placed in the drying area 404, and the hot air blower 405 is turned on to dry the feet.

[0038] Combination Figure 6 As shown: the massage mechanism includes a sole massage part 8 and a foot massage part 5, an outer foot massage part 6 and an ankle massage part 7 provided with a hydraulic massage head 1 as described in any one of the above embodiments, and the massage mechanism is arranged inside the inner shell 402.

[0039] Combination Figure 7 As shown, the foot massage part 5 is mainly composed of two connecting rods 103 and axially opposite hydraulic massage heads 1. The foot massage part 5 is fixed to the upper front end of the cleaning and massaging area 403 through a turntable 104'.

[0040] Combination Figure 1-3 and Figure 6 As shown: the outer foot massage part 6 is mainly composed of two hydraulic massage heads 1 respectively fixed on the left and right sides of the inner shell, and the nozzle 101 of the hydraulic massage head 1 faces the middle of the cleaning massage area 403.

[0041] Combination Figure 8 As shown: the ankle massage part 7 is mainly composed of a hydraulic massage head 1 with two connecting rods 103 axially opposed to each other, an ankle massage frame 701 is fixed to the rear side of the cleaning massage area 403, a lead screw 702 and a smooth rod are arranged in the vertical direction of the ankle massage frame 701, a threaded sleeve is arranged in the turntable 104" of the hydraulic massage head 1 and is threadedly connected with the lead screw 702, a sliding sleeve is also arranged in the turntable 104", the smooth rod is inserted into the sliding sleeve, and the lead screw 702 is connected to a lifting motor 703.

[0042] Combination Fig. 9As shown: the foot massage part 8 includes a vibration plate 801, in which an exciter 802 is fixed, and the bottom of the vibration plate 801 is connected to the inner shell 402 through a vibration isolation spring 803; the upper surface of the vibration plate 801 is provided with a plurality of columnar elastic protrusions 804, and the elastic protrusions 804 at the positions corresponding to the arches of the human body in the vibration plate 801 are higher than the elastic protrusions 804 at the corresponding heels; a bottom liquid spraying hole 805 with a nozzle facing upward is provided in the vibration plate 801, and the bottom liquid spraying hole 805 is located between the elastic protrusions 804, and the bottom liquid spraying hole 805 is connected to a liquid pump.

[0043] Combination Figure 4 and Fig.10 As shown: a rotating cover 9 is provided at the opening of the shell 4, and two rotating shafts 4011 protruding outwards are coaxially provided on the left and right sides of the outer shell 401. The rotating cover 9 is connected to the outer shell 401 rotatably around the rotating shaft 4011 with the rotating shaft 4011 as the axis, and a bevel gear plate 901 is coaxially fixed outside the rotating axis of the rotating cover 9, and a rotating motor 902 is provided at the rear side of the outer shell 401 corresponding to the bevel gear plate 901, and the output shaft of the rotating motor 902 is meshed and connected with the bevel gear plate 901 through the provided bevel gear; a fixed platform 903 is fixedly connected to the upper side of the rotating axis of the rotating cover 9, and a sock-removing mechanism 2 is provided on the upper part of the fixed platform 903, and a mounting hole connected to the sock-removing mechanism 2 is provided in the middle part of the fixed platform 903, and the sock-removing mechanism 2 includes an ankle clamping portion 201 and a toe clamping portion 202, The bottom of the ankle clamping portion 201 is an arc-shaped base 203 with a protruding middle portion, and two arc-shaped clamping walls 204 that bulge upward are provided on the left and right sides of the arc-shaped base 203. An ankle contact portion 205 is provided at the inner edge of the upper portion of the clamping wall 204, and a hook-surface Velcro is provided on the upper surface of the ankle contact portion 205. An elastic plate 206 extends obliquely upward from the front end of the arc-shaped base 203, and the top end of the elastic plate 206 is bent upward to form a toe clamping portion 202 with an S-shaped cross-section. One end of the toe clamping portion 202 is connected to the top end of the elastic plate 206 to form an elastic portion, and the other end of the S-shaped opening is a free end. The arc surface on one side of the free end contacts the upper surface of the elastic plate 206, and the bottom of the arc-shaped base 203 is threadedly connected to the mounting hole in the fixed platform 903 through a fixing screw 207.

[0044] A rolling cleaning device 406 is provided at the bottom of the outer shell 401, and a hot air outlet 407 is provided on one side of the rolling cleaning device 406. The hot air outlet 407 is connected to the hot air blower 405. Traveling drive devices 1001 are provided on both sides of the bottom of the outer shell 401, and the traveling drive device 1001 is electrically connected to the electronic control unit 3.

[0045] The electronic control unit 3 includes a controller and a human-computer interaction module, a program storage module and a power supply module which are electrically connected to the controller respectively; the pressure sensor 105, the human-computer interaction module, the program storage module are electrically connected to the signal input end of the controller; the first servo 106, the second servo 1019, the variable liquid pump, the rotary motor 902 and the travel drive device 1001 are electrically connected to the signal output end of the controller.

[0046] A further optimized embodiment: the length of the S-shaped arc of the cross section on one side of the toe clamping portion 202 is greater than the length of the S-shaped arc of the cross section on the other side.

[0047] When the hydraulic massage head is used, the liquid pipe 1017 is connected to the variable liquid pump, and the liquid with a certain ejection pressure directly acts on the desired massage area. At this time, the pressure sensor 105 can detect whether the connecting rod 103 is deformed, and send the deformation amount signal to the electronic control unit 3. The electronic control unit 3 determines the massage intensity by the deformation amount, and the user can set the massage intensity through the human-computer interaction module. The controller can control the rotation amplitude of the first servo 106 and the second servo 1019 of the hydraulic massage head 1 by reading the program of the program storage module and the control signal of the human-computer interaction interface.

[0048] When it is necessary to take off the socks, the toes of the feet are inserted into the toe clamping part 202, and the heels and ankles are placed in the ankle clamping part 201. The rotating cover 9 is rotated by controlling the rotating motor 902, and the rotating cover 9 rotates to drive the sock-taking mechanism 2 to rotate. At the same time, the walking drive device 1001 is controlled to move away from the user to achieve the purpose of taking off the socks.

[0049] The control method of the present invention is automatic control through a controller. The control circuit of the controller can be realized by simple programming by technicians in this field, which belongs to common knowledge in this field, so the present invention will not explain the control method and circuit connection in detail.

[0050] It should be understood that the above specific embodiments of the present invention are only used to illustrate or explain the principles of the present invention, and do not constitute a limitation of the present invention. Therefore, any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modifications that fall within the scope and boundaries of the appended claims, or the equivalent forms of such scope and boundaries.

Claims

1. A robot for washing and caring for the feet of the elderly, characterized in that: It comprises a massage mechanism, a sock-removing mechanism (2), an electric control unit (3), a housing (4) with an opening at the top, and a walking drive device (1001) located at the bottom of the housing (4); A rotating cover (9) is arranged at the opening of the shell (4), a fixed platform (903) is fixedly connected to the upper side of the rotating axis of the rotating cover (9), a sock-removing mechanism (2) is arranged on the upper part of the fixed platform (903), a mounting hole connected to the sock-removing mechanism (2) is arranged in the middle part of the fixed platform (903), the sock-removing mechanism (2) comprises an ankle clamping part (201) and a toe clamping part (202), the bottom of the ankle clamping part (201) is an arc-shaped base (203) with a protruding middle part, two arc-shaped clamping walls (204) protruding upward are arranged on the left and right sides of the arc-shaped base (203), and an ankle contact is arranged at the inner edge of the upper part of the clamping wall (204). The ankle contact portion (205) is provided with a hook-shaped Velcro on the upper surface, an elastic plate (206) is extended obliquely upward from the front end of the arc base (203), the top end of the elastic plate (206) is bent upward to form a toe clamping portion (202) with an S-shaped cross-section, one end of the toe clamping portion (202) is connected to the top end of the elastic plate (206) to form an elastic portion, the other end of the toe clamping portion (202) is a free end, and the arc surface on one side of the free end is in contact with the upper surface of the elastic plate (206), and the bottom of the arc base (203) is threadedly connected to the mounting hole in the fixing platform (903) through a fixing screw (207).

2. The elderly foot washing robot according to claim 1, characterized in that: The housing (4) comprises an inner housing (402) and an outer housing (401); two rotating shafts (4011) protruding outward are coaxially arranged on the left and right sides of the outer housing (401); the rotating cover (9) is rotatably connected to the outer housing (401) around the rotating shaft (4011) with the rotating shaft (4011) as the axis; a bevel gear (901) is coaxially fixed outside the rotating axis of the rotating cover (9); a rotating motor (902) is arranged at the rear side of the outer housing (401) at a position corresponding to the bevel gear (901); and the output shaft of the rotating motor (902) is meshedly connected to the bevel gear (901) via a bevel gear.

3. The elderly foot washing robot according to claim 2, characterized in that: The massage mechanism comprises a foot massage part (8), the foot massage part (8) comprises a vibration plate (801), a vibration exciter (802) is fixed in the vibration plate (801), and the bottom of the vibration plate (801) is connected to the inner shell (402) via a vibration isolation spring (803); The upper surface of the vibration plate (801) is provided with a plurality of columnar elastic protrusions (804), and the elastic protrusions (804) at positions corresponding to the human arch of the foot in the vibration plate (801) are higher than the elastic protrusions (804) at positions corresponding to the heels.

4. The elderly foot washing robot according to claim 1, characterized in that: The length of the S-shaped arc of the cross section on one side of the toe clamping portion (202) is greater than the length of the S-shaped arc of the cross section on the other side.

5. The elderly foot washing robot according to claim 1, characterized in that: The electric control unit (3) comprises a controller and a human-machine interaction module, a program storage module and a power supply module which are electrically connected to the controller respectively; the human-machine interaction module and the program storage module are electrically connected to the signal input terminal of the controller.

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