Integrated bathing massage device

Abstract

The present invention relates to an integrated bathing and massaging device, which comprises a protective cover unit, an integrated driving unit, a movable bathing bed unit and a bathtub unit. The integrated driving unit, the movable bathing bed unit and the bathtub unit are all arranged in the protective cover unit. The movable bathing bed unit is arranged in the bathtub unit through a base, and the movable bathing bed unit adopts a parallel four-bar parallel mechanism. The bathing bed can be lifted and lowered and its pitch posture can be changed by inflating and deflating an inflatable airbag. The integrated driving unit is arranged on one side of the bathtub unit, and a collaborative robot is arranged in the integrated driving unit. The collaborative robot has a large working space and can reach various parts of the user, meeting the user's various needs such as massage, scrubbing, fingertip cleaning and cupping, further improving the user's comfort level during bathing, and has the advantages of being simple, practical, convenient and quick to operate, etc.

Description

Technical Field

[0001] The invention belongs to the technical field of health care appliances, and in particular relates to an integrated bathing and massaging device. Background Art

[0002] It has become an urgent need to increase the training of nursing talents and expand the scale of nursing institutions to better meet the needs of elderly people with disabilities and dementia. In health and nursing institutions, the regular and clean care of the elderly and these special groups has become a difficult problem, and there is a huge gap in the market demand for bathing devices that help the elderly with automatic cleaning and care.

[0003] Chinese Patent 202110350499.9 discloses a comprehensive cleaning bathing robot, which adds a linear module and a corresponding robotic arm exposed to a humid working environment to the bed frame of a nursing bed. The robotic arm has a single function and is divided into two at the end, which is not very practical. It can meet the user's needs for scrubbing, but cannot provide services such as bathing and massage, and does not take the user's privacy into consideration; Chinese Patent 202010659105.3 discloses an intelligent voice interactive fully automatic bathing machine, which uses an assisted standing bathing method. Some disabled elderly people and some patients cannot use the automatic bathing machine normally. Therefore, a fully automatic bathing and massage device that meets the needs of specific groups of people is urgently needed to be developed. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides an integrated bathing massage device. By arranging a collaborative robot, it can meet the user's various needs such as massage, scrubbing, fingertip cleaning and cupping. At the same time, a movable bathing bed is arranged in the bathtub. By inflating the inflatable airbag, the movable bathing bed can be raised, lowered, and changed into a supine or prone state. It can be adjusted at any time according to the user's needs, thereby further improving the user's comfort level during bathing. It has the advantages of practicality, convenience and quickness in operation, etc.

[0005] The technical solution adopted by the present invention is an integrated bathing and massaging device, which includes a protective cover unit, an integrated drive unit, a movable bathing bed unit and a bathtub unit. The integrated drive unit, the movable bathing bed unit and the bathtub unit are all arranged in the protective cover unit, and the movable bathing bed unit is arranged in the bathtub unit through a base. The movable bathing bed unit includes a base, a head airbag, a waist airbag, a parallel four-bar parallel mechanism and an upper platform. The base is fixed in the bathtub of the bathtub unit, and the parallel four-bar parallel mechanism is arranged between the base and the upper platform. A waterproof upper plate and a waterproof lower plate are arranged on the upper platform, and the rear end of the waterproof upper plate is connected to the waterproof The front end of the underwater plate is rotatably connected, the waterproof upper plate and the waterproof lower plate are both provided with mattresses, and a headrest is provided on the front end of the mattress on the waterproof upper plate, the head airbag and the waist airbag are symmetrically arranged on both sides of the waterproof upper plate and the waterproof lower plate, respectively, and the head airbag is located between the waterproof upper plate and the bathtub, and the waist airbag is located between the upper platform and the bathtub; the bathtub unit includes a bathtub, a limiting partition and a tool rack, handles are provided on both sides of the bathtub, and the limiting partition is provided at the rear end of the bathtub, the limiting partition divides the bathtub into a bathing area and a bathing massage tool exchange area, and the tool rack is provided in the bathing massage tool exchange area , an electrically controlled water inlet hole, an electrically controlled drain hole, a bathing temperature sensor and a liquid level sensor, and the tool rack is provided with a plurality of cupping cups, a quick-change head self-cleaning device and a plurality of quick-change heads for bathing and massage tools; the integrated drive unit is arranged on one side of the bathtub unit, and the integrated drive unit comprises a base, a linear module, a drag chain and a collaborative robot, the back of the base is provided with a first mounting groove and a second mounting groove, and a circulating water heater, a water pump, an air pump, a heater chassis, an ozone generator and a collaborative robot electrical control box are arranged in sequence in the first mounting groove, the water outlet of the circulating water heater is connected to the electrically controlled water inlet hole on the bathtub through a water pipe, and the water inlet of the water pump is connected to the The water outlet of the circulating water heater is connected, and the water outlet of the water pump is respectively connected to the water inlet on the water pipe on the side of the collaborative robot and the water inlet of the quick-change head self-cleaning device through a water pipe, the air outlet of the air pump is respectively connected to the air inlet of the head airbag, the waist airbag and the bathing container at the end of the collaborative robot through an air pipe, the ozone generator is connected to the bathtub through an air pipe, the linear module is arranged on the side wall of the second mounting groove, and the drag chain is arranged on the linear module, the collaborative robot is slidably arranged on the L-shaped platform of the base, and the collaborative robot can realize linear reciprocating movement along the L-shaped platform through the linear module.

[0006] Furthermore, the protective cover unit includes a protective cover shell, an embedded LCD display screen, a warm air conditioner, a stereo laser camera, a warm lamp, an array microphone, a voice integration module, a master control display screen and a thermal insulation curtain. The LCD display screen is embedded in the rear side wall of the protective cover shell, and a removable door is provided on the rear side wall of the protective cover shell, and the removable door is located on the back of the LCD display screen, and the warm lamp is embedded in the middle of the top of the protective cover shell, the warm air conditioner is symmetrically embedded in both sides of the warm lamp and is connected to the heater chassis through a pipe, and the stereo laser camera is arranged between the warm air conditioner and the warm lamp, the array microphone is symmetrically embedded in the upper end of the front arm of the protective cover shell, and the voice integration module is provided below the array microphone, the master control display screen is arranged on the outer side wall of the protective cover shell, and the thermal insulation curtain is arranged at the opening of the protective cover shell.

[0007] Furthermore, the upper end of the head airbag abuts against the bottom of the waterproof upper plate, and the lower end of the head airbag abuts against the bottom of the bathtub, the upper end of the waist airbag abuts against the bottom of the upper platform, and the lower end of the waist airbag abuts against the bottom of the bathtub.

[0008] Preferably, the parallel four-bar parallel mechanism includes a left branch, an intermediate platform and a right branch, the left branch and the right branch are arranged at both ends of the intermediate platform, and the left branch and the right branch both include an upper connecting rod and a lower connecting rod, the first end of the upper connecting rod is rotatably connected to the upper platform, and the second end of the upper connecting rod is rotatably connected to the front end of the intermediate platform and the first end of the lower connecting rod, and the second end of the lower connecting rod is rotatably connected to the base, and the parallel four-bar parallel mechanism can be unfolded and folded by inflating and deflating the waist airbag.

[0009] Furthermore, the electrically-controlled water inlet hole includes two electrically-controlled water inlet holes, and the two electrically-controlled water inlet holes and the bathing temperature sensor are both arranged on the rear wall of the bathing massage tool exchange area in the bathtub, and the bathing temperature sensor is located between the two electrically-controlled water inlet holes, the electrically-controlled drain hole is arranged at the bottom of the bathing massage tool exchange area, and the liquid level sensor is arranged on the left side wall of the bathing massage tool exchange area.

[0010] Preferably, the tool rack is fixed above the rear side wall of the bathing and massage tool exchange area, and the upper end surface of the tool rack is provided with a mounting groove, in which a plurality of cupping cups are evenly distributed, and a quick-change head self-cleaning device and a plurality of bathing and massage tool quick-change heads are fixedly provided on the side of the tool rack through a quick-change head bracket, and the plurality of bathing and massage tool quick-change heads include a massage quick-change head, a bath scrubbing quick-change head, a cupping quick-change head, a bathtub cleaning quick-change head and a finger cleaning quick-change head, and the plurality of bathing and massage tool quick-change heads can realize the rapid replacement of different bathing and massage tools.

[0011] Furthermore, the collaborative robot is a six-degree-of-freedom robot, and a water outlet temperature sensor, a camera and a bathing container are provided at the end of the collaborative robot.

[0012] Preferably, the lower plane of the linear module is arranged to be inclined from the middle to both ends, so that water droplets splashed into the linear module during bathing can flow out through the lower plane of the linear module, and a heater is provided in the linear module, which can evaporate and dry the water droplets splashed into the linear module during bathing, so that the linear module is always in a dry state.

[0013] The characteristics and beneficial effects of the present invention are:

[0014] 1. The present invention provides an integrated bathing and massage device, in which a collaborative robot is provided on one side of the bathtub. The collaborative robot has the advantages of large working space, light weight, and easy control. When bathing, the collaborative robot can reach various parts of the user's body. At the same time, the robot can also be controlled to move various bathing and massage tools to the top of the tool rack and insert them into the corresponding quick-change heads. Then, with the assistance of machine vision, the collaborative robot can meet the user's various needs such as massage, scrubbing, fingertip cleaning and cupping, which is conducive to the cleaning of various parts of the user's body and the relaxation of the whole body.

[0015] 2. The present invention provides an integrated bathing and massage device, in which a movable bathing bed is arranged in the bathtub. The movable bathing bed unit adopts a parallel four-bar parallel mechanism. The movable bathing bed can be raised and lowered and its pitch posture can be changed by inflating the inflatable airbag. It can be adjusted at any time according to the needs of the user, thereby further improving the user's comfort during bathing.

[0016] 3. The present invention provides an integrated bathing and massage device. The user can turn on the bathing mode through the voice integrated module or the master control display screen, and the circulating water heater inputs water of the temperature required by the user into the bathtub through the water inlet. When the water level triggers the liquid level sensor, the water supply is stopped. At the same time, a headrest is provided on the mattress, so the user's head will not be submerged in water during bathing, which provides protection for the user's safety.

[0017] 4. The present invention provides an integrated bathing and massage device, in which the protective cover shell adopts a semi-enclosed design, which protects the privacy of the user during bathing and can avoid the overflow of water vapor during bathing. At the same time, the user can watch movies through the CNC display screen. In addition, the warm air conditioner above the protective cover shell can quickly dry the user's whole body, meeting the user's needs for quick drying after bathing, which is conducive to increasing the user's experience during bathing. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention in a prone bathing and massaging state;

[0019] Figure 2 It is a schematic diagram of the overall structure of the present invention in a supine bathing and massaging state;

[0020] Figure 3 It is a structural schematic diagram of the protective cover unit of the present invention;

[0021] Figure 4 is a half-section schematic diagram of a protective cover unit of the present invention;

[0022] Figure 5 It is a structural schematic diagram of a movable bathing bed unit of the present invention;

[0023] Figure 6 is a schematic structural diagram of a bathtub unit of the present invention;

[0024] Figure 7 is a schematic structural diagram of an integrated drive unit of the present invention;

[0025] Figure 8 It is a structural schematic diagram of the linear module of the present invention;

[0026] Fig. 9 It is a schematic diagram of the automatic control system of the present invention;

[0027] Fig.10 It is a schematic diagram of the control method of the present invention.

[0028] Main reference numerals:

[0029] Protective cover unit 001; protective cover shell 100; LCD digital control display screen 101; warm air conditioner 102; stereo laser camera 103; warm light 104; array microphone 105; voice integration module 106; master control display screen and thermal insulation curtain 108; integrated drive unit 002; base 200; first installation slot 2001; second installation slot 2002; circulating water heater 201; water pump 202; air pump 203; heater chassis 204; ozone generator 205; collaborative robot electric control box 206; linear module 207; drag chain 208; collaborative robot 214; bathing container 216; movable bathing bed unit 003; base 300; head airbag 301; waist airbag 302; parallel four-bar parallel mechanism 303; left Branch 3031; middle platform 3032; right branch 3033; upper connecting rod 30311; lower connecting rod 30312; waterproof upper plate 304; waterproof lower plate 305; mattress 306; headrest 307; upper platform 308; bathtub unit 004; bathtub 401; bathing area 4011; bathing and massage tool exchange area 4012; electric-controlled water inlet hole 402; electric-controlled drain hole 403; bathing temperature sensor 404; liquid level sensor 405; limiting partition 406; tool rack 407; handle 408; cupping body 409; quick-change head bracket 410; quick-change head self-cleaning device 411; massage quick-change head 412; scrubbing quick-change head 413; cupping quick-change head 414; bathtub cleaning quick-change head 415; finger cleaning quick-change head 416. DETAILED DESCRIPTION

[0030] In order to fully describe the technical content, structural features, objectives and effects of the present invention, the following will be described in detail with reference to the accompanying drawings.

[0031] The present invention provides an integrated bathing and massaging device, such as Figure 1 and Figure 2 As shown, it includes a protective cover unit 001, an integrated drive unit 002, a movable bathing bed unit 003 and a bathtub unit 004, wherein the integrated drive unit 002, the movable bathing bed unit 003 and the bathtub unit 004 are all arranged in the protective cover unit 001, and the movable bathing bed unit 003 is arranged in the bathtub unit 004 through the base 300, and the integrated drive unit 002 is arranged on one side of the bathtub unit 004.

[0032] like Figure 3 and Figure 4As shown, the protective cover unit 001 includes a protective cover shell 100, an embedded liquid crystal numerical control display screen 101, a warm air conditioner 102, a stereo laser camera 103, a warm light 104, an array microphone 105, a voice integration module 106, a master control display screen and a thermal insulation curtain 108. The liquid crystal numerical control display screen 101 is embedded in the rear side wall of the protective cover shell 100, which is conducive to the user's viewing experience while bathing and enhances the user's experience during the bathing process. A detachable door is provided on the rear side wall of the protective cover shell 100. The detachable door is located on the back of the liquid crystal numerical control display screen 101, and the line setting and maintenance of the liquid crystal numerical control display screen 101 can be realized. The warm light 104 is embedded in the middle of the top of the protective cover shell 100, and the bathroom can be illuminated during bathing. The warm air conditioner 102 is symmetrically embedded in both sides of the heating lamp 104 and connected to the heater chassis 204 through a pipe, which can control the temperature inside the device and ensure that the user's body is dry at the end of bathing. The stereo laser camera 103 is arranged between the heating air conditioner 102 and the heating lamp 104 to provide visual acquisition support for the entire device. The array microphone 105 is symmetrically embedded in the upper end of the front arm of the protective cover shell 100, and a voice integration module 106 is provided under the array microphone 105 to realize the user's voice collection and voice playback. The master control display screen is arranged on the outer wall of the protective cover shell 100, which is convenient for the operator to control the overall device. The thermal insulation curtain 108 is arranged at the opening of the protective cover shell 100 and can be manually dragged to a specified position to keep the inside of the device warm.

[0033] like Figure 5As shown, the movable bathing bed unit 003 includes a base 300, a head airbag 301, a waist airbag 302, a parallel four-bar parallel mechanism 303 and an upper platform 308. The base 300 is in an I-shaped structure and is fixed in the bathtub 401 of the bathtub unit 004. A parallel four-bar parallel mechanism 303 is arranged between the base 300 and the upper platform 308. A waterproof upper plate 304 and a waterproof lower plate 305 are arranged on the upper platform 308, and the rear end of the waterproof upper plate 304 is rotatably connected with the front end of the waterproof lower plate 305. The waterproof upper plate 304 and the waterproof lower plate 305 are both provided with a mattress 306. The mattress 306 is slightly larger than the waterproof upper plate 304 and the waterproof lower plate 305 to prevent accidents such as pinching the user's hands during the experience, and a headrest 306 is arranged at the front end of the mattress 306 on the waterproof upper plate 304. 7. It can prevent the user's head from being submerged in water when taking a bath, and when the user lies prone, the headrest 307 structure is convenient for the user to breathe. The head airbag 301 and the waist airbag 302 are symmetrically arranged on both sides of the waterproof upper plate 304 and the waterproof lower plate 305, respectively, and the head airbag 301 is located between the waterproof upper plate 304 and the bathtub 401, the upper end of the head airbag 301 abuts against the bottom of the waterproof upper plate 304, and the lower end of the head airbag 301 abuts against the bottom of the bathtub 401, the waist airbag 302 is located between the upper platform 308 and the bathtub 401, the upper end of the waist airbag 302 abuts against the bottom of the upper platform 308, and the lower end of the waist airbag 302 abuts against the bottom of the bathtub 401, the head airbag 301 and the waist airbag 302 can realize the lifting and lowering of the movable bathing bed and the switching of the user's supine and sitting positions.

[0034] In a preferred embodiment, the parallel four-bar parallel mechanism 303 includes a left branch 3031, an intermediate platform 3032 and a right branch 3033. The left branch 3031 and the right branch 3033 are arranged at both ends of the intermediate platform 3032, and the left branch 3031 and the right branch 3033 both include an upper connecting rod 30311 and a lower connecting rod 30312. The first end of the upper connecting rod 30311 is rotatably connected to the upper platform 308, and the second end of the upper connecting rod 30311 is rotatably connected to the front end of the intermediate platform 3032 and the first end of the lower connecting rod 30312, and the second end of the lower connecting rod 30312 is rotatably connected to the base 300. The parallel four-bar parallel mechanism 303 can be unfolded and folded by inflating and deflating the waist airbag 302.

[0035] like Figure 6As shown, the bathtub unit 004 includes a bathtub 401, a limiting partition 406 and a tool rack 407. Handles 408 are provided on both sides of the bathtub 401 to facilitate the user to get up and enter and exit the bathtub 401. A limiting partition 406 is provided at the rear end of the bathtub 401. The limiting partition 406 separates the bathtub 401 into a bathing area 4011 and a bathing massage tool exchange area 4012, which can limit the movable bathing bed in the longitudinal direction and divide the bathing area 4011 and the bathing massage tool exchange area 4012. A tool rack 407 is provided in the bathing massage tool exchange area 4012. 7. An electrically controlled water inlet 402, an electrically controlled drain hole 403, a bathing temperature sensor 404, and a liquid level sensor 405. The electrically controlled water inlet 402 includes two electrically controlled water inlet holes 402. The two electrically controlled water inlet holes 402 and the bathing temperature sensor 404 are both arranged on the rear side wall of the bathing massage tool exchange area 4012 in the bathtub 401, and the bathing temperature sensor 404 is located between the two electrically controlled water inlet holes 402. The electrically controlled drain hole 403 is arranged at the bottom of the bathing massage tool exchange area 4012, and the liquid level sensor 405 is arranged at the bathing massage tool exchange area 401 2, wherein the electric-controlled water inlet hole 402 and the electric-controlled drain hole 403 are both electric switches, which are convenient for water storage and drainage of the bathtub 401. The bathing temperature sensor 404 can collect the water inlet temperature in the bathtub 401 in the first time, which is convenient for temperature control. The liquid level sensor 405 can monitor the liquid level in the bathtub 401 in real time to avoid the water level being too high. In addition, a plurality of cupping jars 409, a quick-change head self-cleaning device 411 and a plurality of quick-change heads for bathing massage tools are arranged on the tool rack 407. The tool rack 407 is fixedly arranged in the bathing massage tool exchange area 4 012, and an installation groove is provided on the upper end surface of the tool rack 407, in which a plurality of cupping cups 409 are evenly distributed, and a quick-change head self-cleaning device 411 and a plurality of quick-change heads for bathing and massage tools are fixed on the side of the tool rack 407 through a quick-change head bracket 410, and the plurality of quick-change heads for bathing and massage tools include a quick-change massage head 412, a quick-change bath head 413, a quick-change cupping head 414, a quick-change bathtub cleaning head 415 and a quick-change finger cleaning head 416, and the plurality of quick-change heads for bathing and massage tools can realize the rapid replacement of different bathing and massage tools.

[0036] like Figure 7 and Figure 8As shown, the integrated drive unit 002 includes a base 200, a linear module 207, a drag chain 208 and a collaborative robot 214. The back of the base 200 is provided with a first mounting groove 2001 and a second mounting groove 2002, and the first mounting groove 2001 is provided with a circulating water heater 201, a water pump 202, an air pump 203, a heater chassis 204, an ozone generator 205 and a collaborative robot electric control box 206 in sequence. The circulating water heater 201 is arranged on one side of the first mounting groove 2001 and is connected by an external water pipe. The water outlet of the circulating water heater 201 is connected to the electrically controlled water inlet hole 402 on the bathtub 401 through a water pipe, so that hot water is passed into the bathtub 401. The water pump 202 is arranged at the circulating water heater 201. One side of the water pump 202, and the water inlet of the water pump 202 is connected to the water outlet of the circulating water heater 201, the water outlet of the water pump 202 is respectively connected to the water inlet on the side water pipe of the collaborative robot 214 and the water inlet of the quick-change head self-cleaning device 411 through a water pipe, the air pump 203 is arranged on one side of the water pump 202, and the air outlet of the air pump 203 is respectively connected to the head airbag 301, the waist airbag 302 and the air inlet of the bathing container 216 at the end of the collaborative robot 214 through an air pipe, the ozone generator 205 is arranged on one side of the air pump 203, and the ozone generator 205 is connected to the bathtub 401 through the air pipe. When bathing is finished and disinfected, it is introduced into the bathtub 401 through the air pipe to achieve all-round disinfection of the bathtub 401, and the collaborative robot electric The control box 206 is located on one side of the ozone generator 205 and is used to control the movement of the collaborative robot 214. The linear module 207 is arranged on the side wall of the second mounting groove 2002. The lower plane of the linear module 207 is arranged tilted from the middle to both ends, so that the water droplets splashed into the linear module 207 during bathing can flow out through the lower plane of the linear module 207, and the linear module 207 is provided with a heater, which can evaporate and dry the water droplets splashed into the linear module 207 during bathing, so that the linear module 207 is always in a dry state, and the drag chain 208 is arranged on the linear module 207. The collaborative robot 214 is slidably arranged on the L-shaped platform of the base 200, and the L-shaped platform is provided with pulleys for easy movement of the collaborative robot 214. It also plays the role of supporting the collaborative robot 214, and the collaborative robot 214 can realize linear reciprocating movement along the L-shaped platform through the linear module 207. The collaborative robot 214 has a larger working space, and the collaborative robot 214 has the advantages of lightweight, friendliness, good perception, human-machine collaboration, etc., which makes the robot easier to control and improves safety. At the same time, the surface and joints of the robot are smooth and flat, without sharp corners or gaps that can easily pinch the human body. It can sense the surrounding environment and change its own movement behavior according to changes in the environment. It has sensitive force feedback characteristics and will stop immediately when the set force is reached. After risk assessment, there is no need to install a protective fence, so that people and robots can work together.

[0037] In a preferred embodiment, the collaborative robot 214 adopts a six-degree-of-freedom robot. A water pipe is fixed to the collaborative robot 214 by a buckle and can be used for flushing during bathing. A water outlet temperature sensor, a camera and a bathing container 216 are provided at the end of the collaborative robot 214. The water outlet temperature sensor can measure the water outlet temperature of the water pipe in real time, and the camera can realize visual acquisition of the collaborative robot 214.

[0038] like Fig. 9 As shown, the intelligent bathing and massage device uses an industrial control computer to perform integrated control on the bathing robot. Among them, the input signals of the liquid level sensor 405, the array microphone 105, the temperature sensor 404, and the temperature sensor 215 are collected by the acquisition card, and after being converted by the industrial computer, the controller sends out output signals to respectively control the electric control drain hole 403, the electric control water inlet hole 402, the ozone generator 205, the liquid crystal numerical control display screen 101, the stereo laser camera 103, the warm light 104, the voice integration module 106, and the water heater 201. On the other hand, the controller sends out output signals to respectively control the heater 213, the linear module 207, the collaborative robot 214, the air pump 203, the water pump 202, and the warm air conditioner 102 through the motor driver.

[0039] like Fig.10 As shown, the intelligent bathing and massage device uses torque control to control the motor, and its torque control method is: a given signal for each bath is input into the controller, the controller converts the corresponding signal into a corresponding analog signal and sends it to the motor driver, the motor driver then converts the analog voltage signal into a corresponding torque signal and sends it to the motor, and the motor rotates according to the specified torque; the motor acts on the actuator to adjust the actual liquid level; and the liquid level sensor 405 and the temperature sensor feed back the actual liquid level to the controller to form a closed-loop control circuit.

[0040] The specific operation steps of the present invention are as follows:

[0041] like Figures 1 to 10 As shown, an integrated bathing and massaging device of the present invention comprises a protective cover unit 001, an integrated driving unit 002, a movable bathing bed unit 003, and a bathtub unit 004. The integrated driving unit 002, the movable bathing bed unit 003, and the bathtub unit 004 are centrally arranged inside the protective cover unit 001, the movable bathing bed unit 003 is located in the bathtub unit 004, and the integrated driving unit 002 is located on one side of the bathtub unit 004.

[0042] When in use, before the user steps into the bathtub 401 holding the handle 408, the air pump 203 supplies air to the waist airbag 302, so that the movable bathing bed rises as a whole, which is convenient for the user to enter the bathtub 401. Then the user lies flat on the mattress 306, and the movable bathing bed descends. At this time, the movable bathing bed unit 003 is in a supine state, and the bathing is started through the voice integration module 106 or the master control display screen 1. The circulating water heater 201 inputs water of the required temperature into the bathtub 401 through the electrically controlled water inlet hole 402. When the water level triggers the liquid level sensor 405, the water intake stops. Due to the high height of the headrest 307, the user's face will not be submerged in the water. In addition, the air pump 203 supplies air to the head airbag 301, so that the waterproof upper plate 304 rises slightly, further improving the user's comfort. After the bath, the head airbag 301 is deflated, so that the movable bathing bed unit 003 returns to the supine position, and the user switches to the prone position. The collaborative robot 214 is controlled by the collaborative robot control box 206 to move various bathing and massage tools to the top of the tool rack 407 and insert them into the corresponding quick-change heads, thereby meeting the user's various needs such as massage, scrubbing, fingertip cleaning and cupping, which is beneficial to the cleaning of all parts of the user's body and the relaxation of the whole body. Finally, the warm air conditioner 102 on the protective cover unit 001 blows air to dry the user's whole body.

[0043] The embodiments described above are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An integrated bathing and massaging device, characterized in that: It includes a protection cover unit, an integrated drive unit, a movable bathing bed unit and a bathtub unit. The integrated drive unit, the movable bathing bed unit and the bathtub unit are all arranged in the protective cover unit, and the movable bathing bed unit is arranged in the bathtub unit through a base, the movable bathing bed unit comprises a base, a head airbag, a waist airbag, a parallel four-bar parallel mechanism and an upper platform, the base is fixed in the bathtub of the bathtub unit, and the parallel four-bar parallel mechanism is arranged between the base and the upper platform, a waterproof upper plate and a waterproof lower plate are arranged on the upper platform, and the rear end of the waterproof upper plate is rotatably connected with the front end of the waterproof lower plate, the waterproof upper plate and the waterproof lower plate are both provided with mattresses, and a headrest is arranged at the front end of the mattress on the waterproof upper plate, the head airbag and the waist airbag are symmetrically arranged on both sides of the waterproof upper plate and the waterproof lower plate, respectively, and the head airbag is located between the waterproof upper plate and the bathtub, and the waist airbag is located between the upper platform and the bathtub; The bathtub unit comprises a bathtub, a limiting partition and a tool rack, wherein the limiting partition is provided at the rear end of the bathtub, and the limiting partition divides the bathtub into a bathing area and a bathing massage tool exchange area, and the bathing massage tool exchange area is provided with the tool rack, an electrically controlled water inlet hole, an electrically controlled drain hole, a bathing temperature sensor and a liquid level sensor, and the tool rack is provided with a plurality of cupping jars, a quick-change head self-cleaning device and a plurality of quick-change heads for bathing massage tools; The integrated drive unit is arranged on one side of the bathtub unit, and the integrated drive unit includes a base, a linear module, a drag chain and a collaborative robot. The back of the base is provided with a first mounting slot and a second mounting slot, and the first mounting slot is provided with a circulating water heater, a water pump, an air pump, a heater chassis, an ozone generator and a collaborative robot electric control box in sequence. The water outlet of the circulating water heater is connected to the electric control water inlet hole on the bathtub through a water pipe, the water inlet of the water pump is connected to the water outlet of the circulating water heater, and the water outlet of the water pump is connected to the collaborative The water inlet on the water pipe on the side of the robot is connected to the water inlet of the quick-change head self-cleaning device, the air outlet of the air pump is respectively connected to the head airbag, the waist airbag and the air inlet of the bathing container at the end of the collaborative robot through an air pipe, the ozone generator is connected to the bathtub through an air pipe, the linear module is arranged on the side wall of the second mounting groove, and the drag chain is arranged on the linear module, the collaborative robot is slidably arranged on the L-shaped platform of the base, and the collaborative robot can realize linear reciprocating movement along the L-shaped platform through the linear module.

2. The integrated bathing and massaging device according to claim 1, characterized in that: The protective cover unit includes a protective cover shell, an embedded LCD display screen, a warm air conditioner, a stereo laser camera, a warm lamp, an array microphone, a voice integration module, a master control display screen and a thermal insulation curtain. The LCD display screen is embedded in the rear side wall of the protective cover shell, and a removable door is provided on the rear side wall of the protective cover shell, and the removable door is located on the back of the LCD display screen, and the warm lamp is embedded in the middle of the top of the protective cover shell, the warm air conditioner is symmetrically embedded in both sides of the warm lamp and is connected to the heater chassis through a pipe, and the stereo laser camera is arranged between the warm air conditioner and the warm lamp, the array microphone is symmetrically embedded in the upper end of the front arm of the protective cover shell, and the voice integration module is provided below the array microphone, the master control display screen is arranged on the outer side wall of the protective cover shell, and the thermal insulation curtain is arranged at the opening of the protective cover shell.

3. The integrated bathing and massaging device according to claim 1, characterized in that: The upper end of the head airbag abuts against the bottom of the waterproof upper plate, and the lower end of the head airbag abuts against the bottom of the bathtub, the upper end of the waist airbag abuts against the bottom of the upper platform, and the lower end of the waist airbag abuts against the bottom of the bathtub.

4. The integrated bathing and massaging device according to claim 3, characterized in that: The parallel four-bar parallel mechanism includes a left branch, an intermediate platform and a right branch, the left branch and the right branch are arranged at both ends of the intermediate platform, and the left branch and the right branch both include an upper connecting rod and a lower connecting rod, the first end of the upper connecting rod is rotatably connected to the upper platform, and the second end of the upper connecting rod is rotatably connected to the front end of the intermediate platform and the first end of the lower connecting rod, and the second end of the lower connecting rod is rotatably connected to the base, and the parallel four-bar parallel mechanism can be unfolded and folded by inflating and deflating the waist airbag.

5. The integrated bathing and massaging device according to claim 1, characterized in that: The electrically controlled water inlet hole includes two electrically controlled water inlet holes, and the two electrically controlled water inlet holes and the bathing temperature sensor are both arranged on the rear side wall of the bathing massage tool exchange area in the bathtub, and the bathing temperature sensor is located between the two electrically controlled water inlet holes, the electrically controlled drain hole is arranged at the bottom of the bathing massage tool exchange area, and the liquid level sensor is arranged on the left side wall of the bathing massage tool exchange area.

6. The integrated bathing and massaging device according to claim 5, characterized in that: The tool rack is fixed above the rear side wall of the bathing and massage tool exchange area, and the upper end surface of the tool rack is provided with a mounting groove, and a plurality of cupping cups are evenly distributed in the mounting groove. A quick-change head self-cleaning device and a plurality of bathing and massage tool quick-change heads are fixedly provided on the side of the tool rack through a quick-change head bracket, and the plurality of bathing and massage tool quick-change heads include a massage quick-change head, a bath scrubbing quick-change head, a cupping quick-change head, a bathtub cleaning quick-change head and a finger cleaning quick-change head. The plurality of bathing and massage tool quick-change heads can realize the rapid replacement of different bathing and massage tools.

7. The integrated bathing and massaging device according to claim 1, characterized in that: The collaborative robot is a six-degree-of-freedom robot, and a water outlet temperature sensor, a camera and a bathing container are provided at the end of the collaborative robot.

8. The integrated bathing and massaging device according to claim 7, characterized in that: The lower plane of the linear module is arranged to be inclined from the middle to both ends, so that water droplets splashed into the linear module during bathing can flow out through the lower plane of the linear module, and a heater is provided in the linear module, which can evaporate and dry the water droplets splashed into the linear module during bathing, so that the linear module is always in a dry state.

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