Automatic head washing robot

Abstract

The invention discloses an automatic hair washing robot. The automatic hair washing robot comprises a scalp washing arm, a back neck washing device, a long hair washing device and a washing table. The scalp cleaning arms, the back neck cleaning device and the long hair cleaning device are all located in the cleaning table, the back neck cleaning device is fixed to the foremost end in the cleaning table, the scalp cleaning arms are located on the two sides in the cleaning table respectively, and the long hair cleaning device is located at the rear end in the cleaning table. The scalp cleaning arm comprises a rotating part, a track part, a rocker, a connecting rod, a transmission shaft, a rotating shaft, an end effector, a four-rod mechanism driving motor and a water spraying pipeline. The back neck cleaning device comprises a shell, a support, a water spraying pipeline, a massage head and a massage head driving motor. And the long hair cleaning device comprises a sliding main body, a transmission shaft, a cleaning convex plate and a driving motor. The cleaning table comprises a cleaning table body, a lead screw and a guide rod.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robots, and particularly relates to an automatic hair washing robot. BACKGROUND

[0002] Regular hair washing is extremely important for improving the quality of life, preventing hair problems and ensuring physical health, but in the context of population aging, social development and increasing work pressure, regular and meticulous hair washing is becoming more and more difficult. In addition, for special groups such as patients with difficulty in moving, it is also difficult for them to wash their hair independently. In this context, various structures of automatic hair washing machines have been developed to solve such problems.

[0003] In the beginning, the automatic hair washing robot uses a direct water flushing method to clean. The first generation of automatic hair washing robots does not have direct contact with the target object, but only sprays water from the water outlet on the swing arm and the fixed arm to clean the hair of the target object. The design and manufacture are simple, but the cleaning effect is relatively poor due to the lack of direct contact. In order to improve the cleaning effect, the next generation of automatic hair washing robots began to use a contact cleaning method. By using a massage head made of soft materials such as rubber to rub the scalp of the target object, and supplemented by water flushing, the cleaning effect can be greatly improved. However, based on different activities of the massage head, different technical routes of the automatic hair washing robot have been developed. One type of automatic hair washing robot is based on a helmet structure, and some cleaning massage heads and water outlets are installed on the inner surface of the helmet. By directly placing the user's head in the helmet, the scalp can be cleaned more comprehensively. Another type of automatic hair washing robot is equipped with massage heads on a mechanical hand, and the movement of the massage heads is driven by the movement of the mechanical hand. Although the helmet type automatic hair washing robot has a relatively simple structure, the massage claws are fixed on the inner wall of the helmet, and can only perform simple rotation. Therefore, this type of automatic hair washing robot can only be used for some users with specific head shapes and head circumferences, and its applicability is relatively low. The massage mechanical hand type automatic hair washing robot has better adaptability than the helmet type. However, some massage mechanical hand type automatic hair washing robots, although greatly improving the applicability, still cannot clean the scalp of the target user comprehensively, and many automatic hair washing robots lack consideration for long hair users, excluding them from the target users. SUMMARY

[0004] The purpose of the present application is to solve the above problems, and to provide an automatic hair washing robot with strong applicability, which can meet the needs of users with different head shapes and head circumferences, and can also meet the needs of long hair users, while ensuring comprehensive cleaning of the scalp of the target user.

[0005] In order to solve the above problems, the technical scheme of the present application is: an automatic head washing robot, comprising a scalp washing arm, a back neck washing device, a long hair washing device and a washing table. The scalp washing arm, the back neck washing device and the long hair washing device are all located inside the washing table, the back neck washing device is fixed to the front end inside the washing table, the scalp washing arm is located on both sides of the inside of the washing table and is connected through bearings. The long hair washing device is located at the rear end inside the washing table and is connected through a lead screw. The scalp washing arm comprises a rotating part, a track part, a rocker, a connecting rod, a transmission shaft, a rotating shaft, an end effector, a four-bar mechanism driving motor and a water spraying pipeline. The back neck washing device comprises a shell, a support, a water spraying pipeline, a massage head and a massage head driving motor. The long hair washing device comprises a sliding main body, a transmission shaft, a washing protruding plate and a driving motor. The washing table comprises a washing table main body, a lead screw and a guide rod.

[0006] Preferably, the rotating part is connected to one end of the track part through the rotating shaft, so that the track part can rotate within a certain range, so that the end effector on the track part can approach or move away from the scalp of the target object.

[0007] Preferably, the four-bar mechanism driving motor is fixed in the rotating part through bolts, and an opening is left above the rotating part for placing the four-bar mechanism driving motor; the transmission shaft is connected to the rotating part through bearings; the four-bar mechanism driving motor and the transmission shaft are placed in parallel, the gear connected to the motor shaft of the four-bar mechanism driving motor and the gear on the transmission shaft are engaged with each other, so that the four-bar mechanism driving motor can drive the transmission shaft to rotate.

[0008] Preferably, the transmission shaft and the rocker are fixedly connected, so that the transmission shaft can drive the rocker to rotate within a certain angle range.

[0009] Preferably, the two ends of the connecting rod are provided with cylinders for rotating connection with the track part and the rocker; the two connecting rods are placed in parallel and are connected to the track part and the rocker respectively. On this basis, the track part, the rotating part, the rocker and the connecting rod form a four-bar mechanism for controlling the track part to approach or move away from the scalp of the target object.

[0010] Preferably, the end effector comprises a track car, track car wheels, a track car driving motor, a rotating shaft, a massage support, a massage driving motor, a massage claw and a water spraying pipeline.

[0011] Preferably, the track car wheels are evenly distributed on both sides of the track car, with three on each side.

[0012] Preferably, among the track car wheels, one is close to the upper side for contacting with the upper track, and two are close to the lower side for contacting with the lower track. The up-down distribution of the track car wheels is used to make the track car run stably on the track in various postures.

[0013] Preferably, the track vehicle and the massage support are connected by a rotating shaft for passively adapting to the changing angle between the target object's head and the end effector.

[0014] Preferably, the left and right wing plates of the massage support are at an angle for adapting to the curvature of the target object's head, so that the massage claws can better fit the target object's scalp.

[0015] Preferably, each of the left and right wing plates of the massage support is provided with a massage driving motor and two massage claws, and the massage driving motor and the massage claws are connected by gear engagement for rotating the massage claws within a certain angle range.

[0016] Preferably, the two transmission shafts of the long hair cleaning device are parallelly arranged between the sliding main body and the sliding main body top cover for facilitating the disassembly and assembly of the transmission shafts; the two transmission shafts are connected with the left and right cleaning convex plates, respectively; the end face of the cleaning convex plate towards the inside is provided with regular and interlaced protrusions for rubbing the target user's down-hanging long hair.

[0017] Preferably, the two transmission shafts of the long hair cleaning device are connected by gear engagement for transmission; one transmission shaft is connected with the driving motor through a shaft coupling for realizing the synchronous opening and closing of the two transmission shafts by one motor, and then realizing the synchronous opening and closing of the cleaning convex plates to ensure the cleaning effect.

[0018] Preferably, the long hair cleaning device is provided with a vertical threaded hole and two vertical through holes for connecting with the lead screw and guide rod on the cleaning table to form a lead screw mechanism, thereby realizing the vertical movement of the long hair cleaning device.

[0019] Preferably, the parts of the rear neck cleaning device that contact the target object are designed as multiple planar combinations for fitting the shape of the target object's rear neck and rear lower brain while reducing the difficulty of design and manufacturing. Each planar combination corresponds to a massage head and a massage head driving motor.

[0020] The beneficial effects of the present application are: The automatic hair washing robot provided by the present application can realize the free movement of the end effector on the cleaning arm along the scalp, the close contact and relaxation of the end effector to the scalp, and the rotation of the massage head on the end effector, thereby realizing the cleaning of the upper part of the target object's scalp; can realize the rotation of the massage head on the rear neck part, thereby realizing the cleaning of the hair on the target object's rear neck part; can realize the clamping and up-down movement of the long hair cleaning device, thereby realizing the cleaning of the target object's long hair. Under the joint action of the cleaning mechanisms in each part, the automatic cleaning robot can realize the omnidirectional cleaning of the target object's scalp.

[0021] The automatic hair washing robot provided by the application designs a water spraying pipeline on the massage head, and when washing the scalp of the target object, the shampoo can be sprayed by the water spraying pipeline first, then the scalp is rubbed and massaged, and then the clean water is sprayed by the water spraying pipeline to wash, so that the integration of the three functions of water flushing, rubbing the scalp and applying shampoo is realized. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a principle schematic diagram of an automatic hair washing robot of the application; Figure 2 is a structure schematic diagram of a scalp washing arm in the application; Figure 3 is a structure schematic diagram of an end effector of the scalp washing arm in the application; Figure 4 is a structure schematic diagram (cross-sectional view) of a back neck washing device in the application; Figure 5 is a structure schematic diagram of a long hair washing device in the application; Figure 6 is a structure schematic diagram of a washing table in the application; Figure 7 is a use principle schematic diagram of the application.

[0023] Mark explanation: 1, scalp washing arm; 2, washing table; 3, back neck washing device; 4, long hair washing device; 5, track component; 6, end effector; 7, water spraying pipeline; 8, connecting rod; 9, rocker; 10, transmission shaft; 11, four-bar mechanism driving motor; 12, rotating component; 13, rotating shaft; 14, track car; 15, track car wheel; 16, track car driving motor; 17, water spraying pipeline; 18, massage claw; 19, massage support; 20, massage driving motor; 21, rotating shaft; 22, water spraying pipeline; 23, massage head; 24, shell; 25, support; 26, massage head driving motor; 27, transmission shaft; 28, washing lug; 29, driving motor; 30, sliding main body; 31, sliding main body top cover; 32, screw rod; 33, guide rod; 34, washing table main body; 35, water spraying pipeline. DETAILED DESCRIPTION

[0024] The application will be further described below in combination with the drawings and specific embodiments: For example, Figures 1 to 6As shown, the automatic head washing robot provided by the present application comprises a scalp washing arm 1, a back neck washing device 3, a long hair washing device 4 and a washing table 2. The scalp washing arm 1, the back neck washing device 3 and the long hair washing device 4 are all located inside the washing table 2, the back neck washing device 3 is fixed to the front end inside the washing table 2, the scalp washing arm 1 is located at both sides of the washing table 2 inside and connected through bearings. The long hair washing device 4 is located at the rear end inside the washing table 2 and connected through a lead screw. The scalp washing arm 1 comprises a rotating part 12, a track part 5, a rocker 9, a connecting rod 8, a transmission shaft 10, a rotating shaft 13, an end effector 6, a four-bar mechanism driving motor 11 and a water spraying pipeline 7. The back neck washing device comprises a shell 24, a support 25, a water spraying pipeline 22, a massage head 23 and a massage head driving motor 26. The long hair washing device 4 comprises a sliding main body 30, a transmission shaft 27, a washing protruding plate 28 and a driving motor 29. The washing table 2 comprises a washing table main body 34, a lead screw 32 and a guide rod 33.

[0025] In the embodiment, the rotating part 12 is connected with one end of the track part 5 through the rotating shaft 13, so that the track part 5 can rotate within a certain range, and the end effector 6 on the track part 5 can be close to or away from the scalp of the target object.

[0026] The four-bar mechanism driving motor 11 is fixed in the rotating part 12 through bolts, and an opening is left above the rotating part 12 for placing the four-bar mechanism driving motor 11; the transmission shaft 10 is connected with the rotating part through a bearing; the four-bar mechanism driving motor 11 and the transmission shaft 10 are placed in parallel, the gear connected with the motor shaft of the four-bar mechanism driving motor 11 and the gear on the transmission shaft are engaged with each other, so that the four-bar mechanism driving motor 11 can drive the transmission shaft 10 to rotate.

[0027] The transmission shaft 10 and the rocker 9 are fixedly connected, so that the transmission shaft 10 can drive the rocker 9 to rotate within a certain angle range.

[0028] The two ends of the connecting rod 8 are provided with cylinders for realizing rotational connection with the track part 5 and the rocker 9; the two connecting rods 8 are placed in parallel and are connected with the track part 5 and the rocker 9 respectively. On this basis, the track part 5, the rotating part 12, the rocker 9 and the connecting rod 8 form a four-bar mechanism for controlling the track part to be close to or away from the scalp of the target object.

[0029] In the embodiment, the end effector 6 comprises a track vehicle 14, track vehicle wheels 15, a track vehicle driving motor 16, a rotating shaft 21, a massage support 19, a massage driving motor 20, a massage claw 18 and a water spraying pipeline 17.

[0030] The track vehicle wheels 15 are evenly distributed on both sides of the track vehicle 14, and there are three on each side.

[0031] The upper wheel of the track vehicle 15 is close to the upper track and used to contact with the upper track. The two lower wheels of the track vehicle 15 are close to the lower track and used to contact with the lower track. The upper and lower distribution of the track vehicle 15 is used to make the track vehicle 14 run steadily on the track in various postures.

[0032] The track vehicle 14 and the massage support 19 are connected through the rotating shaft 21, which is used to passively adapt to the changing angle between the target object's head and the end effector 6.

[0033] The left and right wings of the massage support 19 are at a certain angle, which is used to adapt to the arc of the target object's head, so that the massage claws 18 can better fit the target object's scalp.

[0034] Each of the left and right wings of the massage support 19 is provided with a massage driving motor 20 and two massage claws 18. The massage driving motor 20 and the massage claws 18 are driven through the meshing of gears, which is used to realize the rotation of the massage claws 18 within a certain angle range.

[0035] In this embodiment, the two transmission shafts 27 of the long hair cleaning device 4 are parallelly placed between the sliding main body 30 and the sliding main body top cover 31, which is used to facilitate the disassembly and assembly of the transmission shaft 27. The two transmission shafts 27 are respectively connected with the left and right cleaning convex plates 28. The inner side of the convex plate 28 of the cleaning table 2 is provided with regular and interlaced protrusions, which is used to wash the target user's long hair.

[0036] The two transmission shafts 27 of the long hair cleaning device 4 are driven through the meshing of gears. One transmission shaft 27 is connected with the driving motor 29 through the shaft coupling, which is used to realize the synchronous opening and closing of the two transmission shafts driven by one motor, and then realize the synchronous opening and closing of the cleaning convex plate 28, so as to ensure the cleaning effect.

[0037] The long hair cleaning device 4 is provided with a vertical threaded hole and two vertical through holes, which are used to connect with the lead screw 32 and the guide rod 33 on the cleaning table, so as to form a lead screw mechanism, thereby realizing the vertical movement of the long hair cleaning device 4.

[0038] The water spraying pipeline 35 of the long hair cleaning device 4 is connected with the cleaning convex plate 28. The inner side of the cleaning convex plate 28 is provided with regularly distributed small holes for spraying shampoo and water.

[0039] In this embodiment, the support 25 and the shell 24 of the back neck cleaning device are designed as multiple flat combinations which are in contact with the target object, which is used to fit the shape of the target object's back neck and back lower half while reducing the difficulty of design and processing. Each flat surface corresponds to a massage head 23 and a massage head driving motor 26.

[0040] As Figure 7The figure shows the connection relationship of the application in the specific use process. The automatic hair washing robot, pressure sensor, controller, electromagnetic valve, water tank and water pump constitute the system. The pressure sensor, controller, electromagnetic valve, water tank and water pump can be the existing mature technology equipment. The controller can use single-chip microcomputer. The automatic hair washing robot, pressure sensor and electromagnetic valve for controlling water spraying are connected with the controller. The controller completes the work of receiving signals, processing information and sending signals. The pressure sensor is installed in the massage claw 18, massage head 23 and cleaning lug 28 for exploring the force of the scalp of the massage target object to adjust in time. The water tank is divided into two areas to store clean water and shampoo respectively. The two water tanks are connected with the water pump to extract clean water and shampoo in the water tank. By adjusting the electromagnetic valve, the water spraying pipe 7, water spraying pipe 17 and water spraying pipe 35 can be switched between spraying clean water and spraying shampoo.

[0041] Figure 7 The figure shows a system composed of an automatic hair washing robot, pressure sensor, controller, electromagnetic valve, water tank and water pump, which can realize the cleaning of the head of the target object. In the use process of the application, the scalp cleaning arm 1, the rear neck cleaning device 3 and the long hair cleaning device 2 clean different parts of the target object respectively. The scalp cleaning arm 1 cleans the upper half of the scalp of the target object, the rear neck cleaning device 3 cleans the lower half of the scalp at the back of the head of the target object, and the long hair cleaning device 2 cleans the long hair of the target object.

[0042] The specific working process is as follows: 1. The target object lies down with the head leaning against the rear neck cleaning device 3.

[0043] 2. The controller controls the rotation of the rotating part 12, controls the rotation of the track car driving motor 16 to make the end effector 6 move on the track, controls the rotation of the four-bar mechanism driving motor 11 within a certain angle to make the end effector 6 close to or away from the scalp of the target. The combination of the three makes the end effector 6 move along the upper half of the scalp of the target object. In the movement process of the end effector 6, the controller controls the electromagnetic valve to open, so that the water spraying pipe 17 on the end effector 6 sprays clean water to wet the hair on the upper half of the scalp of the target object. At the same time, the controller opens the electromagnetic valve, so that the water spraying pipe 22 on the rear neck cleaning device 3 sprays clean water to wet the hair on the lower half of the back of the head of the target object. At the same time, the controller controls the driving motor 29 to make the cleaning lug 28 in the close-together state, controls the rotation of the lead screw 32 on the cleaning table to make the long hair cleaning device 4 move up and down. In the process of moving up and down of the long hair cleaning device 4, the controller controls the electromagnetic valve to open, so that the water spraying pipe 35 on the long hair cleaning device 4 sprays clean water to wet the long hair of the target object.

[0044] 3. The controller switches on the solenoid valve, and the water pipes 17, 22 and 35 spray shampoo, while the end effector 6 and the long hair cleaning device 4 keep moving, ensuring that the shampoo is sprayed on the target's scalp and hair evenly.

[0045] 4. The controller switches off the solenoid valve, and the water pipes 17, 22 and 35 stop spraying water.

[0046] 5. The controller switches on the massage drive motor 20 on the end effector 6 and the massage head drive motor 26 on the long hair cleaning device 4, and the massage claws 18 on the end effector 6 and the massage head 23 on the back neck cleaning device 3 start to work, massaging the target's scalp.

[0047] 6. The controller switches off the massage claws 18 and the massage head 23, and controls the drive motor 29 of the long hair cleaning device 4 and the lead screw 32 of the cleaning platform 2, to realize the up-and-down movement of the long hair cleaning device 4 and the clamping and releasing of the cleaning tab 28. The cycle of clamping the cleaning tab 28, moving the long hair cleaning device 4 down, releasing the cleaning tab 28, and moving the long hair cleaning device 4 up, cleans the target's long hair.

[0048] 7. The controller switches on the solenoid valve, and the water pipes 17, 22 and 35 spray water, while the end effector 6 and the long hair cleaning device 4 keep moving, ensuring that the foam on the target's hair is washed away.

[0049] 8. After the cleaning, the controller switches off the solenoid valve, and the water pipes 17, 22 and 35 stop spraying water; the controller controls the scalp cleaning arm 1 to move away from the target, and the cleaning tab 28 is fully opened.

[0050] Those skilled in the art will appreciate that the embodiments described herein are presented for the purpose of aiding the reader in understanding the principles of the present application, and should be construed as not limiting the scope of the present application to such specific recitations and embodiments. Those skilled in the art can make various other specific modifications and combinations according to the technical spirit disclosed in the present application without departing from the essence of the present application, and these modifications and combinations are still within the scope of the present application.

Claims

1. An automatic hair washing robot, characterized in that: The device includes a scalp cleaning arm (1), a cleaning table (2), a nape cleaning device (3), and a long hair cleaning device (4). The scalp cleaning arm (1), the nape cleaning device (3), and the long hair cleaning device (4) are all located inside the cleaning table (2). The nape cleaning device (3) is fixed at the front end inside the cleaning table (2), and the scalp cleaning arm (1) is located on both sides inside the cleaning table (2) and connected by bearings. The long hair cleaning device (4) is located at the rear end inside the cleaning table (2) and connected by a screw. The scalp cleaning arm (1) includes a rotating component (12), a track component (5), a rocker arm (9), a connecting rod (8), a drive shaft (10), a rotating shaft (13), an end effector (6), a four-bar linkage drive motor (11), and a water spray pipe (7). The nape cleaning device includes a housing (24), a bracket (25), a water spray pipe (22), a massage head (23), and a massage head drive motor (26). The long hair washing device includes a sliding body (30), a drive shaft (27), a washing convex plate (28), and a drive motor (29). The washing table (2) includes a washing table body (34), a lead screw (32), and a guide rod (33).

2. The automatic hair washing robot according to claim 1, characterized in that: The rotating component (12) is connected to one end of the track component (5) via a pivot (13), allowing the track component (5) to rotate within a certain range. The connecting rod (8) has cylinders at both ends for rotational connection with the track component (5) and the rocker arm (9). The two connecting rods (8) are placed parallel to each other and are connected to the track component (5) and to the rocker arm (9) respectively. Based on this, the track component (5), the rotating component (12), the rocker arm (9), and the connecting rod (8) form a four-bar linkage for controlling the track component (5) to move closer to or further away from the scalp of the target object.

3. The automatic hair washing robot according to claim 1, characterized in that: The end effector (6) includes a railcar (14), railcar wheels (15), railcar drive motor (16), shaft (21), massage bracket (19), massage drive motor (20), massage claw (18), and water spray pipe (17).

4. The automatic hair washing robot according to claim 1, characterized in that: The railcar wheels (15) are evenly distributed on both sides of the railcar (14), with three on each side. Of the railcar wheels (15) on each side, one is closer to the top for contact with the upper rail, and two are closer to the bottom for contact with the lower rail.

5. An automatic hair washing robot according to claim 1, characterized in that: The massage bracket (19) is connected to the track vehicle (14) via a pivot (21) to passively adapt to the changing angle between the target object's head and the end effector (6). At the same time, the left and right wings of the massage bracket (19) are at a certain angle to adapt to the curvature of the target object's head, so that the massage claw (18) can better fit the target object's scalp.

6. An automatic hair washing robot according to claim 1, characterized in that: The two drive shafts (27) of the long hair cleaning device (4) are placed parallel between the sliding body (30) and the top cover (31) of the sliding body to facilitate the disassembly and assembly of the drive shafts (27). The two drive shafts (27) are driven by gear meshing. One drive shaft (27) is connected to the drive motor (29) through a coupling to realize that one motor drives the two drive shafts to open and close synchronously, thereby realizing the synchronous opening and closing of the cleaning convex plate (28) and ensuring the cleaning effect.

7. An automatic hair washing robot according to claim 1, characterized in that: The long hair washing device (4) has regular and interlaced protrusions on the inner end face of the washing plate (28) for washing the long hair of the target user. Small holes connected to the water spray pipe (25) are regularly distributed in the gaps between the protrusions for spraying shampoo and clean water.

8. An automatic hair washing robot according to claim 1, characterized in that: The long hair washing device (4) has a vertical threaded hole and two vertical through holes for connecting with the lead screw (32) and guide rod (33) on the washing table to form a lead screw mechanism, thereby realizing the vertical movement of the long hair washing device (4).

9. An automatic hair washing robot according to claim 1, characterized in that: The support (25) and housing (24) of the back neck cleaning device are designed to fit the target object by combining multiple planes, which reduces the difficulty of design and manufacturing while conforming to the shape of the back of the neck and the lower half of the back of the head. Each plane corresponds to a massage head (23) and a massage head drive motor (26).

Images