Intelligent shampooing integrated robot

Abstract

The utility model provides intelligent head washing integrated robot, including the case, the back of case swing joint has lower lift module, the inside fixed setting of case has upper lift module, the front side fixed connection of upper lift module has the load frame of being located in the case front side top, the top of load frame is provided with multiaxis touch massage head, the both ends of multiaxia touch massage head are respectively connected through the both sides rotation of front -back movement seat and load frame, in the utility model, through setting multiaxis touch massage head and side surface multi-touch adaptive massage head, it is convenient to rub and massage the hair of the upper portion and both sides of head, through setting left corrugated rubbing plate, right corrugated rubbing plate and synchronous support, it is convenient to rub the hair, need not manual rubbing massage operation, greatly improved the efficiency of rubbing massage.

Description

Technical Field

[0001] This utility model relates to the field of hair washing equipment technology, specifically to an intelligent integrated hair washing robot. Background Technology

[0002] A shampoo robot is a device specifically designed to help people wash their hair. It typically consists of a robotic arm and a head equipped with a shampoo brush. When using it, the user needs to sit or lie on a chair and place their head on the robot's head. The robot then uses the shampoo brush to massage and clean the user's scalp and hair. Shampoo robots usually have automatic temperature and massage functions, which can be adjusted according to individual preferences and needs. This helps people clean their hair more conveniently and quickly, while also avoiding problems such as shampoo residue and cross-infection that may occur with traditional shampooing methods.

[0003] However, most existing hair washing robots are used in barbershops and are not suitable for home use. Moreover, these hair washing robots do not have blind spots for massaging the scalp, requiring users or assistants to manually massage the area afterward, which greatly reduces the efficiency of the massage. Furthermore, when washing long hair, these robots are difficult to clean thoroughly, or they can easily cause the hair to become tangled, resulting in poor cleaning effects for long hair.

[0004] Therefore, this utility model provides an intelligent hair washing robot. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide an intelligent hair washing robot to solve the problems mentioned in the background. This utility model has the advantages of thoroughly washing, rubbing and massaging the hair, and also has the advantage of preventing hair from getting tangled during rubbing and washing, which greatly improves the effect and efficiency of hair washing.

[0006] To achieve the above objectives, this utility model is implemented through the following technical solution: an intelligent integrated hair washing robot, including a chassis, a lower lifting module movably connected to the back of the chassis, an upper lifting module fixedly installed inside the chassis, a support frame fixedly connected to the front of the upper lifting module and located above the front of the chassis, a multi-axis tactile massage head installed above the support frame, the two ends of the multi-axis tactile massage head being rotatably connected to the sides of the support frame via front and rear movable seats, and side multi-tactile adaptive massage heads installed on both sides of the support frame, a synchronous bracket movably connected to the back of the upper lifting module, the synchronous bracket including two synchronous rotating shafts, one and two, respectively located on both sides of the upper lifting module, one end of the synchronous rotating shafts being connected to a left corrugated kneading plate and a right corrugated kneading plate located parallel to the front of the chassis, the left corrugated kneading plate being parallel to the front of the chassis, a protective cover fixedly installed on the top of the chassis outside the support frame, and a negative ion hair dryer installed on the top of the protective cover.

[0007] Furthermore, the multi-axis tactile massage head includes a connecting rod bracket, two parallel locking plates located on one side of the connecting rod bracket, and a row of shaft-connected silicone tactile modules located on one side of the locking plates. The two ends of the connecting rod bracket are rotatably connected to the adjacent front and rear moving seats. One end of the shaft-connected silicone tactile module is provided with a silicone head. The locking plates can move laterally relative to the connecting rod bracket.

[0008] Furthermore, corner seats are fixedly connected to both ends of the connecting rod bracket, and the front and rear movable seats include a connecting plate. A support tube that is rotatably connected to one side of the connecting plate and the middle of one side of the adjacent corner seat is fixedly connected. A stepper motor is fixedly connected inside one of the corner seats. A small gear located on one side of the adjacent support tube is fixedly connected to the output shaft of the stepper motor. A large gear that meshes with the small gear is fixedly sleeved on the support tube.

[0009] Furthermore, a motor is fixedly connected to the other side of the connecting rod bracket via a support plate. A lever plate is rotatably connected to one side of the support plate via a positioning shaft. A lever shaft is fixedly connected to the other side of one of the locking plates via an adapter plate. An eccentric shaft is fixedly connected to the output shaft of the motor via a transmission disc. One side of the lever plate has a waist-shaped hole 1 and a waist-shaped hole 2 that are adapted to the lever shaft and the eccentric shaft. A transmission rod is rotatably connected to the other side of the connecting rod bracket via a limiting shaft. A slide rail that is slidably connected to one side of the corner seat is fixedly connected to the other side of the locking plate. A transmission column is fixedly connected to one side of the slide rail. A waist-shaped hole 3 that is close to both ends and adapted to the adjacent transmission column is opened on one side of the transmission rod.

[0010] Furthermore, a pipe is fixedly connected to the other side of one of the locking plates, and two rows of spray heads are provided on the outer wall of the pipe; a comb is provided on the other side of the other locking plate.

[0011] Furthermore, the front and rear movable seat includes two short shafts distributed front and rear, and arc-shaped channels distributed front and rear are opened on both sides of the bearing frame. Bearings located in the arc-shaped channels are fixedly sleeved on the short shafts.

[0012] Furthermore, one of the front and rear movable seats is rotatably connected to a guide seat located outside the bearing frame via a connecting shaft. A lead screw and a lead sleeve are provided on the top of one side of the bearing frame. The lead sleeve is slidably connected to the top of the bearing frame via a positioning seat. A guide rod is fixedly connected to one side of the positioning seat. The guide rod and the guide seat slide vertically together. A vertical plate rotatably connected to one end of the lead screw and a stepper motor two fixedly connected to the other end of the lead screw are fixedly connected to the top of the bearing frame.

[0013] Furthermore, positioning rings are fixedly installed on both sides of the supporting frame, and a second motor is fixedly connected to the outer side of the positioning rings through a slotted frame. The side multi-touch adaptive massage head includes a positioning disk and a shaft-connected silicone touch module located on one side of the positioning disk and evenly distributed in the circumference. A silicone head is provided at one end of the shaft-connected silicone touch module, and a drive hole is opened on the other side of the positioning disk. The output shaft of the second motor is fixedly connected to an eccentric shaft two through a transmission disk two. The eccentric shaft two is sleeved in the drive hole and the two are rotatably connected.

[0014] Furthermore, the synchronous support includes a rubbing board support and a synchronous belt drive assembly located on the back of the rubbing board support. The middle part of the back of the rubbing board support is fixedly connected to the moving block on the front side of the lifting module. The other ends of the first synchronous rotating shaft and the second synchronous rotating shaft pass through the rubbing board support and are connected by the synchronous belt drive assembly.

[0015] Furthermore, the left corrugated kneading plate includes a left positioning rod and left arc-shaped teeth arranged along its length on one side of the left positioning rod. One end of the synchronous rotating shaft is rotatably connected to an adapter seat via an angle plate. One end of the adapter seat is provided with a rotating sleeve, and the other end is fixedly connected to a stepper motor. One end of the left positioning rod is sleeved in the rotating sleeve, and the two slide in cooperation. The outer wall of the rotating sleeve is fixedly connected to a motor via a base. The outer wall of the left positioning rod is fixedly connected to a waist-shaped groove plate. The output shaft end of the motor is fixedly connected to an eccentric shaft that extends into the groove of the waist-shaped groove plate via a transmission disc. The right corrugated kneading plate includes a right positioning rod and right arc-shaped teeth arranged along its length on one side of the right positioning rod. The outer peripheral wall of the right positioning rod, near one end, is fixedly connected to one end of the synchronous rotating shaft. The outer wall of the left positioning rod is fixedly connected to a row of comb teeth located on one side of the left arc-shaped teeth.

[0016] The beneficial effects of this utility model are as follows:

[0017] 1. In this utility model, by setting a multi-axis tactile massage head and a side multi-tactile adaptive massage head, it is convenient to rub and massage the hair on the upper part and sides of the head. By setting a left wavy rubbing plate, a right wavy rubbing plate and a synchronous support, it is convenient to rub the hair hanging down, eliminating the need for manual rubbing and massage operations and greatly improving the efficiency of rubbing and massage.

[0018] 2. In this utility model, the height of the multi-axis tactile massage head and the side multi-tactile adaptive massage head are easily adjusted by setting a lower lifting module, which is convenient for users of different heights to wash their hair.

[0019] 3. In this utility model, by setting a front and rear movable seat, it is convenient to perform a covering rubbing massage on the upper part of the head. By setting an upward lifting module, it is convenient to rub the hair from top to bottom, making the shampooing of this robot more comprehensive and thorough.

[0020] 4. In this utility model, the left corrugated rubbing plate and the right corrugated rubbing plate, which are respectively connected to the synchronous rotating shaft one and the synchronous rotating shaft two, have the function of interlacing combing and rubbing the hair, so that long hair will not get tangled when rubbing, and greatly improves the cleanliness and smoothness of long hair after washing. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of the intelligent hair washing robot of this utility model;

[0022] Figure 2 This is a schematic diagram of the intelligent hair washing robot of this utility model after the casing has been removed;

[0023] Figure 3 This is a right view of the transmission disc three of the intelligent hair washing robot of this utility model;

[0024] Figure 4 This is a schematic diagram of the front and rear moving base of the intelligent hair washing robot of this utility model;

[0025] Figure 5 This is a schematic diagram of the multi-axis tactile massage head of the intelligent shampooing robot of this utility model;

[0026] Figure 6 This is a schematic diagram of the structure of the intelligent hair washing robot of this utility model, showing the cooperation of the dial plate, motor, support plate and adapter plate.

[0027] Figure 7 for Figure 4 A magnified diagram of the "a" in the middle section.

[0028] In the diagram: 1. Chassis; 11. Protective cover; 2. Lower lifting module; 3. Upper lifting module; 4. Support frame; 41. Arc-shaped channel; 43. Vertical plate; 44. Positioning ring; 441. Slotted frame; 5. Multi-axis tactile massage head; 51. Linkage bracket; 511. Angle seat; 52. Locking plate; 521. Slide rail; 5211. Transmission column; 6. Front and rear moving seat; 61. Connecting plate; 62. Short shaft; 63. Connecting shaft; 64. Guide seat; 611. Support tube; 6111. Large gear; 7. Side multi-touch... Sensitive adaptive massage head; 71. Positioning plate; 711. Drive hole; 8. Synchronous bracket; 81. Synchronous rotating shaft one; 811. Angle plate; 82. Synchronous rotating shaft two; 83. Kneading board bracket; 84. Synchronous belt drive assembly; 9. Left corrugated kneading board; 91. Left positioning rod; 911. Comb teeth; 912. Waist-shaped groove plate; 92. Left arc-shaped teeth; 101. Stepper motor one; 1011. Pinion; 102. Motor one; 103. Support plate; 1031. Positioning shaft; 104. Paddle plate; 1041. Waist-shaped... Hole 1; 1042, Waist-shaped Hole 2; 105, Adapter Plate; 1051, Dial Shaft; 106, Transmission Disc 1; 1061, Eccentric Shaft 1; 107, Limit Shaft; 108, Transmission Rod; 1081, Waist-shaped Hole 3; 109, Pipe; 1091, Spray Head; 120, Comb Plate; 121, Support Bearing; 123, Lead Screw; 124, Sleeve; 1241, Positioning Seat; 12411, Guide Rod; 125, Stepper Motor 2; 126, Shaft-connected Silicone Touch Module; 1261, Silicone Head; 1262. Linear bearing; 1263. Mounting shaft; 1264. Pin; 1265. Conical spring; 127. Motor II; 128. Transmission disc II; 1281. Eccentric shaft II; 129. Adapter; 130. Rotary sleeve; 140. Stepper motor III; 150. Motor III; 160. Transmission disc III; 1601. Eccentric shaft III; 170. Negative ion hair dryer; 180. Infrared TFO sensor; 190. Right corrugated rubbing plate; 1901. Right positioning rod; 1902. Right arc-shaped tooth. Detailed Implementation

[0029] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0030] Please see Figures 1 to 7 This utility model provides a technical solution: an intelligent hair washing integrated robot, including a chassis 1, a lower lifting module 2 movably connected to the back of the chassis 1, a moving block of the lower lifting module 2 fixedly connected to the back of the chassis 1, and the moving block can drive the chassis 1 to move up and down when it moves up and down, thereby making it easy to adjust the height of the chassis 1.

[0031] An upward lifting module 3 is fixedly installed inside the chassis 1. A support frame 4 located above the front of the chassis 1 is fixedly connected to the front side of the upward lifting module 3. A multi-axis tactile massage head 5 is installed above the support frame 4. The multi-axis tactile massage head 5 is used for rubbing and massaging the head. The two ends of the multi-axis tactile massage head 5 are rotatably connected to the two sides of the support frame 4 through the front and rear moving seats 6. The front and rear movement of the multi-axis tactile massage head 5 can cover the area of ​​the upper part of the head. The rotation setting of the multi-axis tactile massage head 5 allows it to fit snugly against the upper part of the head.

[0032] Specifically, the multi-axis tactile massage head 5 includes a connecting rod bracket 51, two parallel locking plates 52 located on one side of the connecting rod bracket 51, and a row of shaft-connected silicone tactile modules 126 located on one side of the locking plates 52. The two ends of the connecting rod bracket 51 are rotatably connected to the adjacent front and rear moving seats 6. One end of the shaft-connected silicone tactile module 126 is provided with a silicone head 1261. The locking plates 52 can move laterally relative to the connecting rod bracket 51. The lateral movement of the locking plates 52 can drive the silicone head 1261 to massage and rub the upper part of the head laterally.

[0033] In this embodiment, corner seats 511 are fixedly connected to both ends of the connecting rod bracket 51. The front and rear movable seat 6 includes a connecting plate 61. A support tube 611 is fixedly connected to the middle of one side of the connecting plate 61 and rotatably connected to one side of the adjacent corner seat 511. A stepper motor 101 is fixedly connected inside one of the corner seats 511. A small gear 1011 located on one side of the adjacent support tube 611 is fixedly connected to the output shaft of the stepper motor 101. A large gear 6111 meshing with the small gear 1011 is fixedly sleeved on the support tube 611. After the stepper motor 101 is started, the corner seat 511 is driven to rotate under the meshing of the small gear 1011 and the large gear 6111, which in turn drives the entire shaft-connected silicone touch module 126 to rotate.

[0034] In this embodiment, a motor 102 is fixedly connected to the other side of the connecting rod bracket 51 via a support plate 103. A lever plate 104 is rotatably connected to one side of the support plate 103 via a positioning shaft 1031. A lever shaft 1051 is fixedly connected to the other side of one of the locking plates 52 via an adapter plate 105. An eccentric shaft 1061 is fixedly connected to the output shaft of the motor 102 via a transmission disc 106. A slotted hole 1041 and a slotted hole 2 1042 adapted to the lever shaft 1051 and the eccentric shaft 1061 are provided on one side of the lever plate 104. When the output shaft of the motor 102 rotates, the eccentric shaft 1061 will drive the lever plate 104 to swing back and forth, thereby driving one of the locking plates. 52 moves back and forth. On the other side of the connecting rod bracket 51, a transmission rod 108 is rotatably connected via a limiting shaft 107. On the other side of the locking plate 52, a slide rail 521 is fixedly connected to one side of the corner seat 511. In specific implementation, a groove plate that slides and connects to the slide rail 521 can be fixedly connected to one side of the corner seat 511. A transmission column 5211 is fixedly connected to one side of the slide rail 521. A waist-shaped hole 1081 is opened on one side of the transmission rod 108 near both ends and adapted to the adjacent transmission column 5211. Thus, when one locking plate 52 moves laterally back and forth, under the transmission of the transmission rod 108, the other locking plate 52 also moves back and forth, and the two locking plates 52 move in opposite directions.

[0035] The front and rear movable seat 6 includes two short shafts 62 distributed front and rear. One end of each short shaft 62 is fixedly connected to the other side of the connecting plate 61. Arc-shaped channels 41 distributed front and rear are opened on both sides of the bearing frame 4. Support bearings 121 located in the arc-shaped channels 41 are fixedly sleeved on the short shafts 62. The front and rear movable seat 6 can move back and forth in the arc-shaped channels 41 through the support bearings 121.

[0036] Furthermore, one of the forward and backward movable seats 6 is rotatably connected to a guide seat 64 located outside the bearing frame 4 via a connecting shaft 63. A lead screw 123 and a lead sleeve 124 are provided on the top of one side of the bearing frame 4. The lead sleeve 124 is slidably connected to the top of the bearing frame 4 via a positioning seat 1241. A guide rod 12411 is fixedly connected to one side of the positioning seat 1241. The guide rod 12411 and the guide seat 64 slide up and down in cooperation. A vertical plate 43 rotatably connected to one end of the lead screw 123 and a stepper motor 125 fixedly connected to the other end of the lead screw 123 are fixedly connected to the top of the bearing frame 4. The stepper motor 125 provides driving force to the rotation of the lead screw 123. When the lead screw 123 rotates, it can drive the positioning seat 1241 to move back and forth. At this time, the guide rod 12411 can drive the guide seat 64 to move back and forth. At the same time, the guide seat 64 will adapt to the up and down movement due to the effect of the arc-shaped channel 41.

[0037] Furthermore, the two sides of the support frame 4 are provided with side multi-touch adaptive massage heads 7, the function of which is to massage and rub the two sides of the head.

[0038] Specifically, positioning rings 44 are fixedly installed on both sides of the support frame 4. The outer side of the positioning rings 44 is fixedly connected to the second motor 127 through the slotted frame 441. The side multi-touch adaptive massage head 7 includes a positioning disk 71 and a shaft-connected silicone touch module 126 located on one side of the positioning disk 71 and evenly distributed in the circumference. One end of the shaft-connected silicone touch module 126 is provided with a silicone head 1261. The positioning disk 71 is located inside the positioning rings 44. A drive hole 711 is opened on the other side of the positioning disk 71. The output shaft of the second motor 127 is fixedly connected to the second eccentric shaft 1281 through the second transmission disk 128. The second eccentric shaft 1281 is sleeved in the drive hole 711 and the two are rotatably connected. When the output shaft of the second motor 127 rotates, the second eccentric shaft 1281 will revolve, and at the same time, it will push the positioning disk 71 to revolve and rotate adaptively. At this time, the silicone head 1261 will press and rub both sides of the head.

[0039] See Figure 7 The specific structure of the shaft-connected silicone tactile module 126 includes an external conical silicone sleeve, a silicone head 1261 fixedly mounted at the small end of the conical silicone sleeve, and an internal mounting shaft 1263. A linear bearing 1262 located at the large end of the conical silicone sleeve is fitted onto the mounting shaft 1263. In use, the linear bearing 1262 is connected and fixedly connected to the corresponding locking plate 52 and positioning disc 71. Then, a linear bearing 1262 is inserted into the outer wall of the mounting shaft 1263. The pin 1264 at one end of 262 can prevent the mounting shaft 1263 from slipping off. A conical spring 1265 can be sleeved on the outside of the conical silicone sleeve and located behind the silicone head 1261 to improve the support strength of the conical silicone sleeve and prevent the conical silicone sleeve from tilting. At the same time, it can increase the squeezing force of the silicone head 1261 on the head. Due to the limiting function of the pin 1264, the mounting shaft 1263 can adapt to axial movement, thereby achieving adaptive head size.

[0040] A synchronous support 8 is movably connected to the back of the lifting module 3. Specifically, a movable block on the back of the lifting module 3 is fixedly connected to the synchronous support 8, and the movable block can drive the synchronous support 8 to move up and down when it moves up and down. The synchronous support 8 includes two synchronous rotating shafts, a first synchronous shaft 81 and a second synchronous shaft 82, located on both sides of the lifting module 3. The rotation direction and angular velocity of the first synchronous shaft 81 and the second synchronous shaft 82 are equal. Specifically, the synchronous support 8 includes a washboard support 83 and a synchronous belt drive assembly 84 located on the back of the washboard support 83. The middle part of the back of the washboard support 83 is fixedly connected to the movable block on the front side of the lifting module 3. The other ends of the first synchronous shaft 81 and the second synchronous shaft 82 pass through the washboard support 83 and are connected through the synchronous belt drive assembly 84. The synchronous belt drive assembly 84 is provided with synchronous pulleys fixedly sleeved on the first synchronous shaft 81 and the second synchronous shaft 82. The arrangement of the synchronous belt drive assembly 84 makes the first synchronous shaft 81 and the second synchronous shaft 82... The rotation direction and angular velocity of the two synchronous shafts are equal. One end of synchronous shaft 1 81 and synchronous shaft 2 82 are respectively connected to a left corrugated rubbing plate 9 and a right corrugated rubbing plate 190 located on the front side of the housing 1 and parallel to each other. Both the left corrugated rubbing plate 9 and the right corrugated rubbing plate 190 are parallel to the front side of the housing 1. Driven by the synchronous belt drive group 84, the left corrugated rubbing plate 9 and the right corrugated rubbing plate 190 rotate in the same direction and have the same angular velocity, thus driving them to rotate synchronously to the front and back sides of the hanging hair. When the left corrugated rubbing plate 9 and the right corrugated rubbing plate 190 located on the front and back sides of the hanging hair swing up and down, they can comb and rub the hanging long hair. The lifting module 3 can simultaneously adjust the height of the left corrugated rubbing plate 9 and the right corrugated rubbing plate, which is convenient for rubbing different height positions on the hanging hair. It should be noted that in the initial state, the left corrugated rubbing plate 9 is in the upright state and the right corrugated rubbing plate 190 is in the hanging state.

[0041] The left corrugated kneading plate 9 includes a left positioning rod 91 and left arc-shaped teeth 92 located on one side of the left positioning rod 91 and arranged along its length. One end of the synchronous rotating shaft 81 is rotatably connected to the adapter 129 through the angle plate 811. One end of the adapter 129 is provided with a rotating sleeve 130 and the other end is fixedly connected to a stepper motor 140. The output shaft of the stepper motor 140 is fixedly connected to the rotating sleeve 130. The stepper motor 140 is used to control the rotation of the rotating sleeve 130. One end of the left positioning rod 91 is sleeved in the rotating sleeve 130 and the two slide together. In this dynamic coordination, the left corrugated kneading plate 9 has the function of being controlled to rotate circumferentially. The outer wall of the rotating sleeve 130 is fixedly connected to the motor 150 via the base. The outer wall of the left positioning rod 91 is fixedly connected to the waist-shaped groove plate 912. The output shaft end of the motor 150 is fixedly connected to an eccentric shaft 1601 with one end extending into the groove of the waist-shaped groove plate 912 via the transmission disc 160. When the output shaft of the motor 150 rotates, the eccentric shaft 1601 will revolve, and then the waist-shaped groove plate 912 will drive the left corrugated kneading plate 9 to reciprocate axially. The right corrugated kneading plate 190 includes a right positioning rod 1901 and right arc-shaped teeth 1902 located on one side of the right positioning rod 1901 and arranged along its length. The outer peripheral wall of the right positioning rod 1901 and one end of the synchronous rotating shaft 82 are fixedly connected. In specific implementation, when the left corrugated kneading plate 9 and the right corrugated kneading plate 190 are on the same horizontal plane, the left arc-shaped teeth 92 and the right arc-shaped teeth 1902 on both are in a relative state. At this time, when the left corrugated kneading plate 9 moves axially back and forth, it can cooperate with the right corrugated kneading plate 190 to knead the vertical hair horizontally. The left arc-shaped teeth 92 and the right arc-shaped teeth 1902 can be selected to have the same size and specifications.

[0042] A row of comb teeth 911 is fixedly connected to the outer wall of the left positioning rod 91 on one side of the left arc-shaped tooth 92. When the left positioning rod 91 is controlled to rotate to a certain angle, the comb teeth 911 contact the hair, and the left positioning rod 91 can be controlled to swing up and down to comb the hair.

[0043] The top of the chassis 1 is fixedly equipped with a protective cover 11 located outside the support frame 4. A negative ion hair dryer 170 is installed on the top of the protective cover 11. The negative ion hair dryer 170 is used to dry hair.

[0044] In this embodiment, a pipe 109 is fixedly connected to the other side of one of the locking plates 52. Two rows of spray heads 1091 are provided on the outer wall of the pipe 109. A comb 120 is provided on the other side of the other locking plate 52. One row of spray heads 1091 is connected to the water supply pipe through the pipe and is used to spray water. The other row of spray heads 1091 is connected to the shampoo supply pipe and is used to supply shampoo. When the connecting rod bracket 51 is flipped, it can drive the spray heads 1091 to face downward, which is convenient for spraying water and shampoo downward. When the comb 120 faces downward, it is convenient for combing the hair on the head back and forth.

[0045] During use, an automatic shampoo supply device can be installed at the rear of the support frame 4 to facilitate the supply of shampoo. At the same time, an infrared TFO sensor 180 can be installed on the front side inside the protective cover 11 to detect the position of the person washing their hair, so as to automatically start the robot.

[0046] Working principle: Before use, the fixed pile part on the lower lifting module 2 is fixedly installed on the wall. Then, the battery device that supplies power to this robot is installed in the machine box 1. When washing hair, the user stands on the front side of the machine box 1. The infrared TFO sensor 180 detects the user and starts the robot through the central processing unit. The robot starts according to the set program, controls the linkage bracket 51 to flip, and the spray head 1091 sprays warm water downwards onto the head. When spraying water, the linkage bracket 51 is moved back and forth through the lead screw 123. After the hair is wet, the linkage bracket 51 is controlled to move back and forth. 1. Flip over, and then control the lower lifting module 2 to lower the housing 1, so that the silicone heads 1261 on the multi-axis tactile massage head 5 and the side multi-tactile adaptive massage head 7 are pressed and attached to the top and sides of the head. Then, start motor 102 and motor 2 127. At this time, the two locking plates 52 move back and forth alternately, the positioning plate 71 revolves, and the silicone heads 1261 begin to rub and massage the head. Then, control the connecting rod bracket 51 to move back and forth through the lead screw 123. At this time, the multi-axis tactile massage head 5 moves back and forth to perform front and back covering rubbing massage on the head. During this process, the synchronous belt drive group 84 controls the synchronous rotation of two synchronous shafts 81 and 82, causing the left corrugated rubbing plate 9 and the right corrugated rubbing plate 190 to move synchronously to the front and rear sides of the hair. Then, the motor 150 is started, and the left corrugated rubbing plate 9 will move axially back and forth. At this time, a row of left arc-shaped teeth 92 and right arc-shaped teeth 1902 will rub the hair. Then, the lower lifting module 2 controls the rubbing plate bracket 83 to move up and down to rub the hair at different heights. During this process, the stepper motor 140 controls the rotation of the left positioning rod 91, so that the comb teeth 911 on it are in the combing position of the hair, which is convenient for the comb teeth 911 to comb the hair up and down. After the hair is rubbed, the control linkage bracket 51 is flipped to control the spray head 1091 to spray water to rinse the hair. After rinsing, the negative ion hair dryer 170 is started to dry the hair. During this process, the comb teeth 911 and the flat comb 120 can be controlled to comb the hair.

[0047] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. Intelligent integrated robot for washing the head, comprising a cabinet (1), characterized in that, A lower lifting module (2) is movably connected to the back of the chassis (1). An upper lifting module (3) is fixedly installed inside the chassis (1). A support frame (4) located above the front of the chassis (1) is fixedly connected to the front of the upper lifting module (3). A multi-axis tactile massage head (5) is installed above the support frame (4). The two ends of the multi-axis tactile massage head (5) are rotatably connected to the two sides of the support frame (4) via a front and rear moving seat (6). Side multi-tactile adaptive massage heads (7) are installed on both sides inside the support frame (4). The back of the upper lifting module (3) is movably connected to... There is a synchronous support (8), which includes two synchronous rotating shafts, one (81) and two synchronous rotating shafts (82), located on both sides of the upper lifting module (3). One end of the synchronous rotating shafts (81) and (82) is connected to a left corrugated rubbing plate (9) and a right corrugated rubbing plate (190) located on the front side of the housing (1) and parallel to each other. The left corrugated rubbing plate (9) is parallel to the front side of the housing (1). A protective cover (11) located outside the bearing frame (4) is fixedly installed on the top of the housing (1). A negative ion hair dryer (170) is installed on the top of the protective cover (11).

2. The intelligent integrated robot for washing hair according to claim 1, characterized in that: The multi-axis tactile massage head (5) includes a connecting rod bracket (51), two parallel locking plates (52) located on one side of the connecting rod bracket (51), and a row of shaft-connected silicone tactile modules (126) located on one side of the locking plates (52). The two ends of the connecting rod bracket (51) are rotatably connected to the adjacent front and rear moving seats (6). One end of the shaft-connected silicone tactile module (126) is provided with a silicone head (1261). The locking plates (52) can move laterally relative to the connecting rod bracket (51).

3. The intelligent hair washing robot according to claim 2, characterized in that: The two ends of the connecting rod bracket (51) are fixedly connected to corner seats (511). The front and rear movable seats (6) include a connecting plate (61). A support tube (611) that is rotatably connected to one side of the connecting plate (61) is fixedly connected to the middle of one side. A stepper motor (101) is fixedly connected inside one of the corner seats (511). The output shaft of the stepper motor (101) is fixedly connected to a small gear (1011) located on one side of the adjacent support tube (611). A large gear (6111) that meshes with the small gear (1011) is fixedly sleeved on the support tube (611).

4. The intelligent hair washing robot according to claim 3, characterized in that: On the other side of the connecting rod bracket (51), a motor (102) is fixedly connected via a support plate (103). On one side of the support plate (103), a lever plate (104) is rotatably connected via a positioning shaft (1031). On the other side of one of the locking plates (52), a lever shaft (1051) is fixedly connected via an adapter plate (105). The output shaft of the motor (102) is fixedly connected to an eccentric shaft (1061) via a transmission disc (106). On one side of the lever plate (104), there is an opening for connection between the lever shaft (1051) and the eccentric shaft. (1061) Fitting waist-shaped hole one (1041) and waist-shaped hole two (1042), the other side of the connecting rod bracket (51) is rotatably connected to the transmission rod (108) through the limiting shaft (107), the other side of the locking plate (52) is fixedly connected to the slide rail (521) which is slidably connected to one side of the corner seat (511), the slide rail (521) is fixedly connected to one side of the transmission column (5211), and the transmission rod (108) is provided with a waist-shaped hole three (1081) near both ends and adapted to the adjacent transmission column (5211) on one side.

5. The intelligent hair washing robot according to claim 2, characterized in that: One of the locking plates (52) is fixedly connected to a pipe (109) on the other side, and the outer wall of the pipe (109) is provided with two rows of spray heads (1091). The other locking plate (52) is provided with a comb (120) on the other side.

6. The intelligent hair washing robot according to claim 1, characterized in that: The front and rear movable seat (6) includes two short shafts (62) distributed front and rear. The bearing frame (4) has arc-shaped channels (41) distributed front and rear on both sides. The short shafts (62) are fixedly fitted with support bearings (121) located in the arc-shaped channels (41).

7. The intelligent hair washing robot according to claim 6, characterized in that: One of the front and rear moving seats (6) is rotatably connected to a guide seat (64) located outside the bearing frame (4) via a connecting shaft (63). A lead screw (123) and a lead sleeve (124) are provided on the top of one side of the bearing frame (4). The lead sleeve (124) is slidably connected to the top of the bearing frame (4) via a positioning seat (1241). A guide rod (12411) is fixedly connected to one side of the positioning seat (1241). The guide rod (12411) and the guide seat (64) slide together up and down. A vertical plate (43) rotatably connected to one end of the lead screw (123) and a stepper motor (125) fixedly connected to the other end of the lead screw (123) are fixedly connected to the top of the bearing frame (4).

8. The intelligent hair washing robot according to claim 1, characterized in that: Positioning rings (44) are fixedly provided on both sides of the bearing frame (4). A motor (127) is fixedly connected to the outer side of the positioning rings (44) through a slotted frame (441). The side multi-touch adaptive massage head (7) includes a positioning disk (71) and a shaft-connected silicone touch module (126) located on one side of the positioning disk (71) and evenly distributed in the circumferential direction. A silicone head (1261) is provided at one end of the shaft-connected silicone touch module (126). A drive hole (711) is opened on the other side of the positioning disk (71). The output shaft of the motor (127) is fixedly connected to an eccentric shaft (1281) through a transmission disc (128). The eccentric shaft (1281) is sleeved in the drive hole (711) and the two are rotatably connected.

9. The intelligent hair washing robot according to claim 1, characterized in that: The synchronous support (8) includes a rubbing board support (83) and a synchronous belt drive group (84) on the back of the rubbing board support (83). The middle part of the back of the rubbing board support (83) is fixedly connected to the moving block on the front side of the lifting module (3). The other ends of the synchronous rotating shaft one (81) and the synchronous rotating shaft two (82) pass through the rubbing board support (83) and are connected by the synchronous belt drive group (84).

10. The intelligent hair washing robot according to claim 1, characterized in that: The left corrugated kneading board (9) includes a left positioning rod (91) and left arc-shaped teeth (92) arranged along its length on one side of the left positioning rod (91). One end of the synchronous rotating shaft (81) is rotatably connected to an adapter (129) via a corner plate (811). One end of the adapter (129) is provided with a rotating sleeve (130), and the other end is fixedly connected to a stepper motor (140). One end of the left positioning rod (91) is fitted inside the rotating sleeve (130), and the two slide together. The outer wall of the rotating sleeve (130) is fixedly connected to a motor (150) via a base. The outer wall of the left positioning rod (91) is fixedly connected to a stepper motor (140). The waist-shaped groove plate (912) has an eccentric shaft three (1601) whose end extends into the groove of the waist-shaped groove plate (912) through the transmission disc three (160). The right corrugated kneading plate (190) includes a right positioning rod (1901) and a right arc-shaped tooth (1902) located on one side of the right positioning rod (1901) and arranged along its length. The outer peripheral wall of the right positioning rod (1901) and one end of the synchronous rotating shaft two (82) are fixedly connected. The outer wall of the left positioning rod (91) is fixedly connected to a row of comb teeth (911) located on one side of the left arc-shaped tooth (92).

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