Shower robot

Abstract

The present disclosure relates to the field of shower device technology, and in particular, to a shower robot. The shower robot comprises a device case, a mechanical arm, and a locking apparatus. The mechanical arm comprises a main arm, an auxiliary arm, and a head cone. The main arm, the auxiliary arm, and the head cone are pivotally connected in sequence in a first direction. The main arm is pivotally connected to the device case. The head cone is provided with a water spraying port and is located on the side of the auxiliary arm facing the device case. The locking apparatus can lock the main arm and the device case when the main arm pivots to any position relative to the device case, lock the auxiliary arm and the main arm when the auxiliary arm pivots to any position relative to the main arm, and lock the head cone and the auxiliary arm when the head cone pivots to any position relative to the auxiliary arm. The present disclosure can assist the elders, the disabled, or other populations in daily showering. It features a small size and footprint and can achieve automatic showering and drying, thus providing an improved user experience of showering.

Description

Bathing robot

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] The present disclosure is based on Chinese patent applications with application number 202410159613.3, application date February 4, 2024, and name "BATHING ROBOT" and application number 202410174494.9, application date February 7, 2024, and name "BATHING ROBOT", and claims the priority of the above two Chinese patent applications. The entire contents of the above two Chinese patent applications are hereby introduced into this application as a reference. Technical Field

[0003] The present disclosure relates to the technical field of bathing equipment, and in particular to a bathing robot. Background Art

[0004] Bathing is an indispensable cleaning and care item in daily life. However, due to unfavorable factors such as slippery bathroom floors, organ failure of disabled and semi-disabled elderly people, and inconvenience in posture changes, it is difficult for the elderly or disabled people to complete bathing alone. In addition, with the continuous promotion of smart home appliances, non-elderly or disabled people also have a certain demand for automated bathing.

[0005] In the related art, there are currently two types of auxiliary equipment for bathing of the elderly or disabled people. One is non-automatic bathing equipment, which mostly uses a simple seat with a fixed nozzle to achieve water spray bathing. However, the elderly or disabled people still need to change their posture during the bathing process to ensure the bathing effect, and the user experience is poor; the other is box-type automatic bathing equipment, which requires the user to be placed in a bathing box, and then the surrounding nozzles on the bathing box are used for water spray bathing. It occupies a large area, has high manufacturing costs and high energy consumption, and requires the help and supervision of caregivers when in use. Therefore, in order to meet the daily bathing care needs of the elderly, disabled people or other groups, it is necessary to develop corresponding automatic bathing equipment. Summary of the Invention

[0006] The present disclosure aims to solve one of the technical problems in the related art at least to a certain extent.

[0007] To this end, an embodiment of the present disclosure proposes a bathing robot that can assist the elderly, disabled people or other groups in daily bathing care. It has a small overall size and occupies a small area, and can realize automated bathing and whole-body drying, thereby improving the bathing experience.

[0008] A bathing robot according to an embodiment of the present disclosure includes an equipment box, a robotic arm, and a locking device.

[0009] The mechanical arm comprises a main arm, an auxiliary arm, and a head cone that are pivotally connected in sequence, the main arm, the auxiliary arm, and the head cone are arranged in sequence along a first direction, the main arm is pivotally connected to the equipment box, and the head cone has a water spray port and is located on a side of the auxiliary arm facing the equipment box;

[0010] In which, the locking device can lock the main arm and the equipment box when the main arm is pivoted to any position relative to the equipment box, can lock the auxiliary arm and the main arm when the auxiliary arm is pivoted to any position relative to the main arm, and can lock the head cone and the auxiliary arm when the head cone is pivoted to any position relative to the auxiliary arm.

[0011] According to the bathing robot of the embodiment of the present disclosure, the overall length and posture of the robotic arm are adjusted by the relative pivoting between the main arm, the auxiliary arm and the head cone. At the same time, the pivoting connection between the main arm and the equipment box can change the posture of the robotic arm relative to the equipment box, so as to ensure that the water outlet of the water nozzle on the head cone meets the bathing needs of the user by adjusting the entire robotic arm. In the non-bathing stage, the entire robotic arm can be folded relative to the equipment box, and the water nozzle is set on the side facing the equipment box, which further reduces the footprint of the entire bathing robot during use. Therefore, compared with the related art, the present disclosure can assist the elderly, disabled people or other groups in daily bathing care, with a small overall size and a small footprint. In addition, the locking device locks any two pivoted parts during the adjustment process of the various parts of the robotic arm, which not only realizes the limitation of the relative position between the two pivoted parts, but also ensures the safety of the bathing process.

[0012] In some embodiments, the equipment box is detachably mounted in the bathroom.

[0013] In some embodiments, there are two robotic arms, which are respectively located on two opposite sides of the equipment box along the first direction, and there are two locking devices, which correspond one to one with the robotic arms.

[0014] In some embodiments, the bathing robot further includes a bathing area, and the robotic arm is arranged on either side of two opposite sides of the bathing area along the first direction;

[0015] The main arm is in a first direction in the direction of the pivot axis of the equipment box, the auxiliary arm is in a direction of the pivot axis of the main arm, and the nose cone is in a direction of the pivot axis of the auxiliary arm.

[0016] In some embodiments, the bathing robot further comprises a seat located in the bathing area, the seat being pivotally connected to the equipment box and having a deployed position at an angle to the equipment box in a second direction and a folded position parallel to the equipment box, the second direction being perpendicular to the first direction;

[0017] And / or, the bathing robot further includes a connector for connecting to a wheelchair, and the connector is installed in the equipment box.

[0018] In some embodiments, the bathing robot also includes a headrest, a lumbar pillow and armrests located in the bathing area, the headrest and the lumbar pillow are both connected to the equipment box, the armrests are pivotally connected to the equipment box, there are two armrests and they are respectively located on opposite sides of the seat along the first direction, and multiple function buttons can be set on the armrests, and the multiple function buttons are used to switch the working mode of the bathing robot.

[0019] In some embodiments, the water spray port includes a first spray hole and a second spray hole spaced apart on the nose cone;

[0020] The bathing robot also includes a first nozzle, a second nozzle and a swing mechanism installed in the inner cavity of the head cone. At least a portion of the first nozzle extends to the first spray hole, and at least a portion of the second nozzle can be pivotally engaged in the second spray hole and is transmission-connected to the swing mechanism so that the swing mechanism can pull the second nozzle to swing in the second spray hole.

[0021] In some embodiments, the swing mechanism includes a first drive, a rotating rod and a rocker arm, the first drive is transmission-connected to the rotating rod, the part of the rotating rod facing away from the first drive is pivotally connected to the rocker arm, and the part of the rocker arm facing away from the rotating rod is pivotally connected to the second nozzle.

[0022] In some embodiments, the bathing robot further includes a hot water circuit, a cold water circuit, a water temperature regulating device, and a main liquid supply pipe.

[0023] Wherein, the first end of the hot water circuit and the first end of the cold water circuit are both connected to an external water heater;

[0024] Wherein, the water temperature regulating device has a water inlet and a water outlet, the water inlet is connected with the second end of the hot water circuit and the second end of the cold water circuit, and the water outlet is connected with the water spray port through the main liquid supply pipe.

[0025] In some embodiments, the bathing robot further includes a booster pump and a first flow regulating valve, wherein the booster pump and the first flow regulating valve are connected in series to the main liquid supply pipe and are located between the water outlet and the water spray port.

[0026] In some embodiments, the bathing robot further comprises a functional liquid storage bottle, a liquid pump, and a buffer mixing zone, wherein the buffer mixing zone is connected to the functional liquid storage bottle via the liquid pump, and the functional liquid storage bottle is used to store any one or more of cleaning liquid, disinfectant, and medicinal bath liquid, and the buffer mixing zone is connected to the main liquid supply pipe located between the water outlet and the booster pump;

[0027] There are multiple functional liquid storage bottles that are independent of each other, and there are multiple liquid pumps that correspond one to one with the functional liquid storage bottles.

[0028] In some embodiments, the nose cone is further provided with an air duct having corresponding air inlets and outlets;

[0029] The bathing robot also includes an air duct, a fan and a heating device. The air duct is connected to the air inlet. The fan and the heating device are connected in series on the part of the air duct away from the air inlet. The heating device is adjacent to the air inlet relative to the fan.

[0030] In some embodiments, the bathing robot further includes a damper blade assembly, which is pivotally engaged with the air outlet and has a first critical position that opens the air outlet and a second critical position that closes the air outlet.

[0031] In some embodiments, the bathing robot further includes a second drive and a push-pull rod, the second drive being installed in the inner cavity of the nose cone and being transmission-connected to the push-pull rod, and the part of the push-pull rod facing away from the second drive being pivotally connected to the damper blade assembly.

[0032] In some embodiments, the damper blade assembly includes a connecting rod and a plurality of blades.

[0033] wherein the plurality of blades are pivotally mounted on the air outlet and arranged in sequence along the width direction of the air outlet, the directions of the pivot axes of all the blades are consistent with the height direction of the air outlet, the plurality of blades are sequentially spaced apart along the width direction of the air outlet at the first critical position and are sequentially butted or overlapped along the width direction of the air outlet at the second critical position;

[0034] Wherein, the connecting rod is pivotally connected to the side of each blade facing the air inlet, wherein the part of the push-pull rod facing away from the second drive is pivotally connected to the side of any one of the blades facing the air inlet, or the push-pull rod is pivotally connected to the connecting rod.

[0035] In some embodiments, the bathing robot also includes an air temperature regulating device and a second flow regulating valve, the air temperature regulating device is connected to the heating device, and the second flow regulating valve is installed on one of the head cone and the air duct, and the second flow regulating valve is located between the heating device and the air outlet.

[0036] In some embodiments, the bathing robot also includes a main control system, and the main control system is installed on one of the equipment box and the robotic arm. The locking device, the function button, the first drive, the water temperature adjustment device, the booster pump, the first flow control valve, the liquid pump, the fan, the heating device, the second drive, the wind temperature adjustment device and the second flow control valve are all electrically connected to the main control system.

[0037] Additional aspects and advantages of the present disclosure will be given in part in the description that follows and, in part, will be obvious from the description that follows, or will be learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] FIG1 is a schematic diagram of the three-dimensional structure of a bathing robot according to an embodiment of the present disclosure.

[0039] FIG2 is a left side view of FIG1.

[0040] FIG3 is a structural diagram of the bathing robot in a folded state according to an embodiment of the present disclosure.

[0041] FIG4 is a schematic diagram of the internal structure of the robotic arm of the bathing robot according to an embodiment of the present disclosure (the head cone is cut away in the figure).

[0042] FIG5 is a schematic cross-sectional view of the head cone portion of the bathing robot according to an embodiment of the present disclosure.

[0043] FIG6 is a structural diagram of a water supply path for a bathing medium in a bathing robot according to an embodiment of the present disclosure.

[0044] Reference numerals: 1, equipment box, 2, mechanical arm, 21, main arm, 22, auxiliary arm, 23, head cone, 231, first nozzle, 232, second nozzle, 233, first nozzle, 234, second nozzle, 235, first drive, 236, rotating rod, 237, swing rod, 238, air duct, 2381, air inlet, 2382, air outlet, 3, locking device, 4, seat, 5, headrest, 6, lumbar pillow, 7, armrest, 81, Hot water circuit, 82, cold water circuit, 83, water temperature regulating device, 831, water inlet, 832, water outlet, 84, main liquid supply pipe, 85, booster pump, 86, first flow regulating valve, 87, functional liquid storage bottle, 88, liquid pump, 89, buffer mixing area, 91, air guide duct, 92, fan, 93, heating device, 94, damper blade group, 941, connecting rod, 942, blade, 95, second drive, 96, push-pull rod. DETAILED DESCRIPTION

[0045] The embodiments of the present disclosure are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present disclosure, but should not be understood as limiting the present disclosure.

[0046] As shown in FIG. 1 to FIG. 3 , a bathing robot according to an embodiment of the present disclosure includes an equipment box 1 , a robotic arm 2 and a locking device 3 .

[0047] Among them, the robotic arm 2 includes a main arm 21, an auxiliary arm 22 and a head cone 23 that are pivotally connected in sequence. The main arm 21, the auxiliary arm 22 and the head cone 23 are arranged in sequence along the first direction. The main arm 21 is pivotally connected to the equipment box 1. The head cone 23 has a water outlet and is located on the side of the auxiliary arm 22 facing the equipment box 1.

[0048] Among them, the locking device 3 can lock the main arm 21 and the equipment box 1 when the main arm 21 pivots to any position relative to the equipment box 1, can lock the auxiliary arm 22 and the main arm 21 when the auxiliary arm 22 pivots to any position relative to the main arm 21, and can lock the head cone 23 and the auxiliary arm 22 when the head cone 23 pivots to any position relative to the auxiliary arm 22.

[0049] According to the bathing robot of the embodiment of the present disclosure, the overall length and posture of the robotic arm 2 are adjusted by the relative pivoting between the main arm 21, the auxiliary arm 22 and the head cone 23. At the same time, the pivot connection between the main arm 21 and the equipment box 1 can change the posture of the robotic arm 2 relative to the equipment box 1, so as to ensure that the water outlet of the water outlet on the head cone 23 meets the user's bathing needs by adjusting the entire robotic arm 2. In addition, in the non-bathing stage, the entire robotic arm 2 can be folded relative to the equipment box 1, and the water outlet is set on the side facing the equipment box 1, which further reduces the footprint of the entire bathing robot during use. Therefore, compared with the related art, the present disclosure can assist the elderly, disabled people or other groups in daily bathing care, with a small overall size and a small footprint. In addition, the locking device 3 locks any two pivoted parts during the adjustment process of the various parts of the robotic arm 2, which not only realizes the limitation of the relative position between the two pivoted parts, but also ensures the safety of the bathing process.

[0050] Specifically, any two of the main arm 21, auxiliary arm 22, and nose cone 23 can be pivotally connected at their ends in sequence. The equipment box 1 can also be pivotally connected to the end of the main arm 21. Optionally, one end of the main arm 21 can be pivotally connected to the auxiliary arm 22, and the other end of the main arm 21 can be pivotally connected to the equipment box 1. The main arm 21 is not limited to a steel frame with weight-reducing holes. The nose cone 23 includes a cylindrical section pivotally connected to the end of the auxiliary arm 22 and a frustum section connected to the cylindrical section. A water outlet is provided on the peripheral wall surface of the frustum section. To achieve automated showering, the locking device 3 is not limited to a structure formed by the cooperation of a motor and a transmission mechanism. The main arm 21 and the equipment box 1, the auxiliary arm 22 and the main arm 21, and the head cone 23 and the auxiliary arm 22 can all be pivotally connected by a motor and a transmission mechanism. The motor itself has a self-locking function and can provide appropriate locking force between the two pivoting parts after the aforementioned parts are pivoted into place, thereby preventing the two pivoting parts from pivoting relative to each other and damaging other parts when subjected to external force. The first direction is the length direction of the equipment box 1.

[0051] It is understood that, in the non-bathing stage, the main arm 21 can be pivoted to be parallel to the equipment box 1 in the first direction, the head cone 23 can be pivoted to be parallel to the auxiliary arm 22 in the first direction, and the auxiliary arm 22 can be pivoted to be parallel to the main arm 21 in the first direction, and both the auxiliary arm 22 and the head cone 23 can be moved toward the equipment box 1, so as to achieve the folding of the entire robot arm 2 relative to the equipment box 1, thereby reducing the floor space of the bathing robot. In addition, users include the elderly, disabled people, or other people who have a need for automated bathing (such as people with disabilities or users of any age group).

[0052] As shown in FIG. 1 , in some embodiments, the equipment box 1 is detachably installed in the bathroom.

[0053] Specifically, the equipment box 1 can be detachably connected to the bathroom wall by installing a card slot or other means, that is, a card slot is installed on the bathroom wall, and a card block is fixed on the equipment box 1 so that the card block fits in the card slot, thereby fixing the equipment box 1 on the bathroom wall and reducing the overall footprint of the bathing robot at the installation site.

[0054] As shown in FIG. 1 to FIG. 3 , in some embodiments, there are two robotic arms 2 and they are located on opposite sides of the equipment box 1 along the first direction, and there are two locking devices 3 and they correspond one to one with the robotic arms 2 .

[0055] The robotic arms 2 are designed to be two, and each robotic arm 2 is matched with a separate locking device 3, so that the bathing robot can ensure full coverage of the user's whole body during bathing and cleaning through the cooperation of the two robotic arms 2, thereby shortening the bathing time. At the same time, the two robotic arms 2 can work independently of each other to achieve separate cleaning of corresponding positions on the user's body, greatly improving the flexibility of bathing use.

[0056] Specifically, the two robotic arms 2 have the same structure and are distributed in a mirror-symmetrical manner on two opposite sides of the equipment box 1 along the first direction.

[0057] As shown in FIG. 1 to FIG. 3 , in some embodiments, the bathing robot further includes a bathing area, and the robotic arm 2 is arranged on either side of two opposite sides of the bathing area along a first direction.

[0058] The direction of the pivot axis of the main arm 21 in the equipment box 1 , the direction of the pivot axis of the auxiliary arm 22 in the main arm 21 , and the direction of the pivot axis of the nose cone 23 in the auxiliary arm 22 are all first directions.

[0059] The pivot axes of the relative pivotal joints of each part of the robotic arm 2 are all in the first direction, and the structural design of the robotic arm 2 as a whole is located on both sides of the bathing area opposite to each other along the first direction, so that the movement path of the robotic arm 2 is always located outside the bathing area. During bathing, the robotic arm 2 will not contact the user and will not interfere with the user's movements in and out of the bathing area, effectively improving the user's safety.

[0060] It can be understood that the main arm 21, the auxiliary arm 22 and the head cone 23 are pivotally connected in sequence, the main arm 21 is pivotally connected to the equipment box 1, and the pivot axis of any adjacent two of them at the pivot connection is in the first direction, so that the robotic arm 2 has an expanded position that can be pivoted in a plane perpendicular to the first direction and a folded position arranged along the first direction with the equipment box 1, that is, the robotic arm 2 can be pivoted and expanded relative to the equipment box 1 in the width and height directions of the equipment box 1 to change its posture relative to the bathing area, but the position of the robotic arm 2 relative to the equipment box 1 in the length direction of the equipment box 1 is always fixed, and the robotic arm 2 is in the expanded position at this time; in the non-bathing stage, the main arm 21 can be pivoted relative to the equipment box 1 to be parallel to the equipment box 1, the auxiliary arm 22 can be pivoted relative to the main arm 21 to be parallel to the main arm 21 and lower than the main arm 21 in the height direction of the equipment box 1, and the head cone 23 can be pivoted relative to the auxiliary arm 22 to be parallel to the auxiliary arm 22 and lower than the auxiliary arm 22 in the height direction of the equipment box 1, and the robotic arm 2 is in the folded position.

[0061] As shown in Figures 1 to 3, in some embodiments, the bathing robot also includes a seat 4 located in the bathing area, which is pivotally connected to the equipment box 1 and has an unfolded position at an angle to the equipment box 1 in a second direction and a folded position parallel to the equipment box 1, and the second direction is perpendicular to the first direction.

[0062] The seat 4 with unfolded and folded positions can meet the user's standing or sitting bathing needs, and the functionality is improved. At the same time, the seat 4 is foldable relative to the equipment box 1, which further reduces the space occupied by the bathing robot. Compared with related technologies, the overall volume is small.

[0063] Specifically, to ensure that the water flow can smoothly reach the body parts blocked by the seat 4, the seat 4 can be set as a hollow structure. The support strength of the seat 4 can reach 120 kg. The second direction is the width direction of the equipment box 1.

[0064] It can be understood that when the seat 4 is in the unfolded position, the user can directly sit or lie on the seat to take a shower, and when the seat 4 is in the folded position, the user can take a shower while standing or in a wheelchair. The folding of the seat 4 can be done manually or automatically through corresponding structural control.

[0065] In some embodiments, the bathing robot further includes a docking piece (not shown) for connecting to a wheelchair, and the docking piece is installed in the equipment box.

[0066] The docking piece can be mounted on the device box in a fixed or pivotable manner. A wheelchair can be used to carry a user from a distance to the bathing area. The docking piece can be connected to the wheelchair, and the wheelchair can be placed in the bathing area. The docking piece can further lock the wheelchair in the bathing area to prevent the wheelchair from slipping due to the slippery floor when the user is bathing in the wheelchair, thereby improving the safety of the bathing robot. After the user finishes bathing, the wheelchair can be detached from the docking piece, allowing the wheelchair to carry the user out of the bathing area.

[0067] It is understandable that the bathing robot may include both a seat 4 and a connecting piece, so that the user can choose the seat 4 or the combination of the wheelchair and the connecting piece according to needs; the bathing robot may also have only a seat 4 without a connecting piece. If the user needs to use a wheelchair, the wheelchair can be locked using its own locking device after being moved to the bathing area; the bathing robot may also have only a connecting piece without a seat 4, so that any seat, including a wheelchair, can be moved or moved to the bathing area to cooperate with the connecting piece.

[0068] As shown in Figures 1 to 3, in some embodiments, the bathing robot also includes a headrest 5, a lumbar pillow 6 and an armrest 7 located in the bathing area. The headrest 5 and the lumbar pillow 6 are both connected to the equipment box 1. The armrest 7 is pivotally connected to the equipment box 1. There are two armrests 7 and they are located on opposite sides of the seat 4 along the first direction. Multiple function buttons can be set on the armrest 7, and the multiple function buttons are used to switch the working mode of the bathing robot.

[0069] The design of the headrest 5, lumbar pillow 6 and armrest 7 further enhances the user experience. In addition, the multiple function buttons on the armrest 7 can facilitate the user to operate the bathing robot according to their own needs.

[0070] Specifically, the mounting positions of the headrest 5, lumbar pillow 6, and seat 4 on the equipment box 1 are designed to meet ergonomic requirements. The headrest 5 and lumbar pillow 6 can also be angle-adjustable. In addition, to further enhance the user's bathing experience, the seat 4, headrest 5, lumbar pillow 6, and armrest 7 can also be equipped with a heating function, which will not be elaborated here.

[0071] As shown in FIG. 1 and FIG. 5 , in some embodiments, the water spray port includes a first spray hole 231 and a second spray hole 232 that are spaced apart on the nose cone 23 .

[0072] The bathing robot also includes a first nozzle 233, a second nozzle 234 and a swinging mechanism installed in the inner cavity of the head cone 23. At least a portion of the first nozzle 233 extends to the first spray hole 231, and at least a portion of the second nozzle 234 can be pivotally engaged with the second spray hole 232 and is connected to the swinging mechanism for transmission, so that the swinging mechanism can pull the second nozzle 234 to swing in the second spray hole 232.

[0073] The first nozzle 233 can be used to clean a large area of ​​the user's body, while the second nozzle 234 can clean a part of the user's body. The two nozzles cooperate to meet the user's corresponding bathing needs.

[0074] Specifically, the structure of the first nozzle 231 can be coordinated with the first nozzle 233. The nozzle of the first nozzle 233 can be configured as a fan-shaped nozzle. The nozzle of the second nozzle 234 can be configured as a conical focused nozzle. Under the control of the swing mechanism, the second nozzle 234 can swing within an appropriate range to spray water, thereby achieving cleaning of the user's head, genitals, and other parts.

[0075] It is understandable that the first nozzle 233 and the second nozzle 234 in the two robotic arms 2 can be opened accordingly according to the position of the robotic arm 2 and the user's needs. To ensure that the first nozzle 233 and the second nozzle 234 work independently, a valve can be installed on each of the first nozzle 233 and the second nozzle 234.

[0076] As shown in Figure 5, in order to improve the degree of automation of the bathing robot, in some embodiments, the swing mechanism includes a first drive 235, a rotating rod 236 and a rocker arm 237. The first drive 235 is transmission-connected to the rotating rod 236, the part of the rotating rod 236 facing away from the first drive 235 is pivotally connected to the rocker arm 237, and the part of the rocker arm 237 facing away from the rotating rod 236 is pivotally connected to the second nozzle 234.

[0077] Specifically, the first driver 235 is not limited to a motor. The motor shaft output end of the motor is connected to the rotating rod 236. The first driver 235 drives the rotating rod 236 to rotate, so that the rotating rod 236 pulls the second nozzle 234 to swing through the swing rod 237.

[0078] As shown in FIG. 1 , FIG. 5 and FIG. 6 , in some embodiments, the bathing robot further includes a hot water circuit 81 , a cold water circuit 82 , a water temperature regulating device 83 and a main liquid supply pipe 84 .

[0079] The first end of the hot water channel 81 and the first end of the cold water channel 82 are both connected to an external water heater.

[0080] The water temperature regulating device 83 has a water inlet 831 and a water outlet 832 . The water inlet 831 is connected to the second end of the hot water channel 81 and the second end of the cold water channel 82 . The water outlet 832 is connected to the water outlet through the main liquid supply pipe 84 .

[0081] Hot water and cold water are introduced from an external water heater, and the temperature of the bath water is adjusted to a suitable temperature through the water temperature regulating device 83 to meet the user's water demand, which also enables the bathing robot to have a water temperature regulating function.

[0082] Specifically, the water temperature regulating device 83 can adopt existing technologies in the field, which will not be elaborated here. To ensure that the first nozzles 233 and the second nozzles 234 of the two robotic arms 2 can operate independently during the bathing process, the main liquid supply pipe 84 can supply liquid to the two robotic arms 2 through two branch pipes, which in turn supply liquid to the first nozzle 233 and the second nozzle 234 through two sub-pipes, respectively. This ensures that the nozzles do not affect each other. If one nozzle is damaged and cannot operate, the other nozzles can still continue to operate, ensuring that the user can successfully complete a bathing care.

[0083] As shown in FIG6 , in some embodiments, the bathing robot further includes a booster pump 85 and a first flow regulating valve 86 , which are connected in series to the main liquid supply pipe 84 and are located between the water outlet 832 and the water spray port.

[0084] The booster pump 85 can be used to increase the pressure of the bathing medium in the main liquid supply pipe 84 to improve the cleaning ability of the bathing medium. At the same time, the first flow regulating valve 86 can adjust the flow of the bathing medium supplied to the robotic arm 2, further improving the bathing experience, so that the bathing robot has the function of regulating water volume and water pressure.

[0085] It should be noted that the booster pump 85 can be set accordingly according to the water pressure conditions at the place where the bathing robot is used. That is, if the water pressure is sufficient, the bathing robot does not need to be equipped with a booster pump 85 separately.

[0086] As shown in Figure 6, in some embodiments, the bathing robot also includes a functional liquid storage bottle 87, a liquid pump 88 (such as a mucus pump, the mucus pump is suitable for liquids with higher viscosity such as bath liquid) and a buffer mixing zone 89. The buffer mixing zone 89 is connected to the functional liquid storage bottle 87 through the liquid pump 88. The functional liquid storage bottle 87 is used to store any one or more of cleaning liquid, disinfectant and medicinal bath liquid. The buffer mixing zone 89 is connected to the main liquid supply pipe 84 located between the water outlet 832 and the booster pump 85.

[0087] There are multiple functional liquid storage bottles 87 that are independent of each other, and there are multiple liquid pumps 88 that correspond one-to-one to the functional liquid storage bottles 87.

[0088] The buffer mixing area 89, multiple functional liquid storage bottles 87 and liquid pumps 88 cooperate to form multiple independent functional liquid supply channels, so that the bathing robot has multiple bathing modes such as clean water spraying, cleaning liquid spraying, disinfectant spraying and medicinal bath spraying, thereby broadening the applicability of the bathing robot.

[0089] Specifically, to prevent the functional liquid from flowing back, a one-way valve is installed between the water outlet 832 and the buffer mixing area 89; and to prevent the mixed liquid from entering the functional liquid supply channel, a one-way valve is also installed between the buffer mixing area 89 and each liquid pump 88 to ensure the normal operation of the entire system.

[0090] It should be noted that the bathing medium includes any one of clean water, cleaning solution, disinfectant, medicinal bath liquid, a mixture of cleaning solution and clean water, a mixture of disinfectant and clean water, and a mixture of medicinal bath liquid and clean water.

[0091] As shown in FIG. 1 , FIG. 4 and FIG. 5 , in some embodiments, the nose cone 23 is further provided with an air duct 238 , and the air duct 238 has corresponding air inlet 2381 and air outlet 2382 .

[0092] The bathing robot also includes an air duct 91, a fan 92 and a heating device 93. The air duct 91 is connected to the air inlet 2381. The fan 92 and the heating device 93 are connected in series in the part of the air duct 91 away from the air inlet 2381. The heating device 93 is adjacent to the air inlet 2381 relative to the fan 92.

[0093] The structural design of the air duct 91, the fan 92 and the heating device 93 is adopted, and a hot air module is integrated on the robot arm 2. Compared with the related technologies, it can achieve hot air drying after the user finishes bathing, allowing the user to enter and exit dry, thereby improving the bathing experience.

[0094] Specifically, the air duct 238 and the liquid supply channel of the water spray port can be integrated adjacently inside the nose cone 23 to further reduce the overall size of the bathing robot. The heating device 93 can adopt existing technology in the field.

[0095] As shown in FIG. 5 , in some embodiments, the bathing robot further includes a damper blade assembly 94 , which is pivotally engaged with the air outlet 2382 and has a first critical position for opening the air outlet 2382 and a second critical position for closing the air outlet 2382 .

[0096] The air outlet 2382 can be opened or closed by the damper blade assembly 94 to dry the user with hot air or to prevent the bathing medium from entering the air duct during the bathing process, thereby affecting the normal operation of the hot air module.

[0097] Specifically, the damper blade assembly 94 may be a whole blade or a plurality of blades pivotally mounted on the air outlet 2382 .

[0098] It is understandable that, in order to adjust the air outlet angle and enhance the bathing experience, the damper blade assembly 94 can be in a first critical position where the air outlet 2382 is fully opened or where the air outlet 2382 is not fully opened according to the desired wind direction.

[0099] As shown in Figure 5, in order to further ensure the automation performance of the bathing robot, in some embodiments, the bathing robot also includes a second drive 95 and a push-pull rod 96. The second drive 95 is installed in the inner cavity of the head cone 23 and is transmission-connected to the push-pull rod 96. The part of the push-pull rod 96 facing away from the second drive 95 is pivotally connected to the damper blade group 94.

[0100] Specifically, the second drive 95 is not limited to a motor, and the motor shaft output end of the motor is connected to the push-pull rod 96, which is driven by the motor to rotate the push-pull rod 96 to pull the damper blade assembly 94 to open and close. The second drive 95 and the push-pull rod 96 can be integrated into the inner cavity of the nose cone 23 to prevent the external bathing medium from affecting the normal operation of this part, thereby improving bathing safety.

[0101] As shown in FIG. 5 , in some embodiments, the damper blade assembly 94 includes a connecting rod 941 and a plurality of blades 942 .

[0102] Among them, multiple blades 942 can be pivotally installed on the air outlet 2382 and arranged in sequence along the width direction of the air outlet 2382. The direction of the pivot axis of all blades 942 is consistent with the height direction of the air outlet 2382. Multiple blades 942 are spaced apart in sequence along the width direction of the air outlet 2382 at the first critical position and are docked or overlapped in sequence along the width direction of the air outlet 2382 at the second critical position.

[0103] In which, the connecting rod 941 is pivotally connected to the side of each blade 942 facing the air inlet 2381, wherein the part of the push-pull rod 96 facing away from the second drive 95 is pivotally connected to the side of any blade 942 facing the air inlet 2381, or the push-pull rod 96 is pivotally connected to the connecting rod 941.

[0104] The damper blade group 94 is designed to be a plurality of blades 942, and the plurality of blades 942 are linked together by a connecting rod 941, which can disperse the air out of the air outlet 2382 when the blade 942 is in the first critical position, and the connecting rod 941 and the push-pull rod 96 are pivotally connected to the side of the blade 942 toward the air inlet 2381, and the connecting rod 941 and the push-pull rod 96 are integrated into the inner cavity of the head cone 23, effectively ensuring the working performance of this part.

[0105] Specifically, the multiple blades 942 in the damper blade assembly 94 can adjust the wind direction of the air outlet 2382 within a range of 60 degrees.

[0106] As shown in Figure 4, in some embodiments, the bathing robot also includes an air temperature regulating device and a second flow regulating valve (not shown in the figure). The air temperature regulating device is connected to the heating device 93, and the second flow regulating valve is installed in one of the head cone 23 and the air duct 91. The second flow regulating valve is located between the heating device 93 and the air outlet 2382.

[0107] The air temperature regulating device can control the air temperature of the air outlet 2382, and the second flow regulating valve can adjust the air volume so that the user can complete the drying at a suitable temperature and wind speed.

[0108] Specifically, the wind temperature regulating device may adopt existing technology in the field, which will not be elaborated here.

[0109] As shown in Figures 1 to 6, in some embodiments, the bathing robot also includes a main control system (not shown in the figures), and the main control system is installed in one of the equipment box 1 and the robotic arm 2. The locking device 3, the function button, the first drive 235, the water temperature adjustment device 83, the booster pump 85, the first flow control valve 86, the liquid pump 88, the fan 92, the heating device 93, the second drive 95, the air temperature adjustment device and the second flow control valve are all electrically connected to the main control system.

[0110] Specifically, the main control system may have a data acquisition and storage unit to collect user data and adapt to the user's usage habits. In order to ensure the safety of the user, the electrical control process of the entire main control system can be carried out in an electrically isolated manner. In addition, the main control system may also have extended functions, which can be achieved by setting corresponding sensors or other actuators in the bathing robot. Based on the feedback information of the main control system and sensors and the set fixed processes, the bathing robot can independently complete self-inspection, user usage demand collection, user body contour scanning, cleaning and drying processes after startup. It can also calculate the optimal cleaning and drying path of the robot arm 2 by combining the user's needs and the scanning information of the user's body contour, thereby realizing the user's automated bathing.

[0111] It is understood that the operating modes of the bathing robot include position adjustment of the two robotic arms 2, water and air flow, water volume and pressure adjustment, water temperature adjustment, air volume and speed adjustment, and air temperature adjustment, and the aforementioned modes can be controlled by corresponding function buttons. In addition, to facilitate user control of the bathing robot, the operating modes of the bathing robot can also be switched wirelessly through voice control, an app, or a control interface. In this case, the voice control, app, or control interface is wirelessly connected to the main control system.

[0112] It should be noted that the bathing robot in the present disclosure, through the robotic arm 2, under the control of the main control system over the locking device 3, the first drive 235, the water temperature regulating device 83, the booster pump 85, the first flow regulating valve 86, the liquid pump 88, the fan 92, the heating device 93, the second drive 95, the wind temperature regulating device, the second flow regulating valve and the valves at the first nozzle 233 and the second nozzle 234, can provide bathing medium or hot air of set temperature to the user according to the specified path, angle and pressure, so as to achieve bathing cleaning or drying of the user's head and corresponding positions on the whole body.

[0113] Now, based on the specific structure of the bathing robot, one of its working processes is described as follows:

[0114] 1) The user starts the bathing robot by voice control, APP or control interface. At this time, the bathing robot completes the self-check and the preheating process of the seat 4, headrest 5, lumbar pillow 6 and armrest 7 and enters the standby state. Then, the user is notified through voice prompts, indicator lights or APP information;

[0115] 2) The user enters the bathing area, sits down on the seat 4, and controls the bathing robot through voice control, APP, or control interface to start the bathing process. At this time, the bathing robot uses the robotic arm 2 and sensors to scan the human body, complete the human body model, and calculate the cleaning and drying path for the user;

[0116] 3) The bathing robot performs a series of cleaning procedures, including head, body, and local cleaning, application of the appropriate bathing medium, and rinsing of the bathing medium with clean water, according to a fixed process set by the main control system or the user's needs. During this process, the user can select the cleaning level (i.e., the water volume and pressure of the bathing medium) and activate and deactivate the corresponding bathing medium at any time through voice control, the app, or the control interface;

[0117] 4) After the cleaning process is completed, the bathing robot starts the drying (i.e., air-drying) process according to the fixed process set by the main control system or the user's needs, and dries the user with hot air. The air outlet 2382 of the bathing robot can enhance the drying of the user's entire body or parts of the body;

[0118] 5) After the drying process is completed, the user leaves the bathing area. The bathing robot detects the user's departure and enters the self-cleaning mode (the two robotic arms 2 can perform cleaning and drying operations on the entire machine and the bathing area according to the fixed process set by the main control system), automatically completes the cleaning and drying of the bathing robot itself, and enters the standby state.

[0119] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation to the present disclosure.

[0120] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the present disclosure, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0121] In this disclosure, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections, electrical connections, or communication between them; direct connections or indirect connections through an intermediate medium; and internal communication between two elements or interaction between two elements, unless otherwise expressly limited. Those skilled in the art will understand the specific meanings of the above terms in this disclosure based on specific circumstances.

[0122] In the present disclosure, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0123] In the present disclosure, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0124] Although the embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are illustrative and are not to be construed as limitations on the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

1. A bathing robot comprising: An equipment box and a robotic arm, the robotic arm comprising a main arm, an auxiliary arm, and a nose cone that are pivotally connected in sequence, the main arm, the auxiliary arm, and the nose cone being arranged in sequence along a first direction, the main arm being pivotally connected to the equipment box, the nose cone having a water spray port and being located on a side of the auxiliary arm facing the equipment box; as well as A locking device capable of locking the main arm and the equipment box when the main arm is pivoted to any position relative to the equipment box, capable of locking the auxiliary arm and the main arm when the auxiliary arm is pivoted to any position relative to the main arm, and capable of locking the head cone and the auxiliary arm when the head cone is pivoted to any position relative to the auxiliary arm.

2. The bathing robot according to claim 1, wherein the number of the robotic arms is two and they are located on opposite sides of the equipment box along the first direction, and the number of the locking devices is two and they correspond one to one to the robotic arms.

3. The bathing robot according to claim 1 or 2, further comprising a bathing area, wherein the robotic arm is arranged on either side of two opposite sides of the bathing area along the first direction; The main arm is in a first direction in the direction of the pivot axis of the equipment box, the auxiliary arm is in a direction of the pivot axis of the main arm, and the nose cone is in a direction of the pivot axis of the auxiliary arm.

4. The bathing robot according to any one of claims 1 to 3, further comprising a seat located in the bathing area, the seat being pivotally connected to the equipment box and having a deployed position at an angle to the equipment box in a second direction and a folded position parallel to the equipment box, the second direction being perpendicular to the first direction; And / or, the bathing robot further includes a connector for connecting to a wheelchair, and the connector is installed in the equipment box.

5. The bathing robot according to any one of claims 1 to 4, wherein the water spray port comprises a first spray hole and a second spray hole spaced apart on the nose cone; The bathing robot also includes a first nozzle, a second nozzle and a swing mechanism installed in the inner cavity of the head cone. At least a portion of the first nozzle extends to the first spray hole, and at least a portion of the second nozzle can be pivotally engaged in the second spray hole and is transmission-connected to the swing mechanism so that the swing mechanism can pull the second nozzle to swing in the second spray hole.

6. The bathing robot according to any one of claims 1 to 5, further comprising: a hot water channel and a cold water channel, wherein a first end of the hot water channel and a first end of the cold water channel are both connected to an external water heater; as well as A water temperature regulating device and a main liquid supply pipe, wherein the water temperature regulating device has a water inlet and a water outlet, the water inlet is connected to the second end of the hot water circuit and the second end of the cold water circuit, and the water outlet is connected to the water spray port through the main liquid supply pipe.

7. The bathing robot according to claim 6, further comprising a booster pump and a first flow regulating valve, wherein the booster pump and the first flow regulating valve are connected in series to the main liquid supply pipe and are located between the water outlet and the water spray port.

8. The bathing robot according to claim 7, further comprising a functional liquid storage bottle, a liquid pump, and a buffer mixing zone, wherein the functional liquid storage bottle is used to store any one of a cleaning liquid, a disinfectant, and a medicinal bath liquid, and the buffer mixing zone is connected to the main liquid supply pipe located between the water outlet and the booster pump; There are multiple functional liquid storage bottles that are independent of each other, and there are multiple liquid pumps that correspond one to one with the functional liquid storage bottles.

9. The bathing robot according to any one of claims 1 to 8, wherein the head cone is further provided with an air duct having corresponding air inlets and outlets; The bathing robot also includes an air duct, a fan and a heating device. The air duct is connected to the air inlet. The fan and the heating device are connected in series on the part of the air duct away from the air inlet. The heating device is adjacent to the air inlet relative to the fan.

10. The bathing robot according to claim 9, further comprising a damper blade assembly, wherein the damper blade assembly is pivotally engaged with the air outlet and has a first critical position for opening the air outlet and a second critical position for closing the air outlet.

11. The bathing robot according to claim 9 or 10 further comprises an air temperature regulating device and a second flow regulating valve, wherein the air temperature regulating device is connected to the heating device, and the second flow regulating valve is installed on one of the head cone and the air duct, and the second flow regulating valve is located between the heating device and the air outlet.

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