CN105167382A - Intelligent hair washing robot - Google Patents
Intelligent hair washing robot Download PDFInfo
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- CN105167382A CN105167382A CN201510668486.0A CN201510668486A CN105167382A CN 105167382 A CN105167382 A CN 105167382A CN 201510668486 A CN201510668486 A CN 201510668486A CN 105167382 A CN105167382 A CN 105167382A
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Abstract
The invention discloses an intelligent hair washing robot which includes two washing parts and a mounting support for a head placement part. Each washing part includes a swing unit, a push unit, a drive unit and a rub unit; the head placement part is also provided with a rub unit; each rub unit is mounted in a translation unit. During working, the swing unit of the washing part enables the push unit, the drive unit and the rub unit to swing; the push unit enables the rub unit to have front pushing and downward pressing actions through the drive unit; the translation unit drives the rub unit to take translational movement; the rub head of the rub unit swings to rub the hair; the action area of the rub unit is large in a three-dimensional space, so that the rub unit adopts miniature design, washing blind areas of the hair are avoided, and the manual hair washing operations can be well simulated.
Description
Technical field
The present invention relates to a kind of intelligence hair washing robot for cleaning human hair.
Background technology
Under normal circumstances, hair needs often to clean, and existing cleaning hair is mainly undertaken by manual, and manual to carry out cleaning amount to hair large, and cleaning operation bothers, and cleaning performance can not ensure.In some cosmetology places, because client is relatively many, only with manually carrying out hair washing operation, operating efficiency is relatively low, and when human cost is high, industry operating cost is high.
Also there is some devices that hair is cleaned on the market now, these cleaning devices have required arranging some rubs functional unit, to rub cleaning to hair.But rub unit itself to rub region relatively limited, and the head dummy of different people varies, and this just requires that rubbing unit needs mobile, and in moving process, also will adapt to the curved surface of head and press down, to rub unit being close to scalp.
Summary of the invention
The technical issues that need to address of the present invention are: provide a kind of intelligence hair washing robot, this hair washing robot can simulate operation of manually having one's hair wash well, and hair washing effect can ensure.
For solveing the technical problem, technical scheme of the present invention: a kind of intelligence hair washing robot, comprises the installing rack of Qian shape, the bottom of installing rack is provided with puts head, the biside plate of installing rack is installed respectively a cleaning part, these two cleaning parts stretch out toward each other, and cleaning part has:
Rub unit, hair is rubbed;
Gear unit, driving coupling rubs unit and pushing unit;
Pushing unit, drives gear unit action, makes to rub before unit has to push away and pressing action;
Swing unit, comprises connection seat, and connection seat is fixed on installing rack, swing arm bridge joint is on connection seat and installing rack, pushing unit is fixed on the outer end of swing arm, under the drive of swing unit, rubs unit, gear unit and the pushing unit circuit oscillation along swing arm;
Swing unit, pushing unit and rub on unit and be provided with motor;
Pushing unit comprises shell, and on shell, bridge joint has two balance staffs be arranged in parallel, and the medium position place of balance staff is fixed with gear, and the end that balance staff reaches shell is fixed with swing arm, the outer end of swing arm and gear unit driving coupling; Two motors on pushing unit are fixing in the enclosure, this motor power output shaft are fixed with worm screw, worm screw and gears meshing;
Put head and comprise translation unit, translation unit has motor, translation unit is provided with and rubs unit.
In this cleaning device, left cleaning part and right cleaning part work simultaneously, and in use, people is in lying posture, towards this cleaning device.This cleaning device is mainly used for carrying out kneader type cleaning to the both sides of human body head and the hair at top.This is rubbed cleaning and rubs except an action except rubbing in unit, under the drive of gear unit, also rub unit can push away in the past, namely promote to rub unit towards head, gear unit also can drive to be rubbed unit and presses down, making to rub the crown is pressed onto on scalp, and carry out the degree of depth and rub, swing unit impels and rubs unit and swing in addition, can simulate finger well and rub cleaning to hair.
Motor one end on pushing unit and the bottom surface of shell are fixed, and are crimped with pressing plate in the enclosure in the other end place of this motor, and motor power output shaft is through pressing plate, and pressing plate is fixed on the medial surface of shell; Swing arm is connected and fixed on pressing plate through the diapire of shell.By the setting of pressing plate, make the positional stability of motor in shell good, and facilitate being connected and fixed of swing arm.And be convenient to realize being connected and fixed between pushing unit and swing arm, between swing arm with pushing unit to connect fastness good.
On swing unit, the relative both sides of two motor one end have been connected and fixed second line of a couplet extension bar respectively, and the relative both sides of these two motor other ends have been connected and fixed upper coupling bar respectively, and upper coupling bar and second line of a couplet extension bar are all connected and fixed on the inner surface of shell.By two coupling bars being fixedly connected to two motors, make two motors form an entirety, the power uniformity of two motor outputs is good, and is convenient to be fixed the position of motor in shell.Coupling bar is fixed on housing, also makes to be convenient to be fixed the position of motor in shell, and the positional stability of motor in shell is good.
Translation unit comprises pedestal, is provided with installation cavity in pedestal, the motor power output shaft on translation unit to extend in installation cavity and with transmission mechanism driving coupling; Mount pad is located on pedestal, and this rubs cellular installation on mount pad, mount pad and transmission mechanism driving coupling, and under the drive of transmission mechanism, mount pad drives and rubs unit reciprocating translatory on pedestal.Put in head, rub unit and be arranged on translation unit, this position of rubbing unit is not fixed, the working region of rubbing unit can be expanded well, rub unit itself and can make Miniaturization Design, rub the hair washing requirement that unit can adapt to head curved surface.
The truncation surface of pedestal is in falling " several " font, and the motor on translation unit is fixed on the outer bottom of pedestal, and the motor power output shaft on translation unit extend in described installation cavity from the bottom surface place of pedestal.This is convenient to form installation cavity in pedestal, makes structural compactness good.
Described transmission mechanism comprises the power transmission shaft of bridge joint on pedestal two side and turning cylinder, medium position place in power transmission shaft in installation cavity is fixed with gear, gear is meshed with worm screw set on the motor power output shaft on translation unit, and two outer ends of power transmission shaft are fixed with swing arm respectively in the outside of pedestal; Turning cylinder two outer end is fixed with escapement respectively in the outside of pedestal; Conjugation handle movable bridge is connected on the eccentric position place of swing arm outer end and escapement; Two escapement eccentric position places are connected with a pull handle respectively actively, two pull handles and mount pad driving coupling.The structural compactness of the transmission mechanism of this structure itself, is convenient to realize rubbing the movement of unit on translation unit.
Relative both sides in oral area on pedestal are fixed with an one slide rail respectively, slide rail is used for supporting pedestal, two slide rails side is in opposite directions respectively equipped with sliding mouth, mount pad is at least fixed with two slide bars vertical with slide rail, the both ends of slide bar are plugged in the sliding mouth on two slide rails respectively with gap; Two pull handles are socketed on same slide bar with gap.The positional stability of slide bar in slide rail is good, and structure is simple, is convenient to arrange.
Rub unit and comprise housing, face is provided with rubbing on housing actively somely rubs head, and rub head and be actively connected on coupling spindle, coupling spindle is provided with gear piece through the inner end place of housing; Be provided with slide block in housing, one-body molded on slide block have connected body, and the lateral margin place of slide block is formed with some driving cogs engaged with gear piece; The motor rubbed on unit connects with rotating shaft transmission, and one end of pull bar is hinged on the eccentric position place of roller end, and the other end is hinged on connected body.This structure to rub cellular construction compactedness good, what be convenient to realize to rub head rubs action.
Gear unit is two covers, and they divide the relative both sides being listed in pushing unit shell, and the outer end bridge joint of two gear units has coupling bar, is connected on coupling bar with rubbing unit activity.Two cover gear units can improve pushing unit to rubbing unit transmission stability, are convenient to rub the outer end place that unit is stably connected in gear unit.
Gear unit has front pushed section and pressing down section; Front pushed section comprises principal arm, intermediate and push jack, and one end of intermediate is hinged on shell, and the inner of the other end and principal arm is hinged, and on one end of push jack and pushing unit, the outer end of a balance staff top link is hinged, and the other end is hinged on intermediate; Pressing down section comprises auxiliary and pulling-on piece, and the inner of auxiliary is hinged on shell, and on one end of pulling-on piece and pushing unit, the outer end of another root balance staff top link is hinged, and the other end is hinged on the interior side of auxiliary; Have plate at principal arm and auxiliary outer end bridge joint, in the two panels plate of coupling bar bridge joint on two gear units, the housing rubbed in unit is connected on coupling bar.This gear unit structure is simple, is convenient to the action required for realizing.
Beneficial effect of the present invention is: robot has two cleaning parts and one put head, by the work of three, operation is rubbed to head, spatially can adapt to the cleaning requirement to hair well.Robot operationally, is rubbed before unit can have and is pushed away and pressing action, when carrying out hair washing operation, making to rub unit and can be close to head surface and rub hair, thus effectively can ensure effect when having one's hair wash.By arranging described shell, and motor is fixed in shell, the positional stability of motor in shell itself is good.And pushing unit can as a single entirety, accept the power of swing unit and the change of position occurs, making the working region of rubbing unit large, ensure the effect of hair washing.The region that this scrubbing part acts on head on three dimensions is large, can rub the Miniaturization Design of unit, avoid the cleaning blind area to hair, can simulate operation of manually having one's hair wash well, and hair washing effect can ensure.
Accompanying drawing explanation
Fig. 1 is the three-dimensional structure diagram in a cleaning part direction.
Fig. 2 is the three-dimensional structure diagram in another direction of this cleaning part.
Fig. 3 is the three-dimensional structure diagram that gear unit and pushing unit are assembled together.
Fig. 4 is that gear unit and pushing unit are assembled together and three-dimensional structure diagram after removing shell.
Fig. 5 is that gear unit and pushing unit are assembled together and three-dimensional structure diagram after removing part enclosure.
Fig. 6 is the front view of swing unit.
Fig. 7 is the top view of swing unit.
Fig. 8 is the three-dimensional structure diagram of swing unit.
Fig. 9 is the three-dimensional structure diagram be assembled together with gear unit and the pushing unit of coupling bar.
Figure 10 is the three-dimensional structure diagram of this hair washing robot.
Figure 11 is the three-dimensional structure diagram rubbing unit.
Figure 12 rubs unit to remove top view after housing.
Figure 13 is the side view after rubbing unit removal housing.
Figure 14 is front view after translation unit removal pedestal.
Figure 15 is the side view after translation unit removes pedestal.
Figure 16 is the three-dimensional structure diagram of translation unit.
Figure 17 is the three-dimensional structure diagram after translation unit removes pedestal.
Detailed description of the invention
See in figure, the structure of the present invention's intelligence hair washing robot comprises installing rack 30, and installing rack 30 is in Qian shape, and the left and right sides portion of installing rack 30 is respectively fitted with two cleaning parts, i.e. left cleaning part and right cleaning part, left and right cleaning part stretches out toward each other.Put the bottom that head is arranged on installing rack 30, for shelving head, putting and head rubs unit 1 for rubbing cleaning to the hair of people's hindbrain part.
The structure of cleaning part comprises swing unit, pushing unit, gear unit 2 and rubs unit 1, swing unit, pushing unit and rub on unit 1 and be provided with motor 5, rubs unit 1 and on three dimensions, action occurs when having one's hair wash operation.Pushing unit is connected by gear unit 2 rubs unit 1, pushing unit and swing unit be driving coupling by swing arm 11, under the drive of the motor 5 on swing unit, pushing unit drives pushing unit, gear unit 2 and rubs unit 1 and occurs along the swing in swing arm 11 circumference.
The structure of pushing unit comprises shell 3, and shell 3 is in Qian shape, and shell 3 internal fixtion has two motors, 5, two motors 5 to provide forward thrust and downforce by gear unit 2 for rubbing unit 1, makes to rub the oblique head pressing to human body of unit 1.
Corresponding with two motors 5, on shell 3, bridge joint has two balance staffs, 17, two balance staffs 17 to be parallel to each other.The both ends of balance staff 17 all reach the outside of shell 3, swing arm 7 is fixed with at the both ends of balance staff 17, together with the gear unit 2 be hinged on shell 3 is hinged with the outer end of swing arm 7, after swing arm 7 is rotated under the drive of balance staff 17, swing arm 7 impels gear unit 2 to do reciprocating action.
The medium position place of balance staff 17 is fixed with gear 12, and gear 12 is positioned at shell 3, and this gear 12 is generally angular gear.Motor 5 power output shaft is fixed with worm screw 14, and worm screw 14 is meshed with gear 12.For limiting the axial location of balance staff 17 on shell 3, a balance staff 17 is socketed with two fast pulleys 10, balance staff 17 is relative to fast pulley 10 axial restraint, and fast pulley 10 laminating is fixed on the medial surface of shell 3, and two fast pulleys 10 axially have interval at balance staff 17.
One end of motor 5 and the inner bottom surface of shell 3 are fitted fixing, and have pressing plate 19 at shell 3 internal fixtion, pressing plate 19 is crimped on the other end of motor 5, and the power output shaft of motor 5 is through pressing plate 19, and pressing plate 19 is fixed together with the sidewall of shell 3.In order to increase the positional stability of motor 5 in shell 3 further, the relative both sides of motor 5 one end have been fixedly connected a second line of a couplet extension bar 16 respectively, the relative both sides of motor 5 other end have been fixedly connected respectively one and have gone up coupling bar 15, and upper coupling bar 15 and second line of a couplet extension bar 16 make two motors 5 be fixed to one.By the mode of fastening bolt or welding, and make on coupling bar 15 and the coupled sidewall being fixed on shell 3 of second line of a couplet extension bar 16.
The structure of swing unit comprises connection seat 6, and the motor 5 on swing unit is connected and fixed on connection seat 6, and connection seat 6 is in Qian shape, and connection seat 6 snapping is fixed on side plate 4, and side plate 4 laminating is fixed on the lateral surface of installing rack 30.Motor 5 is fixed on an end of connection seat 6, be provided with in this end of connection seat 6 be connected as a single entity with it stretch out plate 13, stretch out plate 13 and stretch out towards the top of connection seat 6, motor 5 is fixedly fitted in this simultaneously and stretches out on plate 13.Motor 5 power output shaft extend in connection seat 6, and motor 5 power output shaft is provided with worm screw 14.
Driving shaft 22 runs through side plate 4 and connection seat 6, driving shaft 22 is perpendicular to the power output shaft of motor 5, the medium position place of driving shaft 22 is fixed with gear 12, this gear 12 is also angular gear, gear 12 is arranged in connection seat 6, worm screw 14 on motor 5 power output shaft is meshed with gear 12, and this worm screw 14 is positioned at the upside of gear 12.Driving shaft 22 is fixed with two fast pulleys 10, and these two fast pulleys 10 interval on driving shaft 22 is arranged, fast pulley 10 is positioned at connection seat 6.
Swing arm 11 is parallel with driving shaft 22, swing arm 11 runs through side plate 4, installing rack 30 and connection seat 6, swing arm 11 is provided with two fast pulleys 10, these two fast pulleys 10 are positioned at connection seat 6, two fast pulley 10 intervals on swing arm 11 are arranged, and two fast pulleys 10 are separately fixed on connection seat 6 and side plate 4.
The end that swing arm 11 stretches out connection seat 6 is fixed with escapement 9, the end that driving shaft 22 stretches out connection seat 6 is fixed with swing arm 7, together with curved crank 8 both ends are hinged with the eccentric position place of escapement 9 outer surface with the outer end of this swing arm 7 respectively.Motor 5 power output shaft rotates, impel worm gear to continue to rotate by worm screw 14, after swing arm 7 is rotated, the existence due to crank 8 makes escapement 9 reciprocally swinging, and then make swing arm 11 produce reciprocating rotation, finally make the unit 1 of rubbing on swing arm 11 produce wobbling action.
For ensureing the fastness of connection seat 6 on side plate 4, the both sides of connection seat 6 oral area are formed with export-oriented flange 21 respectively, and flange 21 is generally fitted by the mode of welding or bolted to be fixed on side plate 4.
Realize the driving coupling between pushing unit and swing unit, the bottom surface of pushing unit shell 3 is provided with open-work 18, above-mentioned pressing plate 19 is provided with connection holes 20, swing arm 11 is plugged in this connection holes 20 through behind the interval on open-work 18, pushing unit two motors 5, and swing arm 11 is connected and fixed on pressing plate 19.
Coupling bar 24 is positioned at the outer end place of gear unit, rubbing unit 1 is assemblied on coupling bar 24, on the shell 3 that gear unit 2 is hinged on pushing unit and with swing arm 7 driving coupling, rub before unit 1 has under the drive of swing arm 7 by gear unit 2 and push away and pressing action.
Gear unit 2 has front pushed section and pressing down section, and front pushed section is impelled to rub before unit 1 performs and promoted to do, and pressing down section impels to be rubbed unit 1 and perform pressing action.In the operation of reality, front promotion work and the pressing action of rubbing unit 1 carry out simultaneously.Front pushed section comprises principal arm 26, intermediate 27 and push jack 28, and one end of intermediate 27 is hinged on pushing unit, and the other end is hinged on the inner end of principal arm 26; Together with one end of push jack 28 is hinged with the outer end of the swing arm 7 on a balance staff 17 on pushing unit, the other end is hinged on the medium position place of intermediate 27.Push jack 28 is arc, and principal arm 26 medium position is formed with the bending in " Z " shape on the thickness direction of principal arm 26, and in principal arm 26, side and pushing unit are pressed close to, and the outer side of principal arm 26 is departed from towards outside because of the existence of " Z " shape bending.
The structure of pressing down section comprises auxiliary 23 and pulling-on piece 29, the inner end of auxiliary 23 is hinged on pushing unit, one end of pulling-on piece 29 together with on pushing unit, the outer end of another root balance staff 17 top link 7 is hinged, together with the other end of pulling-on piece 29 is hinged with the interior side of auxiliary 23.Pulling-on piece 29 has arc fold bending, and this arc fold bending is near auxiliary 23.
The outer end of principal arm 26 and auxiliary 23 is all stretched out to same direction, is provided with plate 25 at the outer end place of both principal arm 26 and auxiliary 23, and the two ends of plate 25 are hinged on the outer end place of principal arm 26 and auxiliary 23 respectively.
Described gear unit is two covers, and two cover gear units divide the relative both sides being listed in pushing unit, in the plate 25 of coupling bar 24 bridge joint on two cover gear units.After assembling, be socketed on coupling bar 24 with rubbing the body clearance in unit.
Put head comprise translation unit and rub unit 1, rub unit 1 and be assemblied on translation unit, rub unit 1 for rubbing hair when having one's hair wash, translation unit drives and rubs unit 1 translation.
The structure of translation unit comprises mount pad 43, transmission mechanism, pedestal 53 and motor 5, with installation cavity in pedestal 53, motor 5 is fixing on the base 53, motor 5 power output shaft to extend in installation cavity and with transmission mechanism driving coupling, under the drive of transmission mechanism, mount pad 43 realizes translation on the base 53.
The truncation surface shape of pedestal 53 is in falling " several " font, and by sheet material by folding aftershaping, pedestal 53 has bottom and opening.
Motor 5 is fixed on the outer bottom of pedestal 53, and motor 5 power output shaft runs through the bottom of pedestal 53 and extend in pedestal 53.On the two side of pedestal 53, bridge joint has power transmission shaft 49, is fixed with gear 12 at the medium position place of power transmission shaft 49, and motor 5 power output shaft is provided with the worm screw 14 be meshed with gear 12.The two ends of power transmission shaft 49 all reach the outside of pedestal 53 sidewall, are fixed with swing arm 7 respectively at the both ends of power transmission shaft 49, and swing arm 7 is positioned at the outside of pedestal 53.
The two side of pedestal 53 is gone back bridge joint and has a turning cylinder 46, turning cylinder 46 is parallel to above-mentioned power transmission shaft 49, and two outer ends of turning cylinder 46 also all reach the outside of pedestal 53 sidewall.Be fixed with escapement 9 respectively in two outer ends of turning cylinder 46, escapement 9 is positioned at the outside of pedestal 53, and curved conjugation handle 5,045 one end and the outer end of swing arm 7 are hinged, and the other end of conjugation handle 5045 is hinged on the eccentric position place of escapement 9 outer surface.Turning cylinder 46 has between two fast pulleys 10, two fast pulley 10 in installation cavity internal fixtion and has interval, the sidewall of pedestal 53 is between fast pulley 10 and escapement 9, and fast pulley 10 is fixed on the sidewall of pedestal 53.
Be fixed with an one slide rail 51 respectively in the both sides of opening on the base 53, slide rail 51 is arranged along the length direction of pedestal 53.Two slide rail 51 sides are in opposite directions respectively equipped with a sliding mouth 48, the semi-transparent slide rail 51 of sliding mouth 48.Mount pad 43 is fixed with at least two slide bars 47, in the sliding mouth 48 of both ends difference grafting with gap two of slide bar 47.
Oral area both sides in pedestal 53 on pedestal 53 are respectively equipped with mouth 52, two pull handles 44 are respectively with gap through two saturating mouths 52, be socketed on same slide bar 47, the other end of two pull handles 44 is hinged on the eccentric position place on two escapement 9 inner surfaces respectively the end gap of two pull handles 44.
Mount pad 43 is in falling " several " font, and the bottom surface of mount pad 43 is towards pedestal 53, and the bottom of mount pad 43 extend in the installation cavity on pedestal 53, and above-mentioned slide bar 47 is fixed on the outer bottom of mount pad 43.Mount pad 43 is formed by bending by sheet material, is respectively equipped with penetrating breach in the both sides of mount pad 43 oral area, and it is shaping that the setting of breach also makes mount pad 43 be convenient to.
The structure of rubbing unit 1 comprises housing 31, somely rubs head and rub mechanism.Housing 31 is hood-like, and what have arc rubs face, rubs organization establishes in housing 31.Rubbing head is Qian shape, rubs the outside of two outer ends towards the face of rubbing of head, and the inner of rubbing head is connected and fixed on coupling spindle 37, coupling spindle 37 through the face of rubbing on housing 31 with rub mechanism and realize driving coupling.
Rubbing head is split-type structural, and body 33, two end cap 34 comprising two end caps 34 and Qian shape is positioned at the outside of rubbing head, and is socketed in actively on body 33.The outer face of end cap 34 is sphere, and body 33 is socketed with two springs 32, and the both ends of spring 32 act on body 33 and end cap 34 respectively, and make end cap 34 form floating structure on body 33.
Rub mechanism and comprise rotating shaft 35, rotating shaft 35 to be arranged in housing 31 in integrated gripper shoe rotationally.Gear 12 is fixed with at the medium position place of rotating shaft 35.Fixed head is provided with in housing 31, rotating shaft 35 is positioned at the inner side of fixed head, the motor rubbed on unit is fixed on the outer surface of fixed head, and the outer side of rubbing the power output shaft of the motor 5 on unit is worm screw 14, and worm screw 14 is meshed along the direction perpendicular to rotating shaft 35 with gear 12.
Be provided with trundle prejudicially respectively at the both ends of rotating shaft 35, an end of pull bar 41 is hinged on trundle.Be provided with guide pillar 39 along the direction perpendicular to rotating shaft 35 in housing 31, guide pillar 39 is provided with slide block, and the other end and the slide block of pull bar 41 are hinged.
Slide block has socket part 42, and socket part 42 is socketed on guide pillar 39 with gap.The one-body molded connected body 40 having protrusion on the outer peripheral face of socket part 42, the other end of pull bar 41 is hinged on connected body 40.In socket part 42, relative both sides divide another body formedly to have protuberance, between two protuberances and connected body 40 three are
tshape is arranged on the outer peripheral face of socket part 42, protuberance lateral surface forms some driving cogs 38, and these driving cogs 38 are arranged along the axial direction of guide pillar 39.
The inner end of above-mentioned coupling spindle 37 extend in housing 31, and in coupling spindle 37, side is fixed with gear piece 36, and gear piece 36 engages with aforesaid driving cog 38.Gear piece 36 is not whole discoid, and gear piece 36 is in fan-shaped.
Show in figure, rub in unit for one and have four and rub head, rub head one group and corresponding two guide pillars 39 and two slide blocks between two for these four, one group of gear piece 36 rubbed on two coupling spindles 37 in head is meshed with the driving cog 38 on a slide block.
After rubbing the machine operation on unit 1, drive rub an action by rotating shaft 35, trundle, pull bar 41, slide block, driving cog 38, gear piece 36, coupling spindle 37, because trundle is positioned at the eccentric position place of rotating shaft 35, rotating shaft 35 makes pull bar 41 back and forth pull slide block when rotating, and then make to rub head and produce reciprocal swing, simulate the action of finger hair washing.
Cleaning part is provided with and rubs unit 1, the coupling bar 24 on cleaning part can be run through housing 31, also can be made coupling bar 24 be connected on the surface of housing 31 by wedge.
The unit 1 of rubbing put on head mainly makes housing 31 and mount pad 43 be connected and fixed by hold-down screw, the motor 5 rubbed on unit 1 is resisted against on the inner bottom surface of mount pad 43.
Claims (10)
1. an intelligence hair washing robot, comprise the installing rack of Qian shape, the bottom of installing rack is provided with puts head, the biside plate of installing rack is installed respectively a cleaning part, and these two cleaning parts stretch out toward each other, and cleaning part has:
Rub unit, hair is rubbed;
Gear unit, driving coupling rubs unit and pushing unit;
Pushing unit, drives gear unit action, makes to rub before unit has to push away and pressing action;
Swing unit, comprises connection seat, and connection seat is fixed on installing rack, swing arm bridge joint is on connection seat and installing rack, pushing unit is fixed on the outer end of swing arm, under the drive of swing unit, rubs unit, gear unit and the pushing unit circuit oscillation along swing arm;
Swing unit, pushing unit and rub on unit and be provided with motor;
Pushing unit comprises shell, and on shell, bridge joint has two balance staffs be arranged in parallel, and the medium position place of balance staff is fixed with gear, and the end that balance staff reaches shell is fixed with swing arm, the outer end of swing arm and gear unit driving coupling; Two motors on pushing unit are fixing in the enclosure, this motor power output shaft are fixed with worm screw, worm screw and gears meshing;
Put head and comprise translation unit, translation unit has motor, translation unit is provided with and rubs unit.
2. robot according to claim 1, it is characterized in that, the motor one end on pushing unit and the bottom surface of shell are fixed, and are crimped with pressing plate in the enclosure in the other end place of this motor, motor power output shaft is through pressing plate, and pressing plate is fixed on the medial surface of shell; Swing arm is connected and fixed on pressing plate through the diapire of shell.
3. robot according to claim 1, it is characterized in that, on swing unit, the relative both sides of two motor one end have been connected and fixed second line of a couplet extension bar respectively, the relative both sides of these two motor other ends have been connected and fixed upper coupling bar respectively, and upper coupling bar and second line of a couplet extension bar are all connected and fixed on the inner surface of shell.
4. the robot according to claim 1,2,3 or 4, is characterized in that, translation unit comprises pedestal, is provided with installation cavity in pedestal, the motor power output shaft on translation unit to extend in installation cavity and with transmission mechanism driving coupling; Mount pad is located on pedestal, and this rubs cellular installation on mount pad, mount pad and transmission mechanism driving coupling, and under the drive of transmission mechanism, mount pad drives and rubs unit reciprocating translatory on pedestal.
5. robot according to claim 4, it is characterized in that, the truncation surface of pedestal is in falling " several " font, and the motor on translation unit is fixed on the outer bottom of pedestal, and the motor power output shaft on translation unit extend in described installation cavity from the bottom surface place of pedestal.
6. robot according to claim 5, it is characterized in that, described transmission mechanism comprises the power transmission shaft of bridge joint on pedestal two side and turning cylinder, medium position place in power transmission shaft in installation cavity is fixed with gear, gear is meshed with worm screw set on the motor power output shaft on translation unit, and two outer ends of power transmission shaft are fixed with swing arm respectively in the outside of pedestal; Turning cylinder two outer end is fixed with escapement respectively in the outside of pedestal; Conjugation handle movable bridge is connected on the eccentric position place of swing arm outer end and escapement; Two escapement eccentric position places are connected with a pull handle respectively actively, two pull handles and mount pad driving coupling.
7. robot according to claim 6, it is characterized in that, relative both sides in oral area on pedestal are fixed with an one slide rail respectively, slide rail is used for supporting pedestal, two slide rails side is in opposite directions respectively equipped with sliding mouth, mount pad is at least fixed with two slide bars vertical with slide rail, the both ends of slide bar are plugged in the sliding mouth on two slide rails respectively with gap; Two pull handles are socketed on same slide bar with gap.
8. the robot according to claim 1,2,3 or 4, it is characterized in that, rub unit and comprise housing, face is provided with rubbing on housing actively somely rubs head, rubbing head is actively connected on coupling spindle, and coupling spindle is provided with gear piece through the inner end place of housing; Be provided with slide block in housing, one-body molded on slide block have connected body, and the lateral margin place of slide block is formed with some driving cogs engaged with gear piece; The motor rubbed on unit connects with rotating shaft transmission, and one end of pull bar is hinged on the eccentric position place of roller end, and the other end is hinged on connected body.
9. the robot according to claim 1,2,3 or 4, is characterized in that, gear unit is two covers, and they divide the relative both sides being listed in pushing unit shell, and the outer end bridge joint of two gear units has coupling bar, is connected on coupling bar with rubbing unit activity.
10. robot according to claim 9, is characterized in that, gear unit has front pushed section and pressing down section; Front pushed section comprises principal arm, intermediate and push jack, and one end of intermediate is hinged on shell, and the inner of the other end and principal arm is hinged, and on one end of push jack and pushing unit, the outer end of a balance staff top link is hinged, and the other end is hinged on intermediate; Pressing down section comprises auxiliary and pulling-on piece, and the inner of auxiliary is hinged on shell, and on one end of pulling-on piece and pushing unit, the outer end of another root balance staff top link is hinged, and the other end is hinged on the interior side of auxiliary; Have plate at principal arm and auxiliary outer end bridge joint, in the two panels plate of coupling bar bridge joint on two gear units, the housing rubbed in unit is connected on coupling bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510668486.0A CN105167382B (en) | 2015-10-13 | 2015-10-13 | Intelligence hair washing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510668486.0A CN105167382B (en) | 2015-10-13 | 2015-10-13 | Intelligence hair washing robot |
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| CN105167382A true CN105167382A (en) | 2015-12-23 |
| CN105167382B CN105167382B (en) | 2019-05-07 |
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| CN201510668486.0A Active CN105167382B (en) | 2015-10-13 | 2015-10-13 | Intelligence hair washing robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105595593A (en) * | 2016-03-08 | 2016-05-25 | 新昌县泽宇智能科技有限公司 | Washing portion of hair washer |
| CN106165957A (en) * | 2016-08-24 | 2016-11-30 | 新昌县泽宇智能科技有限公司 | Hair washing machine |
| CN106175019A (en) * | 2016-08-22 | 2016-12-07 | 新昌县泽宇智能科技有限公司 | Hair washing machine with chaise longue |
| CN106175020A (en) * | 2016-08-22 | 2016-12-07 | 新昌县泽宇智能科技有限公司 | Hair washing machine washing device for hair |
| CN107183897A (en) * | 2017-07-10 | 2017-09-22 | 杭州迅秀丽智能科技有限公司 | Intelligent hair washing machine back brain rubbing device |
| CN107212561A (en) * | 2017-07-13 | 2017-09-29 | 杭州迅秀丽智能科技有限公司 | Intelligent hair washing machine kneader type flusher |
| CN107224079A (en) * | 2017-07-17 | 2017-10-03 | 杭州迅秀丽智能科技有限公司 | Kneader type intelligence hair washing machine |
| CN107319720A (en) * | 2017-07-13 | 2017-11-07 | 杭州迅秀丽智能科技有限公司 | Intelligent hair washing machine sidepiece rubbing device |
| CN107373986A (en) * | 2017-08-31 | 2017-11-24 | 新昌县泽宇智能科技有限公司 | Nursing hair washing robot rubbing device |
| CN109893009A (en) * | 2019-03-27 | 2019-06-18 | 成都中技智慧企业管理咨询有限公司 | One kind being suitable for the clean bathing apparatus of hair |
| CN112656104A (en) * | 2021-01-04 | 2021-04-16 | 哈工大机器人(中山)无人装备与人工智能研究院 | Mechanical arm and hair washing machine |
| CN112826201A (en) * | 2021-01-04 | 2021-05-25 | 哈工大机器人(中山)无人装备与人工智能研究院 | Mechanical arm and hair washing machine |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105595593A (en) * | 2016-03-08 | 2016-05-25 | 新昌县泽宇智能科技有限公司 | Washing portion of hair washer |
| CN106175019A (en) * | 2016-08-22 | 2016-12-07 | 新昌县泽宇智能科技有限公司 | Hair washing machine with chaise longue |
| CN106175020A (en) * | 2016-08-22 | 2016-12-07 | 新昌县泽宇智能科技有限公司 | Hair washing machine washing device for hair |
| CN106165957B (en) * | 2016-08-24 | 2023-08-25 | 杭州迅秀丽智能科技有限公司 | Hair washing machine |
| CN106165957A (en) * | 2016-08-24 | 2016-11-30 | 新昌县泽宇智能科技有限公司 | Hair washing machine |
| CN107183897A (en) * | 2017-07-10 | 2017-09-22 | 杭州迅秀丽智能科技有限公司 | Intelligent hair washing machine back brain rubbing device |
| CN107212561A (en) * | 2017-07-13 | 2017-09-29 | 杭州迅秀丽智能科技有限公司 | Intelligent hair washing machine kneader type flusher |
| CN107319720A (en) * | 2017-07-13 | 2017-11-07 | 杭州迅秀丽智能科技有限公司 | Intelligent hair washing machine sidepiece rubbing device |
| CN107224079A (en) * | 2017-07-17 | 2017-10-03 | 杭州迅秀丽智能科技有限公司 | Kneader type intelligence hair washing machine |
| CN107373986A (en) * | 2017-08-31 | 2017-11-24 | 新昌县泽宇智能科技有限公司 | Nursing hair washing robot rubbing device |
| CN109893009A (en) * | 2019-03-27 | 2019-06-18 | 成都中技智慧企业管理咨询有限公司 | One kind being suitable for the clean bathing apparatus of hair |
| CN112656104A (en) * | 2021-01-04 | 2021-04-16 | 哈工大机器人(中山)无人装备与人工智能研究院 | Mechanical arm and hair washing machine |
| CN112826201A (en) * | 2021-01-04 | 2021-05-25 | 哈工大机器人(中山)无人装备与人工智能研究院 | Mechanical arm and hair washing machine |
| CN112826201B (en) * | 2021-01-04 | 2022-03-01 | 哈工大机器人(中山)无人装备与人工智能研究院 | Mechanical arm and hair washing machine |
| CN112656104B (en) * | 2021-01-04 | 2023-03-31 | 哈工大机器人(中山)无人装备与人工智能研究院 | Mechanical arm and hair washing machine |
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