Patent Grant
8745776
The present invention relates to an automatic head care apparatus for supporting the occipital region of a person's head and automatically caring the same, for use in a medicare or hairdressing and beauty industry.
A hair washing has been known as one of the typical person's head cares. In the hairdressing and beauty industry, the laborious head and/or hair washing has been desired to be automated. Also in the medicare industry, the laborious hair washing services for the inpatients have been expected to be automated.
JP 2002-136331 (A) discloses an automatic hair washing apparatus which washes a person's head with hot water by jetting the hot water to the head.
As shown in
When the occipital region of the head is washed by the automatic hair washing apparatus, the occipital region supporter 4, having supported the occipital region of the person's head, is tilted down, and then the occipital region thereof with which the occipital region supporter 4 has contacted is washed manually whilst a user or an operator, of the apparatus supports the person's head by hand.
In accordance with the automatic hair washing apparatus as shown in
Disadvantageously, in the conventional automatic hair washing apparatus as shown in
The present invention is to solve such a problem of hair washing, and provide an automatic head care apparatus or an automatic head care method for automatically caring a part of the occipital region, which is supported on the occipital region supporter.
In order to achieve the above object, there is provided an automatic head care apparatus for caring a person's head automatically, which comprises a first contact unit; a second contact unit; a first driving unit for driving the first contact unit; a second driving unit for driving the second contact unit; and a control unit for controlling the first driving unit and the second driving unit, wherein the control unit controls the first driving unit and the second driving unit in a plurality of modes, including: a first mode for rubbing a second region of an occipital region by moving the second contact unit in a state in which the first contact unit contacts a first region of the occipital region of the person with the first contact unit being fixed at a first position; and a second mode for rubbing the first region of the occipital region by moving the first contact unit in a state in which the second contact unit contacts the second region of the occipital region with the second contact unit being fixed at a second position.
Moreover, there is provided an automatic head care method for caring a person's head automatically, which cares the person's head in a plurality of modes, including: a first mode for rubbing a second region of an occipital region by moving a second contact unit in a state in which a first contact unit contacts a first region of the occipital region of the person with the first contact unit being fixed at a first position; and a second mode for rubbing the first region of the occipital region by moving the first contact unit in a state in which the second contact unit contacts the second region of the occipital region with the second contact unit being fixed at a second position.
As aforementioned, the automatic head care apparatus, or the automatic head care method, according to the present invention, makes it possible to automatically care a part of the occipital region, which is supported by the occipital region supporter.
With reference to the accompanying drawings, several embodiments according to the invention will be described hereinafter. Like elements are denoted by like reference numerals to avoid duplicate descriptions. Also, each drawing mainly shows structural element or elements schematically for the better understanding thereof. Further, the drawings indicate X-axes, Y-axes and Z-axes for clarifying relations amongst the drawings.
In the present specification, the term “water” is used in a broader sense including “hot water”. In other words, the term “water” in the present specification means “water or hot water”. In the present specification, the term “hot water” is used in a narrower sense including only “hot water”.
An automatic head washing apparatus for washing a person's head automatically is explained below, as an example of an automatic head care apparatus for caring the person's head automatically. Also, an automatic head washing method for washing a person's head automatically is explained below, as an example of an automatic head care method for caring the person's head automatically. It should be noted that “head care” includes washing person's scalp and hair and massaging person's head throughout the application.
First Embodiment
The bowl 31 is constructed so as to wrap around a side of the occipital region of the head 21 of the person who is in a state of looking up. In a state that the person's head 21 is in correct position relative to the bowl 31, a direction of a body axis of the head 21 is arranged along a direction of X-axis, a direction of right-and-left of the head 21 is arranged along a direction of Y-axis, and a direction of front-and-back of the head 21 is arranged along a direction of Z-axis.
The occipital region supporter 12 is mounted on the bowl 31. The occipital region supporter 12 supports the occipital region 22 from its vertical underside in the bowl 31. The detailed construction of the occipital region supporter 12, is explained later.
Adjacent to the occipital region supporter 12, a nozzle 20 is mounted on the bottom surface of the bowl 31. The nozzle 20 jets, or spouts, liquid like water, washing solution, conditioner, etc., toward the occipital region 22. The nozzle 20 is connected to a liquid supply unit 30 for supplying liquid thereto for washing the head (refer to
Also, the automatic head washing apparatus 11 has a washing unit 28 for washing the head 21.
The washing unit 28 are comprised of a pair of end effectors 29L, 29R, and a pair of pipes 34L, 34R having a plurality of nozzles 35.
The end effector 29L is for rubbing a left half of the head 21 which is supported on the occipital region supporter 12, and the end effector 29R is for rubbing a right half of the head 21. The end effector 29L has a swing arm 32L which can rotate about a rotating shaft 36L which extends in the direction of Y-axis, and it has a plurality of contacts 33L mounted on the swing arm 32L. The end effector 29R has a swing arm 32R which can rotate about a rotating shaft 36R which extends in the direction of Y-axis, and it has a plurality of contacts 33R mounted on the swing arm 32R.
The swing arms 32L, 32R rotate about the rotating shafts 36L, 36R, so that the arms 32L, 32R swing around in the direction of front-and-back of the head 21. Also, the swing arms 32L, 32R can rotate about (unshown) shafts which extend in a direction different from the direction of the rotating shafts 36L, 36R. Thereby, the swing arms 32L, 32R can push-rotate in a direction in which the swing arms 32L, 32R move closer to and away from the head 21.
The contacts 33L, 33R can move so as to knead the head 21 in a state of contacting the head 21.
The pipe 34L is coupled to the rotating shaft 36L, and it swings around together with the swing arm 32L. The pipe 34R is coupled to the rotating shaft 36R, and it swings around together with the swing arm 32R. On the basis of control signals from the control unit 19, liquid like water, washing solution, conditioner, etc., is supplied to the pipes 34L, 34R from the liquid supply unit 30. The liquid supplied from the liquid supply unit 30 to the pipes 34L, 34R, is jetted towards the head 21 through the nozzles 35.
An example of automatic washing operation by the washing unit 28, is explained. It is to be noted that the washing unit 28 can perform various operations other than the operation explained below.
The automatic washing of the head 21 by the washing unit 28 is performed in a state in which the occipital region 22 is supported on the occipital region supporter 12. Firstly, water is jetted towards the head 21 from the nozzles 35, thereby washing the head 21 with the water. Next, in order to wash the head 21, the washing solution is jetted towards the head 21 from the nozzles 35, whilst the swing arms 32L, 32R are swung about the rotating shafts 36L, 36R. By combining the swinging operation or movement of the swing arms 32L, 32R, with the push-rotating operation or movement of the swing arms 32L, 32R against the head 21 and with the rotating operation or movement of the plurality of contacts 33L, 33R, the head 21 is washed, or cleaned, by rubbing.
Here, at the time of the automatic washing by the washing unit 28, a part of the occipital region 22 which is supported on the occipital region supporter 12, can not be washed. However, the occipital region supporter 12 according to the first embodiment, has a function to wash the occipital region 22, as explained later. Therefore, the occipital region supporter 12 of the automatic head washing apparatus 11, according to the first embodiment, can prevent a part of the head 21 from being unwashed.
The construction of the occipital region supporter 12 is explained below.
The first end effector 13 has a plurality of support plates 13a which extend leftward of the head 21 (i.e. rightward in
The width d1, in the direction of narrowness, of the support plate 13a is uniform over the entire length. Also, all the support plates 13a have the equal width d1, respectively. The width d1 of the support plate 13a is smaller than the width d2 of spacing between adjacent support plates 13a.
The second end effector 16 has a plurality of support plates 16a which extend rightward of the head 21 (i.e. leftward in
The width, in the direction of narrowness, of the support plate 16a is uniform over the entire length. Also, the width of the support plate 16a is the same as the width d1 of the support plates 13a. The width of spacing between adjacent support plates 16a is equal to the width d2, and it is larger than the width d1 of the support plate 16a.
In the occipital region supporter 12 according to the first embodiment, the support plate 13a of the first end effector 13, and the support plate 16a of the second end effector 16, are arranged alternately in the direction of the X-axis. As aforementioned, the width d1 of each of the support plate 13a and the support plate 16a, is smaller than the width d2 of each of spacing between the support plates 13a and spacing between the support plates 16a. Therefore, the support plate 13a and the support plate 16a, do not interfere with each other.
The support plates 13a, 16a are made of, for example, rigid plastic, polypropylene, or vinyl chloride.
On top of the support plates 13a, a plurality of contacts 13b are fixed. On top of the support plates 16a, a plurality of contacts 16b are fixed. On each of the support plates 13a, 16a, for example, five contacts 13b, 16b per plate are arranged in position in the longitudinal direction thereof.
As the contacts 13b, 16b, for example, hemispherical elastic members made of rubber, plastic, etc., can be employed.
Here, a position at which the first end effector 13 is fixed in a state in which the first end effector 13 contacts the first region 23 of the occipital region 22, is defined as “a first position”. Also, a position at which the second end effector 16 is fixed in a state in which the second end effector 13 contacts the second region 24 of the occipital region 22, is defined as “a second position”.
The first driving unit 15 drives the first end effector 13 in accordance with control signals transmitted from the control unit 19, and the second driving unit 18 drives the second end effector 16 in accordance with control signals transmitted from the control unit 19. A concrete example of the first driving unit 15 and the second driving unit 18, is explained later.
The control unit 19 sets a first mode, a second mode and a third mode, as modes of operations of the first end effector 13 and the second end effector 16. The first mode, the second mode and the third mode, are the modes which set the operations for washing or supporting the head 21.
With reference to
The washing of the occipital region 22 by the occipital region supporter 12, is performed by the operations in the first and second modes. Firstly, the control in the first and second modes, is explained.
As shown in
In the first mode, the control unit 19 can control the liquid supply unit 30 so as to jet water or washing solution from the nozzle 20 towards the occipital region 22. In this case, the washing or rinsing of the second region 24 of the occipital region 22 can be realized, by combining the jetting of the water or washing solution from the nozzle 20 with the operation, or movement, of the second end effector 16.
Also, in the first mode, the control unit 19 can control the second driving unit 18 so that the swinging movement of the second end effector 16 in the direction A1 shown by the arrow, is combined with a movement of shaking of the same effector 16 in the direction of the X-axis. Thereby, the second region 24 of the occipital region 22 can be rubbed by the second end effector 16 more effectively. By the way, it is preferable that the frequency of shaking, or vibration, of the second end effector 16 in the direction of the X-axis, is equal to or more than 20 Hz, and is equal to or less than 100 Hz (i.e. between 20 Hz and 100 Hz).
As shown in
In the second mode, the control unit 19 can also control the liquid supply unit 30 so as to jet water or washing solution from the nozzle 20 towards the occipital region 22. In this case, the washing or rinsing of the first region 23 of the occipital region 22 can be realized, by combining the jetting of the water or washing solution from the nozzle 20 with the operation, or movement, of the first end effector 13.
Also, in the second mode, the control unit 19 can control the first driving unit 15 so that the swinging movement of the first end effector 13 in the direction A2 shown by the arrow, is combined with a movement of shaking of the same effector 13 in the direction of the X-axis. Thereby, the first region 23 of the occipital region 22 can be rubbed by the first end effector 13 more effectively. By the way, it is preferable that the frequency of shaking, or vibration, of the first end effector 13 in the direction of the X-axis, is equal to or more than 20 Hz, and is equal to or less than 100 Hz (i.e. between 20 Hz and 100 Hz).
The control unit 19 switches role, or function, between the role, or function, of the first end effector 13 and the role, or function, of the second end effector 16, so as not to be overlapped with each other, by switching mode between the first mode and the second mode. Thereby, the occipital region supporter 12 according to the first embodiment, can automatically wash the first region 23 and the second region 24 of the occipital region 22, which are also regions supported by the occipital region supporter 12, so as not to leave unwashed part thereof.
When the washing unit 28 washes parts other than the occipital region 22 in the head 21 automatically, the control unit 19 controls the occipital region supporter 12 in the third mode.
As shown in
Thus, when the occipital region 22 is washed automatically by neither the first end effector 13, nor the second end effector 16, the occipital region 22 is supported by both the first end effector 13 and the second end effector 16, by which the head 21 can be supported stably.
In the embodiment, the first position and the second position are set so that the height of the occipital region 22 supported on the first end effector 13 at the first position and the height of the occipital region 22 supported on the second end effector 16 at the second position are equal to each other in the direction of the Z-axis.
Here, a case in which the height of the occipital region 22 supported on the first end effector 13 and the height of the occipital region 22 supported on the second end effector 16 are different from each other, is reviewed. In this case, when the mode of operation, or operational mode, is switched between the first mode and the second mode, the position of the head 21 is moved or shifted, and this movement or shift may give the user a feeling of anxiety. Also, in this case, because, in the third mode, the occipital region 22 is supported on both the first end effector 13 and the second end effector 16 which have different heights, the condition in which the head 21 is supported becomes unstable, which in turn may give the user a feeling of anxiety.
Also, at least one of the first driving unit 15 and the second driving unit 18 can be constructed so that the first end effector 13 or the second end effector 16 is moved in the direction of getting close to and away from the occipital region 22. With this construction, the operation, or movement, of tapping or patting the occipital region 22 can be realized by the first end effector 13 or the second end effector 16.
The operation, or movement, of tapping or patting the occipital region 22 by the first end effector 13 or the second end effector 16, is explained with reference to
As shown in
Also, as shown in
Such an operation, or movement, of tapping or patting the occipital region 22 by the first end effector 13 or the second end effector 16, is useful for washing the occipital region 22, and such an operation, or movement, thereof, also has an effect of massaging the occipital region 22.
At the time of washing the occipital region 22 by the occipital region supporter 12 automatically, the aforementioned operation, or movement, of the first end effector 13 or the second end effector 16 along the occipital region 22, as shown in
Also, the operation, or movement, of the first end effector 13 or the second end effector 16 along the occipital region 22, as shown in
Because the first driving unit 15 adopts a mechanism similar to that of the second driving unit 18, the explanation thereof is omitted.
As shown in
The motor 80 for swing is arranged at a location generally corresponding to a central part of the head 21 in the direction of the Y-axis, with its output shaft is orientated in the direction of the X-axis. The output shaft of the motor 80 for swing, is connected to one end of an coupling arm 82. The other end of the coupling arm 82 is connected to the motor 84 for tapping, via a support member 83. By the way, in a case where the first driving unit 15 has a mechanism similar to that of the second driving unit 18, an output shaft of the motor 80 for swing in the first driving unit 15, is arranged coaxially with respect to the output shaft of the motor 80 for swing in the second driving unit 18, as shown in
The motor 84 for tapping is arranged with its output shaft being orientated in the direction of the X-axis. The output shaft of the motor 84 for tapping is maintained in such a condition that the output shaft is always orientated in the direction of the X-axis, even though the motor 84 for tapping is moved by the rotation of the motor 80 for swing.
The output shaft of the motor 84 for tapping, is connected to the motor 88 for vibration, via a support member 86. The motor 88 for vibration is fixed to the support member 86 so that its output shaft is positioned in a plane perpendicular to the direction of the X-axis. The output shaft of the motor 88 for vibration is maintained in such a condition that the output shaft is always orientated in the plane perpendicular to the direction of the X-axis, even though the position and/or direction of the motor 88 for vibration is/are changed by the rotation of the motor 80 for swing and the rotation of the motor 84 for tapping. The output shaft of the motor 88 for vibration, is connected to a base end part of the second arm piece 17.
It is desirable to provide each of the motor 80 for swing, the motor 84 for tapping, and the motor 88 for vibration, with an encoder. By providing each of the motors with the encoder, the control unit 19 can detect positions of the first end effector 13 and the second end effector 16, on the basis of the output value from the encoder.
With the above construction, when the motor 80 for swing is actuated, or driven, in accordance with instructions from the control unit 19, the whole components or constitutional members starting with the coupling arm 82 and ending with the second end effector 16, swing around about the rotating shaft of the motor 80 for swing, as shown in
Also, when the motor 84 for tapping is actuated, or driven, in accordance with instructions from the control unit 19, the whole constitutional members starting with the support member 86 and ending with the second end effector 16, swing around about the rotating shaft of the motor 84 for tapping, as shown in
Also, when the motor 88 for vibration is actuated, or driven, in accordance with instructions from the control unit 19, the second arm piece 17 and the second end effector 16 swing around about the rotating shaft of the motor 88 for vibration, as shown in
The control unit 19 executes a lock control for stopping the movement, or operation, of the first end effector 13 and the second end effector 16, when the distance, or spacing, between the first end effector 13 and the second end effector 16 becomes smaller than a predetermined distance, or spacing therebetween, at the time of swinging the first end effector 13 or the second end effector 16 in the direction of A2 or A1 (refer to
The constitutional members of the first driving unit 15 and the second driving unit 18, are housed inside a housing of the bowl 31.
The mechanism of the first driving unit 15 and the second driving unit 18 according to the first embodiment, is merely an example, and it is also possible to adopt another mechanism.
Because the first driving unit 15 adopts a mechanism similar to that of the second driving unit 18, the explanation thereof is omitted.
When the mechanism shown in
Similar to the mechanism shown in
Similar to the mechanism shown in
On the support member 98 for supporting the motor 104 for tapping, a plurality of cam followers 102 projecting in the direction of the X-axis, are mounted on a side opposite the motor 104 for tapping. The cam follower 102 engages a cam groove 96 in the cam plate 95 which is arranged in a plane perpendicular to the direction of the X-axis. The cam groove 96 is formed as an arc shape with a center point which is adjacent to a central part of the head 21, when viewed in the direction of the X-axis.
A pin 100, extending in the direction of the X-axis, is connected to the support member 98 which supports the motor 104 for tapping, via a coupling member 99.
The motor 90 for swing is arranged with its output shaft orientating in the direction of the Z-axis. A screw 91 which rotates integrally with the output shaft of the motor 90 for swing, is coupled to the output shaft of the motor 90 for swing. The screw 91 is mounted in the direction of the Z-axis.
A nut 92 is screwed, or threadably mounted, on the screw 91. A coupling member 93, extending in the direction of the Y-axis, is connected to an outer peripheral surface of the nut 92.
In the coupling member 93, there is arranged an elongate hole 94 in the direction of the Y-axis, in which the elongate hole 94 engages the pin 100. With the engagement of the pin 100 with the elongate hole 94, the support member 98 for supporting the motor 104 for tapping is connected to the nut 92, through a pair of the coupling members 93, 99.
It is desirable to provide each of the motor 90 for swing, the motor 104 for tapping, and the motor 108 for vibration, with an encoder. By providing each of the motors with the encoder, the control unit 19 can detect position of the second end effector 16, on the basis of the output value from the encoder.
With the above construction, when the motor 90 for swing is actuated, or driven, on the basis of instructions by the control unit 19, the nut 92 and the coupling member 93 are moved integrally up and down in the direction of the Z-axis, along with rotation of the screw 91, as shown in
When the motor 104 for tapping is actuated, or driven, on the basis of instructions by the control unit 19, the whole constitutional members starting with the support member 106 and ending with the second end effector 16, are swung around about the rotating shaft of the motor 104 for tapping, like the operation, or movement, of the example of the mechanism shown in the
When the motor 108 for vibration is actuated, or driven, on the basis of instructions by the control unit 19, the second arm piece 17 and the second end effector 16 are swung around about the rotating shaft of the motor 108 for vibration, as shown in
The mechanism of each of the first driving unit 15 and the second driving unit 18, is not limited to the aforementioned mechanism. For example, as to the mechanism for vibrating the first end effector 13 or the second end effector 16 in the direction of the X-axis, it is possible to employ piezoelectric elements in place of the above motors 88, 108.
When the automatic head washing apparatus 11 is actuated, the control unit 19 controls the first driving unit 15 and the second driving unit 18, with the operational mode of the first end effector 13 and the second end effector 16 of the occipital region support 12 being set as a third mode. Thereby, the first end effector 13 is fixed at the first position, and the second end effector 16 is fixed at the second position (Step S01).
In this condition, a person inserts the head 21 into the bowl 31 of the automatic head washing apparatus 11, and the person puts the head 21 on the occipital region supporter 12.
Next, when it is confirmed that the head 21 is supported on the occipital region supporter 12, the control unit 19 makes it execute an automatic washing of the head 21 by the washing unit 28 (Step S02). The confirmation that the head 21 has been supported on the occipital region supporter 12, is performed on the basis of whether an output value from a pressure sensor mounted on the occipital region supporter 12 exceeds a predetermined value or not, for example.
In the washing operation by the washing unit 28, the swinging motion and push-rotating motion of the swing arms 32L, 32R, the movement of the contacts 33L, 33R, and the jetting of liquid from the nozzles 35 towards the head 21, are combined to each other. By the combination thereof, a region except a region of the head 21 which is supported on the occipital region supporter 21, is washed by the washing unit 28 automatically. When the washing operation by the washing unit 28 is finished, the control unit 19 stops the operation of the washing unit 28.
Subsequently, when the control unit 19 stops the operation of the washing unit 28, an automatic washing of the occipital region 22 by the occipital region supporter 12 is carried out.
When the washing operation by the occipital region supporter 12 is started, firstly, the control unit 19 switches the operational mode of the first end effector 13 and the second end effector 16 from the third mode to the first mode. Thereby, the second end effector 16 is actuated, or driven, in a state in which the first end effector 13 is fixed at the first position (Step S03). At the same time, the control unit 19 controls the liquid supply unit 30 so as to make the nozzle 20 jet the washing solution towards the occipital region 22. By actuating, or driving, the second end effector 16 in a state in which the head 21 is supported on the first end effector 13, the second region 24 of the occipital region 22 can be washed by rubbing, with the second end effector 16. At Step S03, the second end effector 16 is driven with at least one of the swinging motion in the direction A1 shown by the arrow in
When the washing of the second region 24 of the occipital region 22 by the second end effector 16 is finished, the control unit 19 controls the liquid supply unit 30 so as to stop the jetting from the nozzle 20, and the control unit 19 switches the operational mode of the first end effector 13 and the second end effector 16 from the first mode to the third mode. By this switchover of the operational mode, the second end effector 16 is fixed at the second position (Step S04).
After Step S04, the control unit 19 switches the operational mode of the first end effector 13 and the second end effector 16 from the third mode to the second mode. Thereby, the first end effector 13 is driven in a state in which the second end effector 16 is fixed at the second position (Step S05). At the same time, the control unit 19 controls the liquid supply unit 30 so as to make the nozzle 20 jet the washing solution towards the occipital region 22. By actuating, or driving, the first end effector 13 in a state in which the head 21 is supported on the second end effector 16, the first region 23 of the occipital region 22 can be washed by rubbing, with the first end effector 13. At Step S05, the first end effector 13 is driven with at least one of the swinging motion in the direction A2 shown by the arrow in
When the washing of the first region 23 of the occipital region 22 by the first end effector 13 is finished, the control unit 19 controls the liquid supply unit 30 so as to stop making the nozzle 20 jet the liquid, and the control unit 19 switches the operational mode of the first end effector 13 and the second end effector 16 from the second mode to the third mode. By this switchover of the operational mode, the first end effector 13 is fixed at the first position (Step S06).
Lastly, the control unit 19 controls the liquid supply unit 30 so as to execute the operation to rinse the head 21 (Step S07). Concretely, by supplying water to the nozzles 20, 35 from the liquid supply unit 30, and by making the nozzles 20, 35 jet the water towards the head 21, rinsing of the head 21 is performed. When the operation to rinse the head 21 is finished, the washing of the head 21 by the automatic head washing apparatus 11, is finished.
Second Embodiment
The second embodiment is the one in which the occipital region supporter 12 according to the first embodiment is replaced with the occipital region supporter 42. Hereinafter, the occipital region supporter 42 according to the second embodiment, is explained with reference to the drawings.
According to the aforementioned first embodiment, the first region 23 and the second region 24 of the side of the occipital region (occipital region 22) of the head 21, are set alternately in line in the direction of the X-axis, as shown in
The occipital region supporter 42 of the automatic head washing apparatus 11 according to the second embodiment, has a pair of first end effectors 43, 50 and a single second end effector 46. The first end effectors 43, 50 are the first end effector 43 which can contact the first region 53 rightward of the occipital region 22 and the first end effector 50 which can contact the first region 55 leftward of the occipital region 22.
The first right end effector 43 has a plurality of contacts 13b, and a support body 44 which supports the contacts 13b. Similarly, the first left end effector 50 has a plurality of contacts 13b, and a support body 51 which supports the contacts 13b.
The second end effector 46 is arranged so as to be able to contact the second region 54 of the occipital region 22. The second end effector 46 has a plurality of contacts 16b and a support body 47 which supports the contacts 16b.
The occipital region supporter 42 has a first right-hand driving unit 45 for driving the first right end effector 43, a first left-hand driving unit 52 for driving the first left end effector 50, and a second driving unit 48 for driving the second end effector 46. By the way, in
Also, in the second embodiment, a first mode, a second mode and a third mode are set as the operational mode of the end effectors 43, 46, 50.
In the operation of the first mode, the control unit 19 controls the second driving unit 48 so as to make the second end effector 46 reciprocate in the direction of the X-axis. Thereby, the second region 54 which is a central part of the occipital region 22, can be washed by rubbing, with the second end effector 46.
In the operation of the second mode, the control unit 19 controls the first driving units 45, 52 so as to make the first end effectors 43, 50 reciprocate in the direction of the X-axis. Thereby, the first regions 53, 55 which locate on the right and left of the occipital region 22, can be washed by rubbing, with the first end effectors 43, 50.
In the operation of the third mode, the control unit 19 fixes the first end effectors 43, 50 at the first position, and it fixes the second end effector 46 at the second end position. Thereby, the head 21 can be supported from below by the first end effectors 43, 50 and the second end effector 46. The operation of the third mode is executed, for example, at the time of automatic washing of the head 21 by the washing unit 28.
The first end effectors 43, 50 at the time of the operation of the first mode shown in
Also, the second end effector 46 at the time of the operation of the second mode shown in
According to the second embodiment, at the first mode, a pair of the first end effectors 43, 50 supports the head 21 at two points which sandwich a center of the head 21, and at the second mode, the second effector 46 supports the center of the head 21. Therefore, at the time of automatic washing of the occipital region 22 by the occipital region supporter 42, the head 21 is always supported stably thereby, and it is possible to give a feeling of relief to the person whose head is washed.
If the direction in which each of the end effectors 43, 46, 50 reciprocates, is the one which can realize an operation of kneading the occipital region 22, the direction can be a direction other than the direction of the X-axis (for example, direction of the Y-axis). Also, as to the movement, or operation, of the end effectors 43, 46, 50, movements, or operations, of reciprocations in a plurality of directions can be performed simultaneously. For example, by executing a reciprocation thereof in the direction of the X-axis and a reciprocation thereof in the direction of the Y-axis at the same time, the end effectors 43, 46, 50 are driven so as to draw a Lissajous figure, by which it is possible to perform a delicate kneading-and-washing operation.
Although, as to the second embodiment, a case where the occipital region supporter 42 has a pair of first end effectors 43, 50 and a single second end effector 46, has been explained, the number of the first end effector(s) and the second end effector (s) can be altered. For example, there can be arranged a plurality of first end effectors and a plurality of second end effectors, so that a group of three first end effectors and a group of two second end effectors, alternate in line with each other. In this case, also, by controlling it at the operational mode with the control unit 19, an effect similar to that mentioned above, can be realized.
As shown in
On the housing 122, support bodies 44, 51 of the first end effectors 43, 50 are mounted slidably in the direction of the X-axis. By the way, between the housing 122 and each of the support bodies 44, 51, balls 132 for reducing friction are mounted.
The screw 126 engages a nut 130 which is fixed on each of the support bodies 44, 51 of the first end effectors 43, 50. With this construction, when the motor 124 is actuated, the first end effectors 43, 50 are moved along with the nuts 130 in the direction of the X-axis, in association with the rotation of the screws 126.
Similarly, the second driving unit 48 has a base piece 140 which is fixed on the bottom surface of the bowl 31 for example, a housing 142 which is fixed on the base piece 140, a screw 146 which is mounted inside the housing 142 so as to extend in the direction of the X-axis, and a motor 144 for driving to rotate the screw 146.
On the housing 142, a support body 47 of the second end effectors 46 is mounted slidably in the direction of the X-axis. By the way, between the housing 142 and the support body 47, balls 152 for reducing friction are mounted.
The screw 146 engages a nut 150 which is fixed on the support body 47 of the second end effector 46. With this construction, when the motor 144 is actuated, the second end effector 46 is moved along with the nut 150 in the direction of the X-axis, in association with the rotation of the screw 146.
The part of the upper surface of each of the housings 122, 142, is provided with an opening 128, 148, in order to avoid interference with the nut 130, 150. Also, it is desirable to provide each of the motors 124, 144 with an encoder. By providing each thereof with the encoder, the control unit 19 can detect positions of the first end effectors 43, 50 and the second end effector 46, on the basis of the output value from the encoder.
With the above construction, the reciprocating movement of the second end effector 46 in the direction of the X-axis in the first mode, and the reciprocating movement of the first end effectors 43, 50 in the direction of the X-axis in the second mode, can be realized preferably.
As to the mechanism of the first driving units 45, 52 and the second driving unit 48 in the second embodiment, it is merely an example, and it is also possible to adopt another mechanism thereof.
In the example of a mechanism shown in
One end part, in the direction of the Y-axis, of the support body 47 of the second end effector 46, is provided with a penetrated portion 170 through which the screw 164 passes, and with a nut portion 172 which engages the screw 164. By the way, a plate spring 174, which is pressed against the screw 164, is mounted on the support body 47 in the vicinity of the nut portion 172. As shown in
The other end part, in the direction of the Y-axis, of the support body 47, is provided with a guide portion 170 which is guided by the guide shaft 166. The guide portion 176 has a groove 178 which is formed open outwardly in the direction of the Y-axis. The guide shaft 166 is engaged inside the groove 178 of the guide portion 176.
With the above construction, when the motor 162 is actuated, the second end effector 46 is moved along with the nut portion 172 in the direction of the X-axis, in association with the rotation of the screw 164. At this time, the penetrated portion 170 of the support body 47 of the second end effector 46 is guided by the screw 164. By guiding the guide portion 176 with the guide shaft 166, the support body 47 of the second end effector 46 is moved smoothly in the direction of the X-axis. Accordingly, with this construction, the reciprocating movement of the second end effector 46 in the direction of the X-axis in the first mode, can be realized preferably.
In the example of the mechanism shown in
Third Embodiment
In the third embodiment, the occipital region supporter 42 according to the second embodiment, is replaced with the occipital region supporter 62. With reference to the drawings, points that the third embodiment is different from the second embodiment, are explained below.
In the occipital region supporter 62 in a state shown in
By reciprocating the end effectors 43, 46, 50 in the direction of the X-axis, the occipital region supporter 62 can rub, or scrub, the first regions 53, 55 and the second region 54 of the occipital region 22. However, thereby, the occipital region supporter 62 can not rub, nor scrub, the region between each of the first regions 53, 55, and the second region 54. Here, if the end effectors 43, 46, 50 are moved in the direction of the Y-axis up to a position at which there is no space, or no gap, between each of the first regions 53, 55, and the second region 54, there is a possibility that the end effectors 43, 46, 50 may interfere one another.
Therefore, in the third embodiment, it makes it possible to rub, or scrub, the region between each of the first regions 53, 55, and the second region 54, while preventing the end effectors 43, 46, 50 from interfering one another, by controlling the first driving units 66, 68 and the second driving unit 67 with the control unit 19. Concretely, the control unit 19 controls the first driving units 66, 68 and the second driving unit 67 for actuating, or driving, the first end effectors 43, 50 and the second end effector 46, so as to overlap each of first contact regions (first washing regions) 57, 59, in the occipital region 22, which are rubbed, or scrubbed, by the first end effectors 43, 50 in the second mode, with a second contact region (a second washing region) 58, in the occipital region 22, which is rubbed, or scrubbed, by the second end effector 46 in the first mode, partially. Hereafter, the control of the automatic head washing apparatus 11 according to the third embodiment, is explained.
Firstly, at time of switching the operational mode of the occipital region supporter 62, the control unit 19 controls it so as to switch or change, directions or orientations, of the end effectors 43, 46, 50. Thereby, as shown in
Next, the control for switching the operational mode of the occipital region supporter 62 from the first mode to the second mode, so as to overlap adjacent contact regions 57, 58, 59 mutually and partially, is explained.
As shown in
When the washing of the occipital region 22 by rubbing is finished in the first mode, the control unit 19 makes the second end effector 46 rotate about its shaft in the direction of the Z-axis, as shown in
When the rotation of the second end effector 46 is finished, the support body 47 of the second end effector 46 is arranged, or orientated, so that the width thereof in the direction of the X-axis is greater than that in the direction of the Y-axis, as shown in
Subsequently, the control unit 19 controls the first driving units 66, 68 as an operation of the second mode, so that the first end effectors 43, 50 are reciprocated in the direction of the X-axis. Thereby, the first contact regions 57, 57 of the occipital region 22, can be washed by rubbing. In the third embodiment, since the first contact regions 57, 57 are arranged so as to overlap the second contact region 58 partially, unwashed part can be prevented from remaining in the occipital region 22.
Thus, in the third embodiment, by rotating the second end effector 46 about its shaft in the direction of the Z-axis, and by moving the first end effectors 43, 50 in the direction of the Y-axis, adjacent contact regions 57, 58, 59 are overlapped partially with each other. Thereby, unwashed part can be prevented from remaining in the occipital region 22.
In the third embodiment, the first end effectors 43, 50 can be reciprocated in the direction of the Y-axis in the second mode, by omitting the movement of the first end effectors 43, 50 in the direction of the Y-axis at the time of switchover from the first mode to the second mode. In this case, it is also possible to overlap the first contact regions 57, with the second contact region 58, whilst avoiding interference of the first end effectors 43, 50 with the second end effector 46. In this case, the reciprocating movement of the first end effectors 43, 50 in the second mode, can be the one only in the direction of the Y-axis, or it can be the one, like drawing a Lissajous figure, according to a combination of the reciprocating movement in the direction of the X-axis with the reciprocating movement in the direction of the Y-axis.
Also, the second end effector 46 can be reciprocated in the direction of the Y-axis in the first mode, by omitting the movement of the first end effectors 43, 50 in the direction of the Y-axis at the time of switchover from the first mode to the second mode. In this case, it is also possible to overlap the first contact regions 57, 59 with the second contact region 58, whilst avoiding interference of the first end effectors 43, 50 with the second end effector 46. In this case, the reciprocating movement of the second end effector 46 in the first mode, can be the one only in the direction of the Y-axis, or it can be the one, like drawing a Lissajous figure, according to a combination of the reciprocating movement in the direction of the X-axis with the reciprocating movement in the direction of the Y-axis.
The mechanism of the example shown in
Each of the first driving units 66, 68 has a housing 182 which is fixed on the bottom surface of the bowl 31, a screw 186 which extends inside the housing 182 in the direction of the Y-axis, and a motor 184 for driving to rotate the screw 186.
In each of the first driving units 66, 68, there are arranged a pair of extended portions 180 which extend downwardly from both ends, in the direction of the X-axis, of the housing 122. The pair of extended portions 180 engages the housing 182 slidably in the direction of the Y-axis. By the way, (unshown) balls for reducing friction are interposed between the housing 182 and the extended portions 180.
The screw 186 engages a nut 188 which is fixed to the housing 122. With this construction, when the motor 184 is actuated or driven, the housing 122 and the first end effector 43, 50 are moved along with the nut 188 in the direction of the Y-axis, in association with the rotation of the screw 186.
An upper part of the housing 182 which accommodates the screw 186, has an opening 190 for avoiding interference with the nut 188. Also, it is desirable to provide the motor 184 with an encoder. With the provision of the encoder, the control unit 19 can detect positions of the first end effectors 43, 50 in the direction of the Y-axis.
With the above construction in the third embodiment, it is possible to move the first end effectors 43, 50 in the direction of the Y-axis so as to make them approach the second end effector 46, at the time of switchover from the first mode to the second mode.
The second driving unit 67 has a housing 192 which is fixed on the bottom surface of the bowl 31, a motor 194 which is accommodated inside the housing 192 with its output shaft being orientated in the direction of the Z-axis, and a shaft 196 which connects the motor 194 with the housing 142, the shaft 196 extending in the direction of the Z-axis.
The upper surface of the housing 192 is provided with an opening 198 in order to avoid interference with the shaft 196.
When the motor 194 is driven, the housing 142 which is connected to the motor 194 via the shaft 196, is rotated, and the second end effector 46 is rotated about its shaft in the direction of the Z-axis along with the housing 142.
With this construction, in the third embodiment, the second end effector 46 can be rotated in a direction in which the width thereof becomes shorter in the direction of the Y-axis, by rotating the second end effector 46 at the time of switchover from the first mode to the second mode.
Fourth Embodiment
In the fourth embodiment, the first driving unit 52 according to the second embodiment, is replaced with the first driving unit 252. With reference to the drawings, points that the fourth embodiment is different from the second embodiment, are explained below.
The first driving unit 252 according to the fourth embodiment, has a mechanism which partially employs the mechanism shown in
As shown in
As shown in
As shown in
When the motor 72 is driven by a control signal transmitted from the control unit 19, one gear 76 which is coupled to the motor 72, and the other remaining gears 76 which engage the above one gear 76, are driven to rotate. At this time, the support pieces 75 which are fixed on the respective gears 76, and the elastic pieces 74 which are fixed to the support pieces 75, are rotated about their shafts, or axes, in the direction of the Z-axis. As a result, the contacts 13b which are fixed on upper parts of the elastic pieces 74, are swung around in the direction shown by arrows in
As aforementioned, the contacts 13b are arranged on the upper surface, or top, of the support body 251, and the contacts 13b are fixed to the support pieces 75 via the elastic pieces 74. Therefore, in accordance with load exerted from the occipital region 22, the contacts 13b are displaced downward as the elastic pieces 74 are deformed. At this time, the upper surface of the support body 251, which is arranged under the contacts 13b at a distance therefrom, functions as a load-receiving piece 255 for receiving the load of the occipital region 22 when the contacts 13b being displaced downward by the load of the occipital region 22 contact the upper surface of the support body 251. The load-receiving piece 255 is an example of a base piece.
As shown in
On the other hand, as shown in
In the fourth embodiment, a case that the first left-hand driving unit 52 according to the second embodiment, is replaced with the first driving unit 252 having the above mechanism, has been explained. Also, the first right-hand driving unit 45, or the second driving unit 48, according to the second embodiment, can be replaced with the second driving unit or the first driving unit having the similar mechanism.
Also, as to the first driving unit, it is possible to combine a mechanism for moving the first driving unit in the direction of the Y-axis as explained in the above third embodiment, with the mechanism explained in the fourth embodiment. Further, as to the second driving unit, it is possible to combine a mechanism for rotating the second driving unit about its shaft in the direction of the Z-axis as explained in the above third embodiment, with a mechanism similar to the mechanism explained in the fourth embodiment.
Although the present invention has been explained in connection with several embodiments thereof, these embodiments are merely examples. Accordingly, what is comprised of the first to fourth embodiments combined arbitrarily, various changes, modifications or improvements, based on knowledge of a person skilled in the art, can be put into execution within the scope of the present invention unless they depart therefrom.
The automatic head washing apparatus according to the present invention, can wash the head automatically without leaving unwashed part thereof while supporting the head reliably and surely. Accordingly, the apparatus is useful in a medicare industry or hairdressing and beauty industry in which the washing of the head is performed.
Explanation of Numerals
| Number | Date | Country | Kind |
|---|---|---|---|
| 2011-096801 | Apr 2011 | JP | national |
| Filing Document | Filing Date | Country | Kind | 371c Date |
|---|---|---|---|---|
| PCT/JP2012/002762 | 4/20/2012 | WO | 00 | 2/27/2013 |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2012/147321 | 11/1/2012 | WO | A |
| Number | Name | Date | Kind |
|---|---|---|---|
| 3575181 | Rudd | Apr 1971 | A |
| 3603320 | Scipione | Sep 1971 | A |
| 20020050005 | Shimizu | May 2002 | A1 |
| 20040127822 | Eisenberg | Jul 2004 | A1 |
| 20130145540 | Mizuno et al. | Jun 2013 | A1 |
| 20130152299 | Mizuno et al. | Jun 2013 | A1 |
| 20130160198 | Mizuno et al. | Jun 2013 | A1 |
| 20130160786 | Fujioka et al. | Jun 2013 | A1 |
| Number | Date | Country |
|---|---|---|
| 6-21636 | Mar 1994 | JP |
| 6-078821 | Mar 1994 | JP |
| 07-236511 | Sep 1995 | JP |
| 2002-136331 | May 2002 | JP |
| 2003-245119 | Sep 2003 | JP |
| 2006-181039 | Jul 2006 | JP |
| 2010-178979 | Aug 2010 | JP |
| Entry |
|---|
| Supplementary European Search Report for corresponding European Application No. 12777691.2 mailed Nov. 7, 2013. |
| International Search Report for corresponding International Application No. PCT/JP2012/002762 issued Oct. 29, 2013. |
| International Search Report for corresponding International Application No. PCT/JP2012/002762 mailed Jul. 24, 2012. |
| Form PCT/ISA/237 for corresponding International Application No. PCT/JP2012/002762 dated Jul. 24, 2012. |
| Number | Date | Country | |
|---|---|---|---|
| 20130152300 A1 | Jun 2013 | US |
