U.S. patent application number 14/344949 was filed with the patent office on 2014-12-25 for automatic head care method and automatic head care system.
The applicant listed for this patent is Panasonic Corporation. Invention is credited to Soichiro Fujioka, Toshinori Hirose, Osamu Mizuno, Tohru Nakamura.
Application Number | 20140373266 14/344949 |
Document ID | / |
Family ID | 48043410 |
Filed Date | 2014-12-25 |
United States Patent
Application |
20140373266 |
Kind Code |
A1 |
Fujioka; Soichiro ; et
al. |
December 25, 2014 |
AUTOMATIC HEAD CARE METHOD AND AUTOMATIC HEAD CARE SYSTEM
Abstract
An automatic head care system capable of reliably caring, such
as kneading and washing, or massaging, an entire occipital region
with the occipital region securely supported is realized. By a
method using an automatic head care system including an occipital
region care unit having an occipital region contact unit and a pair
of care arms having head contact units, when the care arms care a
head except for an occipital region, the occipital region contact
unit of the occipital region care unit supports the occipital
region, and when the occipital region care unit cares the occipital
region, the head contact units of the care arms support the
head.
Inventors: |
Fujioka; Soichiro; (Osaka,
JP) ; Mizuno; Osamu; (Nara, JP) ; Hirose;
Toshinori; (Osaka, JP) ; Nakamura; Tohru;
(Osaka, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Panasonic Corporation |
Osaka |
|
JP |
|
|
Family ID: |
48043410 |
Appl. No.: |
14/344949 |
Filed: |
September 26, 2012 |
PCT Filed: |
September 26, 2012 |
PCT NO: |
PCT/JP2012/006162 |
371 Date: |
March 14, 2014 |
Current U.S.
Class: |
4/518 ;
4/515 |
Current CPC
Class: |
A61H 2201/5069 20130101;
A61H 2201/1692 20130101; A61H 2201/5061 20130101; A61H 35/008
20130101; A61H 2203/0456 20130101; A61H 2201/0115 20130101; A61H
2201/149 20130101; A61H 2205/021 20130101; A45D 19/14 20130101;
A61H 2201/5002 20130101; A61H 2201/1666 20130101; A61H 7/004
20130101; A45D 19/10 20130101; A61H 2201/1215 20130101; A61H
2201/1604 20130101; A61H 2201/1669 20130101; A45D 19/06 20130101;
A61H 2201/1678 20130101 |
Class at
Publication: |
4/518 ;
4/515 |
International
Class: |
A45D 19/06 20060101
A45D019/06 |
Foreign Application Data
Date |
Code |
Application Number |
Oct 4, 2011 |
JP |
2011-219823 |
Claims
1. An automatic head care method for caring a person's head with an
automatic head care system including an occipital region care unit
supporting the head, a pair of care arms arranged on right and left
sides of the occipital region care unit, a head contact unit
provided at each of the pair of care arms, an arm actuator driving
the care arms, an occipital region contact unit provided at the
occipital region care unit, an occipital region care unit actuator
driving the occipital region care unit, and an occipital region
pushing force detector detecting a pushing force on the occipital
region contact unit, the method comprising: supporting the
occipital region by the occipital region contact unit of the
occipital region care unit when the care arms care the head except
for the occipital region; and supporting the head by the head
contact units of the care arms when the occipital region care unit
cares the occipital region.
2. The automatic head care method according to claim 1, comprising:
arranging the care arms at respective head support positions to
support the head, when the head contact units of the care arms
support the head.
3. The automatic head care method according to claim 2, comprising:
adjusting the head support positions based on the detected pushing
force on the occipital region contact unit, when the head contact
units of the care arms support the head.
4. The automatic head care method according to claim 3, comprising:
detecting a pushing force on the head contact unit of one of the
care arms by a first head pushing force detector and detecting a
pushing force on the head contact unit of another one of the care
arms by a second head pushing force detector; and adjusting the
head support positions so as to equalize the pushing force detected
by the first head pushing force detector and the pushing force
detected by the second head pushing force detector, each other.
5. The automatic head care method according to claim 2, wherein
swing angle of the care arm at the head support position is in a
range of 0 to 30 degrees, given that the swing angle of the care
arm arranged vertically downward is 0 degrees, and that the swing
angle of the care arm horizontally arranged is 90 degrees.
6. The automatic head care method according to claim 2, wherein the
head support positions are positions adjacent to the occipital
region care unit.
7. The automatic head care method according to claim 1, comprising:
detecting an oscillating angle of the occipital region care unit
and correcting a pushing force of the occipital region care unit
according to the detected oscillating angle, when the occipital
region care unit cares the occipital region.
8. The automatic head care method according to claim 1, wherein the
automatic head care system includes at least one of a water system
supplying unit, a washing liquid supplying unit, and a conditioner
supplying unit, and wherein the method comprises: washing the head
except for occipital region with the head contact units of the care
arms; and washing the occipital region with the occipital region
contact unit of the occipital region care unit.
9. An automatic head care system comprising: an occipital region
care unit supporting a person's head; a pair of care arms arranged
on right and left sides of the occipital region care unit; a head
contact unit provided at each of the pair of care arms; an arm
actuator driving the care arms; an occipital region contact unit
provided at the occipital region care unit; an occipital region
care unit actuator driving the occipital region care unit; an
occipital region pushing force detector detecting a pushing force
on the occipital region contact unit; and a control device
controlling the arm actuator and the occipital region care unit
actuator, wherein the control device performs such control that
when the care arms care the head except for the occipital region,
the occipital region contact unit of the occipital region care unit
supports the occipital region, and that when the occipital region
care unit cares the occipital region, the head contact units of the
care arms support the head.
10. The automatic head care system according to claim 9, wherein
when the head contact units of the care arms support the head, the
control device arranges the care arms at respective head support
positions to support the head.
11. The automatic head care system according to claim 10, wherein
when the head contact units of the care arms support the head, the
control device adjusts the head support positions according to the
detected pushing force on the occipital region contact unit.
12. The automatic head care system according to claim 9, further
comprising: an oscillating device oscillating the occipital region
care unit about an axis extending in a lateral direction of the
occipital region care unit during washing of the occipital region;
and an oscillating angle detector detecting an oscillating angle of
the occipital region care unit oscillated by the oscillating
device, wherein the control device has an output correcting section
correcting the pushing force on the occipital region contact unit
according to the oscillating angle detected by the oscillating
angle detector.
13. The automatic head care system according to claim 9, further
comprising: at least one of a water system supplying unit, a
washing liquid supplying unit, and a conditioner supplying unit,
wherein the control device makes the head contact units of the care
arms to wash the head except for the occipital region, and makes
the occipital region contact unit of the occipital region care unit
to wash the occipital region.
Description
TECHNICAL FIELD
[0001] The present invention relates to an automatic head care
system for automatically caring a person's head.
BACKGROUND OF THE INVENTION
[0002] A hair washing has been known as one of the typical person's
head cares. In the industry of beauty care including hair styling
and hair cutting, head washing is laborious and has been desired to
be automated. Also in the medical field, head washing for
inpatients is laborious and has been desired to be automated.
[0003] There has been known, for example, an automatic hair washing
apparatus disclosed in Patent Document 1 washing a person's head
automatically. The automatic hair washing apparatus has a bowl
accommodating the person's head lying with his/her face upward, a
head support net supporting an occipital region of the head from
below in the bowl, and a plurality of nozzles ejecting washing
water from below toward the head. The automatic hair washing
apparatus ejects water from the nozzles, thereby washing hair of
the person's head supported by the head support net. In the
automatic hair washing apparatus, ejecting pressure of each of the
nozzles is controlled to be switched at predetermined time
intervals. Patent Document 1 discloses that such control allows a
person whose hair is washed by the automatic hair washing apparatus
to feel as if his head is massaged by hand.
[0004] Patent Document 1: WO 2010/090005 A1
[0005] Disadvantageously, as in the automatic hair washing
apparatus disclosed in Patent Document 1, when the ejection
pressure of washing water is merely changed, persons may not
sufficiently feel as if their heads are kneaded and washed or
massaged.
[0006] The inventor intended to develop an automatic head care
system having a pair of right and left movable arms kneading and
washing, or massaging a person's head, as an automatic head care
system capable of giving a person the same feeling as when the head
is kneaded and washed, or massaged by hand.
[0007] Disadvantageously, in the case where head is kneaded and
washed, or massaged with the automatic head care system having such
arms, the occipital region needs to be supported from below by some
support member. In this case, a portion of the occipital region,
which interferes with the support member, cannot be cared with the
arms.
[0008] In order to solve the problem, an object of the present
invention is to provide an automatic head care system capable of
reliably caring, such as kneading and washing, or massaging an
entire occipital region with the occipital region securely
supported.
SUMMARY OF THE INVENTION
[0009] For this purpose, an automatic head care method of the
present invention uses an automatic head care system including an
occipital region care unit supporting the head, a pair of care arms
arranged on right and left sides of the occipital region care unit,
a head contact unit provided at each of the pair of care arms, an
arm actuator driving the care arms, an occipital region contact
unit provided at the occipital region care unit, an occipital
region care unit actuator driving the occipital region care unit,
and an occipital region pushing force detector detecting a pushing
force on the occipital region contact unit, the method
comprising:
[0010] supporting the occipital region by the occipital region
contact unit of the occipital region care unit when the care arms
care the head except for the occipital region; and
[0011] supporting the head by the head contact units of the care
arms when the occipital region care unit cares the occipital
region.
[0012] Further, for this purpose, an automatic head care system of
the present invention includes:
[0013] an occipital region care unit supporting a person's
head;
[0014] a pair of care arms arranged on right and left sides of the
occipital region care unit;
[0015] a head contact unit provided at each of the pair of care
arms;
[0016] an arm actuator driving the care arms;
[0017] an occipital region contact unit provided at the occipital
region care unit;
[0018] an occipital region care unit actuator driving the occipital
region care unit;
[0019] an occipital region pushing force detector detecting a
pushing force on the occipital region contact unit; and
[0020] a control device controlling the arm actuator and the
occipital region care unit actuator,
[0021] wherein the control device performs such control that
[0022] when the care arms care the head except for the occipital
region, the occipital region contact unit of the occipital region
care unit supports the occipital region, and that
[0023] when the occipital region care unit cares the occipital
region, the head contact units of the care arms support the
head.
ADVANTAGES OF THE INVENTION
[0024] According to the present invention, a person's entire
occipital region can be reliably cared, such as washed and kneaded,
or massaged, with the occipital region securely supported.
BRIEF DESCRIPTION OF THE DRAWINGS
[0025] FIG. 1 is a perspective view showing a specific example of
an automatic head washing system in accordance with a first
embodiment of the present invention.
[0026] FIG. 2 is a plan view showing the automatic head washing
system in FIG. 1.
[0027] FIG. 3 is a diagram showing the schematic configurations of
a left washing unit and a right washing unit.
[0028] FIG. 4 is a diagram showing the driving mechanism of an
arm.
[0029] FIG. 5A is a diagram illustrating a kneading operation of
the arm.
[0030] FIG. 5B is a diagram illustrating the kneading operation of
the arm.
[0031] FIG. 6 is a side view showing a specific example of a head
care unit of the arm.
[0032] FIG. 7 is a perspective view showing the specific example of
the head care unit of the arm.
[0033] FIG. 8 is a diagram illustrating the direction of a pushing
rotation of the arm.
[0034] FIG. 9 is a diagram illustrating the direction of a swinging
rotation of the arm.
[0035] FIG. 10 is a perspective view showing a specific example of
an occipital region care unit.
[0036] FIG. 11 is a side view illustrating the swinging operation
of the occipital region care unit.
[0037] FIG. 12 is a block diagram showing the configuration of a
control device of the automatic head washing system in FIG. 1.
[0038] FIG. 13 is a block diagram showing the configuration of an
occipital region pushing force control section in accordance with
the first embodiment.
[0039] FIG. 14 is a block diagram showing the configuration of an
occipital region pushing force control section in accordance with a
second embodiment of the present invention.
[0040] FIG. 15 is a block diagram showing the configuration of an
occipital region pushing force control section in accordance with a
third embodiment of the present invention.
[0041] FIG. 16 is a block diagram showing the configuration of an
occipital region pushing force control section of another aspect of
the first embodiment.
[0042] FIG. 17 is a flow chart showing a head washing operation in
accordance with the first embodiment.
EMBODIMENTS OF THE INVENTION
[0043] With reference to the drawings, an embodiment according to
the present invention will be described hereinafter. Like elements
are denoted by like reference numerals to avoid duplicate
descriptions and descriptions thereof may be omitted. Each drawing
mainly shows structural element or elements schematically for the
better understanding thereof.
[0044] 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".
[0045] An automatic head washing system for automatically washing a
person's head will be described in the embodiments as an example of
an automatic head care system for automatically caring a person's
head. Further, a head washing operation of automatically washing a
person's head will be described in the embodiments as an example of
an automatic head care method for automatically caring a person's
head. It should be noted that the expression "caring of a person's
head" refers to caring a person's head with pressing force, such as
washing or massaging of a person's head. Also, it should be noted
that the expression "washing of a person's head" means washing of a
person's scalp or hair, for example with kneading. In the present
specification, "left" or "right" refers to the direction viewed
from the person whose head is cared.
First Embodiment
[0046] FIG. 1 is a perspective view showing the schematic
configuration of an automatic head washing system 100 in accordance
with a first embodiment of the present invention, and FIG. 2 is a
plan view showing the schematic configuration of the automatic head
washing system 100.
[0047] As shown in FIG. 1 and FIG. 2, the automatic head washing
system 100 has a bowl 101 enclosing an almost half rear surface of
a head 10 of a person who lies with his/her face upward.
[0048] The bowl 101 is provided with a notch 101c supporting a
person's neck from below. The notch 101c is provided at the center
of the bowl 101 in the lateral direction. The person's neck is set
at the notch 101c, thereby positioning the person's head 10 at the
substantially center of the bowl 101 in the lateral direction. An
occipital region care unit 500 is provided in the bowl 101 such
that an occipital region 11 of the person's head 10 (see FIG. 13)
can be supported from below. The occipital region care unit 500 is
provided so as to rise from a bottom 101d of the bowl 101. Specific
configuration of the occipital region care unit 500 will be
described later. To prevent water and shampoo from scattering
toward the outside, a hood 113 is detachably attached to the bowl
101. Preferably, the hood 113 is openable and is made of a
transparent material so as not to cause the person to have an
oppressive feeling and anxiety during washing.
[0049] When the automatic head washing system 100 washes the
person's head 10, a water shield may be attached to the person's
head 10. When the water shield is attached to the person's head 10,
water and so on ejected from below-mentioned nozzles 110 are
shielded by the water shield, preventing water and so on from
scattering onto a person's face.
[0050] Support columns 102L and 102R are provided on the right and
left sides, respectively, of the occipital region care unit 500 in
a housing 101a constituting the bowl 101. Support columns 102L and
102R are movable in the lateral direction of the head 10. Thus, the
distance between the person's head 10 and each of below-mentioned
arm bases 103L and 103R can be adjusted according to the size of
the person's head 10.
[0051] A washing unit 12 washing the person's head 10 is provided
in the bowl 101. The washing unit 12 is configured of a left
washing unit 12L located on the left side of the occipital region
care unit 500 and a right washing unit 12R located on the right
side of the occipital region care unit 500. Driving of these
washing units 12 and the occipital region care unit 500 is
controlled by a below-mentioned control device 600.
[0052] First, the configuration of the left washing unit 12L will
be described.
[0053] The left washing unit 12L has a support shaft 104L coupled
to the support column 102L, and can rotate about the support shaft
104L. The support shaft 104L is provided on the left side of the
head 10 so as to extend in the lateral direction of the head 10.
The left washing unit 12L is configured of a left arm 114L and a
pipe 111L. The left arm 114L includes an arm housing 115L. The left
arm housing 115L conforms to the left half of the head 10.
Specifically, the arm housing 115L extends from its bottom end to
the center in a substantially linear manner, and from the center to
its tip end in a substantially arcuate manner. A first arm 105L, a
second arm 106L, and third arms 107L and 108L, which are shown in
FIG. 3 or FIG. 4, are stored in the arm housing 115L. The arms 114L
and 114R are an example of care arms.
[0054] FIG. 3 is a schematic view showing the configuration of the
left washing unit 12L and the right washing unit 12R, and FIG. 4 is
a schematic view showing the driving mechanism of the left arm
114L. In FIG. 3 and FIG. 4, the vertical direction is defined as a
Z axis, and directions perpendicular to the vertical direction are
defined as an X axis and a Y axis.
[0055] As shown in FIG. 3, the pipe 111L of the left washing unit
12L has a plurality of nozzles 110 ejecting at least one of water,
a washing liquid, and conditioner toward the head 10. The pipe 111L
is attached to the arm base 103L fixed to the support shaft 104L,
and can rotate about the support shaft 104L together with the arm
base 103L.
[0056] The first arm 105L is attached to the arm base 103L, and can
rotate about the support shaft 104L together with the arm base
103L. The first arm 105L rotatably supports the second arm 106L.
The second arm 106L rotatably supports the two third arms 107L and
108L. A head contact unit 409L that can contact the head 10 is
attached to the third arms 107L and 108L.
[0057] The head contact unit 409L has a plurality of contacts 109.
The contacts 109 are exposed to the outside of the arm housing
115L. The contacts 109 are made of an elastic rubber material, for
example. As shown in FIG. 1, when the automatic head washing system
100 cares the head 10, a cover 116 (see FIG. 1) may be attached to
the contacts 109. The cover 116 can prevent water, shampoo, or
stains from adhering to the contacts 109.
[0058] A left arm swinging motor 201L is arranged in the support
column 102L. A rotation output of the left arm swinging motor 201L
is transmitted to the support shaft 104L through a gear 203L
attached to a motor rotation output shaft 202L and a gear 204L
attached to the support shaft 104L. The arm base 103L attached to
the support shaft 104L is driven by the rotation output transmitted
from the left arm swinging motor 201L so as to be rotatable in the
direction of an arrow 205L.
[0059] A left arm pushing motor 206L and an arm rotation shaft 209L
are arranged in the arm base 103L. The arm rotation shaft 209L is
provided at a substantially right angle to the support shaft 104L.
A rotation output of the left arm pushing motor 206L is transmitted
to the first arm 105L through a gear 207L attached to a motor
rotation output shaft 207La and a gear 208L attached to the arm
rotation shaft 209L. The first arm 105L is driven by the rotation
output transmitted from the left arm pushing motor 206L so as to be
rotatable about the arm rotation shaft 209L in the direction of an
arrow 210L.
[0060] The first arm 105L includes a first pressure sensor 211L
that is a first head pushing force detector detecting the pushing
force of the head 10 on the head contact unit 409L. The first arm
105L rotatably supports the second arm 106L through a support shaft
212L. The second arm 106L rotatably supports the third arm 107L
through the support shaft 213L, and rotatably supports the third
arm 108L through a support shaft 214L.
[0061] In FIG. 4, the third arms 107L and 108L are viewed from the
surface of the head 10 in the direction of a normal 215L (see FIG.
3). To describe the drive transmitting system of the left arm 114L,
FIG. 4 schematically shows the arrangement of each of the arm base
103L, the first arm 105L, and the second arm 106L.
[0062] As shown in FIG. 4, a left arm kneading motor 301L is
arranged in the second arm 106L. A rotation output of the left arm
kneading motor 301L is transmitted to a drive shaft 304L through a
gear 302L attached to a motor rotation output shaft and a gear 303L
attached to the drive shaft 304L. The drive shaft 304L is driven by
the rotation output transmitted from the left arm kneading motor
301L so as to be rotatable about the shaft.
[0063] A rotation output of a gear 305L attached to one end of the
drive shaft 304L is transmitted to a gear 307L and a gear 311L that
are attached to the third arm 107L through a cylindrical rack 306L.
The cylindrical rack 306L moves parallel to the support shaft 213L,
thereby causing the gear 307L to rotate about a rotation shaft 308L
and the gear 311L to rotate about a rotation shaft 312L. The
cylindrical rack 306L is rotatably supported by the second arm 106L
through the support shaft 213L, and is held so as to be movable
parallel to the support shaft 213L.
[0064] The cylindrical rack 306L is substantially cylindrical as a
whole, and includes an axisymmetric rack mechanism 306La on its
side surface. The rack mechanism 306La engages with the gear 305L
attached to the drive shaft 304L as well as the gear 307L and the
gear 311L.
[0065] A fourth arm 309L coupling the two contacts 109 to each
other is connected to the gear 307L. The two contacts 109 of the
fourth arm 309L rotate about the rotation shaft 308L integrally
with the gear 307L. Similarly, a fourth arm 310L coupling the two
contacts 109 to each other is connected to the gear 311L. The two
contacts 109 of the fourth arm 310L rotate about the rotation shaft
312L integrally with the gear 311L.
[0066] A rotation output of a gear 313L attached to the other end
of the drive shaft 304L is transmitted to a gear 315L and a gear
318L that are attached to the third arm 108L through a cylindrical
rack 314L. The cylindrical rack 314L moves parallel to the support
shaft 214L, thereby causing the gear 315L to rotate about a
rotation shaft 316L and the gear 318L to rotate about a rotation
shaft 319L. The cylindrical rack 314L is substantially cylindrical
as a whole, and has an axisymmetric rack mechanism 314La on its
side surface. The cylindrical rack 314L is rotatably supported by
the second arm 106L through the support shaft 214L, and is held so
as to be movable parallel to the support shaft 214L.
[0067] A fourth arm 317L coupling the two contacts 109 to each
other is connected to the gear 315L. The two contacts 109 of the
fourth arm 317L rotate about the rotation shaft 316L integrally
with the gear 315L. Similarly, a fourth arm 320L coupling the two
contacts 109 to each other is connected to the gear 318L. The two
contacts 109 of the fourth arm 320L rotate about the rotation shaft
319L integrally with the gear 318L.
[0068] FIG. 5A and FIG. 5B are views showing a kneading operation
of the left arm 114L. FIG. 5A shows the cylindrical racks 306L and
314L supported by the second arm 106L, and the gears 307L, 311L,
315L, and 318L that are attached to the third arms 107L and 108L,
the fourth arms 309L, 310L, 317L, and 320L, and the contacts 109.
FIG. 5B shows the fourth arms 309L, 310L, 317L, and 320L and the
contacts 109, and does not show the cylindrical racks 306L and 314L
and the gears 307L, 311L, 315L, and 318L. In FIG. 5A and FIG. 5B,
the second arm 106L and the third arms 107L and 108L are
schematically shown as a bar 27 in a unit.
[0069] As shown in FIG. 5A, when the cylindrical rack 306L moves in
the direction of an arrow 27a, the gear 307L adjacent to the
cylindrical rack 306L rotates in the direction of an arrow 27b, and
the gear 311L rotates in the direction of an arrow 27c. In line
with this, the contacts 109 attached to the gears 307L and 311L
through the fourth arms 309L and 310L, respectively, rotates in
opposite directions of arrows 27d and 27e.
[0070] When the cylindrical rack 314L moves in the direction of the
arrow 27a, the gear 315L adjacent to the cylindrical rack 314L
rotates in the direction of the arrow 27b, and the gear 318L
rotates in the direction of the arrow 27c. In line with this, the
contacts 109 attached to the gears 315L and 318L through the fourth
arms 317L and 320L, respectively, rotate in the opposite directions
of the arrows 27d and 27e.
[0071] When the cylindrical racks 306L and 314L rotate in the
direction of the arrow 27a, the adjacent gears 307L and 318L
attached to the adjacent different third arms 107L and 108L (see
FIG. 4), respectively, rotate in opposite directions. As a result,
the contacts 109 attached to the gears 307L and 318L through the
fourth arms 309L and 320L, respectively, move in the opposite
directions of the arrows 27d and 27e. When the cylindrical racks
306L and 314L move in the direction of the arrow 27a, the two
contacts 109 adjacent to each other in the direction orthogonal to
the axial direction of the cylindrical racks 306L and 314L move to
get close to or away from each other in the directions of the
arrows 27d and 27e.
[0072] When the cylindrical racks 306L and 314L move in the
direction of the arrow 27a after the contacts 109 make contact with
scalp of the person's head 10, scalp areas in contact with the
contacts 109 get close to or away from each other. This can
contract or extend the scalp of the person's head 10, thereby
kneading the scalp of the person's head 10.
[0073] When the cylindrical racks 306L and 314L move in the
direction of the arrow 27a in the state where the contacts 109 are
in contact with hair on the person's head 10, hair between the
contacts 109 can be pinched or pulled to displace and move bunches
constituting hair in various directions, thereby kneading the
bunches.
[0074] As shown in FIG. 5B, when the cylindrical racks 306L and
314L move in the opposite direction to the direction of the arrow
27a (see FIG. 5A), the gears 307L, 311L, 315L, and 318L (see FIG.
5A) and the contacts 109 each move in the opposite direction to the
operating direction shown in FIG. 5A. In the left washing unit 12L,
the cylindrical racks 306L and 314L can be reciprocated in the
direction of the arrow 27a and the opposite direction to the
direction of the arrow 27a to alternate a state A in FIG. 5A and a
state B in FIG. 5B and oscillate the contacts 109. As a result, the
operation of kneading the head 10 with the plurality of contacts
109 (hereinafter referred to as a "kneading operation") is
achieved.
[0075] The right washing unit 12R and the left washing unit 12L are
symmetrically configured right and left.
[0076] That is, as shown in FIG. 1, FIG. 2, and FIG. 3, the right
washing unit 12R has a support shaft 104R coupled to the support
column 102R, and can rotate about the support shaft 104R. The right
washing unit 12R includes a right arm 114R and a pipe 111R, and the
right arm 114R has an arm housing 115R. First to third arms 105R,
106R, 107R, and 108R are stored in the arm housing 115R. As shown
in FIG. 3, the first arm 105R is attached to an arm base 103R, and
can rotate about the support shaft 104R together with the arm base
103R. A head contact unit 409R that can contact the head 10 is
attached to the third arms 107R and 108R. The head contact unit
409R has a plurality of contacts 109.
[0077] A right arm swinging motor 201R is arranged in the support
column 102R. A rotation output of the right arm swinging motor 201R
is transmitted to the support shaft 104R through a gear 203R
attached to a motor rotation output shaft 202R and a gear 204R
attached to the support shaft 104R. The arm base 103R attached to
the support shaft 104R is driven by the rotation output transmitted
from the right arm swinging motor 201R so as to be rotatable in the
direction of an arrow 205R.
[0078] A right arm pushing motor 206R and an arm rotation shaft
209R are arranged in the arm base 103R. The arm rotation shaft 209R
is provided at a substantially right angle to the support shaft
104R. A rotation output of the right arm pushing motor 206R is
transmitted to the first arm 105R through a gear 207R attached to a
motor rotation output shaft 207Ra and a gear 208R attached to the
arm rotation shaft 209R of the first arm 105R. The first arm 105R
is driven by the rotation output transmitted from the right arm
pushing motor 206L so as to be rotatable about the arm rotation
shaft 209R in the direction of an arrow 210R.
[0079] The first arm 105R includes a second pressure sensor 211R
that is a second head pushing force detector detecting the pushing
force of the head 10 on the head contact unit 409R. The first arm
105R rotatably supports the second arm 106R through the support
shaft 212R. The second arm 106R rotatably supports the third arm
107R through a support shaft 213R, and rotatably supports the third
arm 108R through a support shaft 214R.
[0080] Gears that engage with a cylindrical rack are attached to
each of the third arms 107R and 108R. The cylindrical racks are
rotatably supported by the second arm 106R through the support
shafts 213R and 214R, and are held so as to be movable parallel to
the support shafts 213R and 214R. Each of the gears is connected to
a fourth arm coupling the two contacts 109 to each other, and the
two contacts 109 are rotated by a right arm kneading motor arranged
in the second arm 106R integrally with the gear.
[0081] Next, with reference to FIG. 6 and FIG. 7, a specific
example of a head care unit 40 configured of a part closer to the
distal ends than the first arms 105L and 105R in the left arm 114L
and the right arm 114R will be described.
[0082] FIG. 6 is a side view showing the specific example of the
head care unit 40, and FIG. 7 is a perspective view showing the
specific example of the head care unit 40. In FIG. 6 and FIG. 7,
the second arm 106L is partially shown. In FIG. 6 and FIG. 7,
although the head care unit 40 of the left arm 114L is shown, the
right arm 114R has a similar head care unit.
[0083] As shown in FIG. 6 and FIG. 7, the head care unit 40
includes the drive shaft 304L transmitting an output from the left
arm kneading motor 301L arranged in the second arm 106L, the two
cylindrical racks 306L and 314L that engage with the gears 305L and
313L arranged at the both ends of the drive shaft 304L,
respectively, and the third arms 107L and 108L rotatably held by
the support shafts 213L and 214L that correspond to central axes
306Lb and 314Lb of the two cylindrical racks 306L and 314L,
respectively.
[0084] In the head care unit 40, a rotation output of the left arm
kneading motor 301L is transmitted to the gears 307L, 311L, 315L,
and 318L attached to the third arms 107L and 108L through the gears
305L and 313L and the cylindrical racks 306L and 314L that are
arranged at both ends of the drive shaft 304L. The rotation output
transmitted from the left arm kneading motor 301L causes the gears
307L, 311L, 315L, and 318L to rotate, rotating the two contacts 109
attached to each of the gears 307L, 311L, 315L, and 318L.
[0085] The two cylindrical racks 306L and 314L are rotatably
supported by the second arm 106L through the support shafts 213L
and 214L, respectively. The gear 307L engaging with the cylindrical
rack 306L is connected to the rotation shaft 308L rotatably held by
the third arm 107L. The rotation shaft 308L is connected to the
fourth arm 309L coupling the two contacts 109 to each other. Thus,
the gear 307L and the contacts 109 can rotate about the rotation
shaft 308L together. The rotation shaft 308L is designed to
maintain the engagement state between the cylindrical rack 306L and
the gear 307L, for example, by including flanges in top and bottom
portions across the third arm 107L. The gears 311L, 315L, and 318L
are configured like the gear 307L. Specifically, the gears 311L,
315L, and 318L can rotate about the rotation shafts 312L, 316L, and
319L, respectively, integrally with the contacts 109.
[0086] The fourth arms 309L, 310L, 317L, and 320L each are inverted
V-like shaped, and function as a plate spring as an example of an
elastic body. Thus, the contacts 109 are pushed onto the person's
head 10 by elastic forces of the fourth arms 309L, 310L, 317L, and
320L, and move along the surface of the person's head 10.
Therefore, the person's head 10 can be cared smoothly and
efficiently with the contacts 109.
[0087] With reference to FIG. 8 and FIG. 9, various definitions of
the operating direction of the right and left arms 114L and 114R
will be described below. Although FIG. 8 and FIG. 9 show only the
left arm 114L of the right and left arms 114L and 114R, the same
definition is applied to the right arm 114R as well.
[0088] As shown in FIG. 8, the arm 114L (114R) rotates about the
arm rotation shaft 209L (209R) so as to get close to or away from
the surface of the person's head 10, which is referred to as a
"pushing rotation". The direction in which the arm 114L (114R) gets
close to the head 10 is referred to as "pushing direction
(direction of an arrow D1)", and the direction in which the arm
114L (114R) gets away from the head 10 is referred to as a "release
direction (direction of an arrow D2)". The angular position at
which the arm 114L (114R) is furthest from the head 10 is defined
as 0 degrees, and an angle displaced from the angular position of 0
degrees in the pushing direction is referred to as a "pushing angle
.theta..sub.PL (.theta..sub.PR)".
[0089] As shown in FIG. 9, in the automatic head washing system
100, the arm 114L (114R) rotates about the support shaft 104L
(104R) in the forward and rearward direction of the head 10, which
is referred to as a "swinging rotation". The direction of the
swinging rotation toward the front of the head 10 (direction of an
arrow D3) is defined as a positive direction. As for the angle of
the swinging rotation, the angular position in the rear of the head
10 is defined as 0 degrees, and an angle displaced from the angular
position of 0 degrees in the positive direction is referred to as a
"swing angle .theta..sub.SL (.theta..sub.SR)". That is, the
direction in which the swing angle .theta..sub.SL (.theta..sub.SR)
is 0 degrees is a vertically downward direction. In this
embodiment, the maximum value of the swing angle .theta..sub.SL
(.theta..sub.SR) is set to 130 degrees for example. That is, in
this embodiment, the swing angle .theta..sub.SL (.theta..sub.SR) at
which the head contact units 409L and 409R of the arms 114L and
114R are arranged vertically downward with respect to the support
shafts 104L and 104R, respectively, is referred to as 0 degrees. In
this embodiment, the swing angle .theta..sub.SL (.theta..sub.SR) of
the arms 114L and 114R at which the head contact units 409L and
409R are arranged in a horizontal direction toward the top of the
head 10 supported by the occipital region care unit 500 with
respect to the support shafts 104L and 104R of the arms 114L and
114R is defined as 90 degrees.
[0090] Returning to FIG. 3, the automatic head washing system 100
has a water system valve 216, a washing liquid system valve 217,
and a conditioner system valve 218. Outlets of the water system
valve 216, the washing liquid system valve 217, and the conditioner
system valve 218 are interconnected in parallel, and are connected
to pipes 111L and 111R through piping 219. An inlet of the water
system valve 216 is connected to a water system supplying unit to
receive water from the outside. An inlet of the washing liquid
system valve 217 is connected to a mixing unit 220 mixing a washing
liquid and compressed air to receive a mousse-like washing liquid
formed by mixing the washing liquid from a washing liquid supplying
unit 222 supplying a washing liquid such as shampoo and compressed
air in the mixing unit 220. An inlet of the conditioner system
valve 218 is connected to a conditioner supplying unit 221 to
receive conditioner from the conditioner supplying unit 221.
[0091] In the automatic head washing system 100, by appropriately
controlling the water system valve 216, the washing liquid system
valve 217, and the conditioner system valve 218, water, a
mousse-like washing liquid, or conditioner can be ejected from the
plurality of nozzles 110 provided at the pipes 111L and 111R.
Mist-like conditioner may be ejected from a nozzle other than the
nozzles 110. In this case, a path for the conditioner may be formed
by connecting the nozzle capable of spraying conditioner to the
conditioner system valve 218.
[0092] In the automatic head washing system 100, the washing unit
12 can be operated according to the shape of the person's head 10
to wash the head 10. Therefore, the person's head 10 can be
efficiently washed to reduce the amount of used water or shampoo as
well as waste water.
[0093] As shown in FIG. 2, in the automatic head washing system
100, two drain outlets 101b are provided on the bottom 101d of the
bowl 101 to discharge washing water and so on through the drain
outlets 101b. A drain pipe is connected to the drain outlets 101b.
Water and so on used for washing are discharged from the drain
outlets 101b to the outside.
[0094] Next, with reference to FIG. 10 and FIG. 11, a specific
example of the occipital region care unit 500 will be described
below. The occipital region care unit 500 has a function of caring
the person's occipital region 11 (see FIG. 13) and a function of
supporting the occipital region 11 when the arms 114L and 114R care
the person's head 10. When the occipital region care unit 500 cares
the occipital region 11, the head 10 is supported by the arms 114L
and 114R as described later.
[0095] As shown in FIG. 10, the occipital region care unit 500 has
the similar configuration to that of the head care unit 40 of the
arms 114L and 114R. The occipital region care unit 500 has an
occipital region contact unit 548 having a plurality of contacts
550 that can contact the occipital region 11 and an occipital
region kneading motor 501 allowing the occipital region contact
unit 548 to perform the kneading operation. Although each
constituent of the occipital region care unit 500 in FIG. 10 is
stored in a housing 560 (see FIG. 11), the housing 560 is not shown
in FIG. 10. However, the below-mentioned contacts 550 and kneading
arms 509, 510, 539, and 540 are exposed from the housing 560.
[0096] The occipital region kneading motor 501 is installed in the
housing 560. A rotation output of the occipital region kneading
motor 501 is transmitted to a drive shaft 504 through a gear 502
attached to a motor rotation output shaft and a gear 503 attached
to the drive shaft 504. Gears 505 and 513 are provided at both
respective ends of the drive shaft 504. One gear 505 engages with a
first cylindrical rack 506, and the other gear 513 engages with a
second cylindrical rack 514. Support shafts 523 and 524 of the
cylindrical racks 506 and 514 are rotatably held by holding stages
527 and 528.
[0097] Two gears 507 and 511 engage with the first cylindrical rack
506, and two gears 537 and 541 engage with the second cylindrical
rack 514. Although the gears 507, 511, 537, and 541 are fan-like in
FIG. 10, the shape of the gears 507, 511, 537, and 541 is not
specifically limited.
[0098] The kneading arms 509, 510, 539, and 540 are connected to
the gears 507, 511, 537, and 541 through rotation shafts 508, 512,
538, and 542, respectively. Thus, the gears 507, 511, 537, and 541
and the kneading arms 509, 510, 539, and 540 can integrally rotate
about the rotation shafts 508, 512, 538, and 542, respectively.
[0099] The rotation shafts 508, 512, 538, and 542 are rotatably
held by the holding stages 527 and 528. The rotation shafts 508,
512, 538, and 542 are designed to maintain the engagement state
between the cylindrical racks 506 and 514 and the gears 507, 511,
537, and 541, for example, by including flanges in top and bottom
portions across the holding stages 527 and 528.
[0100] The contacts 550 are provided at both ends of each of the
kneading arms 509, 510, 539, and 540. In FIG. 10, the contacts 550
shown on the right side of the center contact the left half of the
occipital region 11, and the contacts 550 shown on the left side of
the center contact the right half of the occipital region 11.
[0101] The kneading arms 509, 510, 539, and 540 each are V-like
shaped, and function as a plate spring as an example of an elastic
body. For this reason, the contacts 550 are pushed onto the
occipital region 11 by elastic forces of the kneading arms 509,
510, 539, and 540, and move along the surface of the occipital
region 11. Therefore, the contacts 550 can care the occipital
region 11 smoothly and efficiently.
[0102] With such configuration, in the occipital region care unit
500, a rotation output of the occipital region kneading motor 501
is transmitted of the gears 507, 511, 537, and 541 connected to one
ends of the rotation shafts 508, 512, 538, and 542, respectively,
through the gears 505 and 513 and the cylindrical racks 506 and 514
that are arranged at both ends of the drive shaft 504. The kneading
arms 509, 510, 539, and 540 are rotated by the rotation output
transmitted from the occipital region kneading motor 501 integrally
with the gears 507, 511, 537, and 541, kneading the occipital
region 11 with the contacts 550 provided at the both ends of the
kneading arms 509, 510, 539, and 540.
[0103] FIG. 11 is a side view schematically showing an attachment
structure of the occipital region care unit 500.
[0104] As shown in FIG. 11, in this embodiment, an occipital region
oscillating motor 572 is provided as an oscillating device
oscillating the occipital region care unit 500. The occipital
region oscillating motor 572 oscillates the occipital region care
unit 500 about a rotation shaft 564 extending in the lateral
direction of the person's head 10. The occipital region oscillating
motor 572 is fixed to the bottom 101d of the bowl 101. One end of
the rotation shaft 564 is drivingly coupled to a rotation output
shaft of the occipital region oscillating motor 572, and the other
end of the rotation shaft 564 is rotatably supported by a base 570
attached to the bottom 101d of the bowl 101. A lower end of an
oscillating arm 562 is coupled to the rotation shaft 564. The
oscillating arm 562 can rotate integrally with the rotation shaft
564.
[0105] The housing 560 of the occipital region care unit 500 is
fixed to an upper end of the oscillating arm 562. The housing 560
includes a third pressure sensor 580 that is an occipital region
pushing force detector detecting the pushing force of the occipital
region 11 on the occipital region contact unit 548.
[0106] With such configuration, by driving the occipital region
oscillating motor 572, the occipital region care unit 500 can
oscillate integrally with the rotation shaft 564 and the
oscillating arm 562 so as to get close to or away from the notch
101c of the bowl 101. Thereby, the position of the occipital region
care unit 500 can be adjusted in the oscillating direction,
resulting in that the occipital region care unit 500 can support or
care the occipital region 11 at a more suitable position.
[0107] The oscillating direction of the occipital region care unit
500 is defined as follows. First, the oscillating direction toward
the notch 101c (direction of an arrow D4) is defined as a positive
direction. As for the angular position in the oscillating
direction, the angular position furthest from the notch 101c in the
oscillating range of the occipital region care unit 500 is defined
as 0 degrees. The magnitude of the angle displaced from the angular
position of 0 degrees in the positive direction is defined as an
oscillating angle .theta..sub.T. The angular position closest to
the notch 101c in the oscillating range is defined as
.theta..sub.TMAX.
[0108] The occipital region care unit 500 may be designed to be
adjustable in position in the horizontal direction along the bottom
101d of the bowl 101, as well as in the oscillating direction as
described above. In this case, the occipital region care unit 500
can be positioned more suitably to achieve more comfortable support
or care of the occipital region 11 with the occipital region care
unit 500.
[0109] Preferably, the occipital region care unit 500 includes an
occipital region washing nozzle. When the occipital region care
unit 500 provided with the nozzle washes the occipital region 11,
the occipital region washing nozzle can eject water, a washing
liquid, or conditioner toward the occipital region 11. In this
case, for example, the water system supplying unit, the washing
liquid supplying unit 222, and the conditioner supplying unit 221
are connected to a pipe connected to the occipital region washing
nozzle.
[0110] Control of various operations of the automatic head washing
system 100 will be described below.
[0111] As shown in FIG. 12, the automatic head washing system 100
includes the control device 600 comprehensively controlling the
operation of the automatic head washing system 100.
[0112] The control device 600 controls a pair of right and left arm
actuators 401L and 401R driving the arms 114L and 114R,
respectively, an occipital region care unit actuator 402 driving
the occipital region care unit 500, and opening/closing of the
various valves 216, 217, and 218 to achieve various operations of
the automatic head washing system 100. The pair of right and left
arm actuators 401L and 401R drive the arms 114L and 114R such that
the head contact units 409L and 409R care the head 10. The
occipital region care unit actuator 402 drives the occipital region
care unit 500 such that the occipital region contact unit 548 cares
the occipital region 11.
[0113] The left arm actuator 401L includes the left arm swinging
motor 201L, the left arm pushing motor 206L, and the left arm
kneading motor 301L. The right arm actuator 401R includes the right
arm swinging motor 201R, the right arm pushing motor 206R, and the
right arm kneading motor 301R.
[0114] The left arm swinging motor 201L and the right arm swinging
motor 201R include encoders 291L and 291R generating a pulse signal
in sync with the rotational angle of the arm swinging motors 201L
and 201R, respectively. The pulse signals generated by the encoders
291L and 291R, which are information on the swing angles
.theta..sub.SL and .theta..sub.SR of the arms 114L and 114R, are
inputted to the control device 600.
[0115] Similarly, the left arm pushing motor 206L and the right arm
pushing motor 206R include encoders 296L and 296R generating a
pulse signal in sync with the rotational angle of the arm pushing
motors 206L and 206R. The pulse signals generated by the encoders
296L and 296R, which are information on the pushing angles
.theta..sub.PL and .theta..sub.PR of the arms 114L and 114R, are
inputted to the control device 600.
[0116] The occipital region care unit actuator 402 includes the
occipital region oscillating motor 572 and the occipital region
kneading motor 501. The occipital region oscillating motor 572
includes an encoder 592 generating a pulse signal in sync with the
rotational angle of the occipital region oscillating motor 572,
which is an oscillating angle detector detecting the oscillating
angle .theta..sub.T of the occipital region care unit 500. The
pulse signal generated by the encoder 592, which is information on
the oscillating angle .theta..sub.T of the occipital region care
unit 500, is inputted to the control device 600.
[0117] The automatic head washing system 100 has an operating
section 404 receiving a manual input. An operating signal inputted
to the operating section 404 is inputted to the control device 600.
The automatic head washing system 100 further has a display 406
displaying various operating states of the automatic head washing
system 100 on the basis of an output signal from the control device
600. However, the operating section 404 may be a touch panel-type
operating section. When the operating section 404 is the touch
panel-type operating section, the display 406 can be integrated
with the operating section.
[0118] The control device 600 has a head care control section 602,
an occipital region care control section 604, a head support
control section 606, an occipital region pushing force control
section 610, and a storage section 690 storing various types of
information. The head care control section 602 controls the caring
operation of the person's head 10 with the right and left arms 114L
and 114R. The occipital region care control section 604 controls
the caring operation of the occipital region 11 with the occipital
region care unit 500. The head support control section 606 controls
the head contact units 409L and 409R of the arms 114L and 114R so
as to be arranged at respective head support positions where the
head 10 can be supported from below, at the caring operation of the
occipital region 11 with the occipital region care unit 500. The
occipital region pushing force control section 610 controls the
pushing force of the occipital region contact unit 548 of the
occipital region care unit 500 onto the occipital region 11 in the
state where the head contact units 409L and 409R are arranged at
the respective head support positions.
[0119] To perform the washing operation of the head 10 with the
arms 114L and 114R, the head care control section 602 controls the
right and left arm actuators 401L and 401R and opening/closing of
the various valves 216, 217, and 218. Through such a control, the
swinging rotation or the pushing rotation of the arms 114L and
114R, the kneading operation of the contacts 109, and the ejecting
operation of water, a washing liquid, or conditioner from the
nozzles 110 can cooperate with each other in various patterns.
Thereby, the various washing operations of the head 10 such as
washing by kneading, rinsing, draining, and brushing can be
achieved.
[0120] To perform the massaging operation of the head 10 with the
arms 114L and 114R, the head care control section 602 controls the
right and left arm actuators 401L and 401R. Through such a control,
the swinging rotation or the pushing rotation of the arms 114L and
114R and the kneading operation of the contacts 109 can cooperate
with each other in various patterns. Thereby, various massaging
operations can be achieved.
[0121] When the head care control section 602 controls the washing
operation or the massaging operation of the head 10 in this manner,
since the occipital region 11 is supported by the occipital region
care unit 500 from below, the washing operation or the massaging
operation can be performed in the stable state of the head 10.
[0122] To perform the caring operation of the occipital region 11
with the occipital region care unit 500, the occipital region care
control section 604 controls the occipital region care unit
actuator 402 to cause the occipital region care unit 500 to perform
the oscillating operation and the kneading operation in
combination. Thereby, the occipital region care unit 500 can
perform washing or massaging operation even on portions of the
occipital region 11 that cannot be cared by the arms 114L and 114R.
When the occipital region care unit 500 performs the washing
operation, preferably, water, a washing liquid, or conditioner is
ejected from the occipital region washing nozzle. In this case,
opening/closing of the valves to control ejection is controlled in
conjunction with the oscillating operation and the kneading
operation of the occipital region care unit 500.
[0123] The head support control section 606 controls the right and
left arm actuators 401L and 401R in the caring operation of the
occipital region 11 with the occipital region care unit 500,
thereby arranging the head contact units 409L and 409R of the right
and left arms 114L and 114R at the below-mentioned head support
positions.
[0124] The head support positions at which the arms 114L and 114R
are arranged are set to positions where the arms do not interfere
with the occipital region contact unit 548 of the occipital region
care unit 500 in the occipital region 11, and a load on the
person's neck is reduced. In the case where the occipital region
contact unit 548 is provided in contact with a lower part 11b of
the occipital region 11, the head support positions are set such
that the arms are in contact with an upper part 11a of the
occipital region 11. Specifically, the head support positions are
set such that the swing angle .theta..sub.SL of the arm 114L is 0
degrees or larger and the swing angle .theta..sub.SR of the arm
114R is 30 degrees or smaller. By setting the head support
positions such that the swing angles .theta..sub.SL and
.theta..sub.SR fall within the range of 0 to 30 degrees, when the
head 10 is supported by the arms 114L and 114R rather than the
occipital region care unit 500, the position of the head 10 does
not change so much, reducing the load on the person's neck.
[0125] To stabilize support of the head 10 against the gravity, the
head support positions are desirably set such that the swing angles
.theta..sub.SL and .theta..sub.SR fail within the range of 0 to 10
degrees. By setting the swing angles in the range of 0 to 10
degrees, the head 10 can be stably supported against the gravity,
and the load on the person's neck can be reduced.
[0126] To reduce loads on the arms 114L and 114R, the head support
positions are desirably set such that the swing angles
.theta..sub.SL and .theta..sub.SR fall within the range of 20 to 30
degrees. By setting the swing angles to the range, the load on the
arms 114L and 114R can be reduced, and the load on the person's
neck can be also reduced in terms of the relationship among
fulcrums, points of application, and points of action of the arms
114L and 114R, the occipital region care unit 500, and the notch
101c.
[0127] As shown in FIG. 16, by setting the positions where the arms
114L and 114R are adjacent to the occipital region care unit 500 as
the head support positions, a change in the position of the
person's head 10 can be reduced, decreasing the load on the
person's neck. However, in the case where the head support
positions are set adjacent to the occipital region care unit 500,
it is likely that the arms 114L and 114R interfere with the
occipital region care unit 500 and therefore, the arms 114L and
114R need to be controlled more accurately.
[0128] In moving the arms 114L and 114R to the respective head
support positions, it is desired that the arms 114L and 114R are
first swingingly rotated to adjust the respective swing angles and
then, are gradually moved toward the head 10. At this time, it is
desired that the arms 114L and 114R are gradually moved toward the
head 10 in cooperation. By adjusting the swing angles of the arms
114L and 114R and then, moving the arms 114L and 114R in the
pushing direction as described above, when support of the head is
switched from the occipital region care unit 500 to the arms 114L
and 114R, the load on the person's neck can be further reduced.
[0129] Specifically, the head support control section 606 controls
the swing angles .theta..sub.SL and .theta..sub.SR and the pushing
angles .theta..sub.PL and .theta..sub.PR of the right and left arms
114L and 114R such that the head contact units 409L and 409R are
arranged at the respective head support positions. At this time,
the swing angles .theta..sub.SL and .theta..sub.SR of the right and
left arms 114L and 114R are controlled so as to be equal to each
other. However, to prevent the arms 114L and 114R from interfering
with each other, the swing angles .theta..sub.SL and .theta..sub.SR
may be slightly shifted from each other.
[0130] As described above, in this embodiment, when the occipital
region care unit 500 cares the occipital region 11, since the head
10 is supported by the right and left arms 114L and 114R, the
occipital region 11 can be cared in the stable state of the head
10.
[0131] When the arms 114L and 114R support the head 10, preferably,
the fourth arms 309L, 310L, 317L, and 320L of the arm 114L are
parallel to one another. By arranging the fourth arms 309L, 310L,
317L, and 320L to be parallel to one another, the load onto the
head 10 from the contacts 109 can be uniformly distributed.
[0132] By oscillating the contacts 109 of the head contact units
409L and 409R of the arms 114L and 114R that support the head 10
while the occipital region care unit 500 cares the occipital region
11, water, a washing liquid, or conditioner can be flown more
smoothly. Specifically, when the contacts 109 of the arms 114L and
114R that support the head 10 are oscillated while the occipital
region care unit 500 cares the occipital region 11, water, a
washing liquid, or conditioner generated by washing operation of
the occipital region care unit 500 flows through the gap between
the contacts 109 and the head 10, which is caused by the
oscillation, more smoothly. In this case, the arms 114L and 114R
that support the head 10 can also massage the head 10.
[0133] The occipital region pushing force control section 610 has a
command value output section 612 outputting a predetermined command
value with respect to the pushing force of the occipital region
contact unit 548 onto the occipital region 11. The command value
output section 612 outputs the pushing force with which the
occipital region care unit 500 can optimally care the occipital
region 11, as the command value. Accordingly, the command value
outputted from the command value output section 612 changes to an
optimal value at all times according to the caring mode of the
occipital region 11.
[0134] The occipital region pushing force control section 610
further has a support position adjusting section 614 controlling
the arm actuators 401L and 401R to adjust the head support
positions such that the pushing force of the occipital region 11 on
the occipital region contact unit 548, which is detected by the
third pressure sensor 580, corresponds to the command value
outputted from the command value output section 612.
[0135] Specifically, the support position adjusting section 614
controls the left arm pushing motor 206L and the right arm pushing
motor 206R to control the pushing angles .theta..sub.PL and
.theta..sub.PR of the arms 114L and 114R, thereby adjusting the
height of the head support positions. The pushing force of the
occipital region contact unit 548 onto the occipital region 11
decreases as the head support positions rise, and the pushing force
increases as the head support positions lower. For this reason, the
support position adjusting section 614 can adjust the height of the
head support positions such that the pushing force of the occipital
region contact unit 548 onto the occipital region 11 corresponds to
the command value outputted from the command value output section
612.
[0136] The occipital region pushing force control section 610 may
further have an output correcting section 616 correcting the
command value outputted from the command value output section 612
according to the oscillating angle .theta..sub.T of the occipital
region care unit 500, which is detected by the encoder 592. The
output correcting section 616 will be specifically described in a
below-mentioned second embodiment.
[0137] The occipital region pushing force control section 610 may
have an input correcting section 618 correcting the command value
inputted from the command value output section 612 to the right arm
actuator 401R via the support position adjusting section 614 such
that the pushing force detected by the first pressure sensor 211L
of the left arm 114L corresponds to the pushing force detected by
the second pressure sensor 211R of the right arm 114R. The input
correcting section 618 will be specifically described in a
below-mentioned third embodiment.
[0138] The specific configuration of the occipital region pushing
force control section 610 will be described below.
[0139] FIG. 13 is a block diagram showing the configuration of the
occipital region pushing force control section 610 in the first
embodiment. FIG. 13 is a schematic view showing the state where the
upper part 11a of the occipital region 11 is supported from below
by the head contact units 409L and 409R of the arms 114L and 114R
arranged at the respective head support positions, and the
occipital region care unit 500 cares the lower part 11b of the
occipital region 11, when viewed from the left of the head 10. The
upper part 11a of the occipital region 11 refers to a vertex-side
portion of the occipital region 11, and the lower part 11b of the
occipital region 11 refers to a neck-side portion of the occipital
region 11. Although FIG. 13 shows only the head contact unit 409L
of the left arm 114L, the head contact unit 409R of the right arm
114R is also arranged at the head support position.
[0140] As shown in FIG. 13, the occipital region pushing force
control section 610 has a comparator 622. The comparator 622
compares the command value outputted from the command value output
section 612 with the pushing force detected by the third pressure
sensor 580 to calculate an error therebetween.
[0141] The occipital region pushing force control section 610 has a
position controller 624 controlled by the support position
adjusting section 614. The position controller 624 performs
calculation on the basis of an error signal sent from the
comparator 622. A signal of the calculation result is sent from the
position controller 624 to the left arm pushing motor 206L and the
right arm pushing motor 206R. Thereby, the pushing angles
.theta..sub.PL and .theta..sub.PR of the arms 114L and 114R are
adjusted to adjust the positions of the head contact units 409L and
409R of the arms 114L and 114R such that the pushing force of the
occipital region contact unit 548 onto the lower part 11b of the
occipital region 11 can correspond to the command value of the
command value output section 612.
[0142] Through such feedback control, in the first embodiment, the
occipital region care unit 500 can care the occipital region 11
with the suitable pushing force at all times in the state where the
head 10 is stably supported by the arms 114L and 114R.
[0143] FIG. 16 is a block diagram showing the configuration of an
occipital region pushing force control section 610 of another
aspect of the first embodiment. FIG. 16 is the same as FIG. 13
except for the position of the head contact unit 409L of the left
arm 114L and the head contact unit 409R of the right arm 114R and
thus, description thereof is omitted.
[0144] The head washing operation using the automatic head washing
system in the first embodiment will be described with reference to
a flow chart in FIG. 17.
[0145] As shown in FIG. 17, the occipital region care unit 500
supports the occipital region 11 of the person's head 10 in the
bowl 101 (Step S01). To support the occipital region 11, the person
himself/herself may place the occipital region 11 on the occipital
region care unit 500, or the automatic head washing system may move
the occipital region care unit 500 on the basis of information of a
sensor.
[0146] Subsequently, the washing unit 12 performs the pushing
rotation, the swinging rotation, or/and the kneading operation to
wash the head 10 except for the occipital region 11 (Step S02).
[0147] Subsequently, when washing of the head 10 except for the
occipital region 11 is finished, the head 10 is supported at the
head support positions by the washing unit 12 (Step S03).
[0148] Subsequently, when support of the head 10 by the washing
unit 12 is confirmed, support of the occipital region 11 by the
occipital region care unit 500 is released (Step S04). When the
support of the head 10 by the washing unit 12 is inadequate in Step
S03, the head 10 may fall at the moment the support by the
occipital region care unit 500 is released and therefore, it is
desired that support of the head 10 by the washing unit 12 is
reliably confirmed by use of an image sensor or the pressure
sensors 211L and 211R.
[0149] Subsequently, the occipital region care unit 500 performs
the kneading operation or/and is oscillated to wash the occipital
region 11 (Step S05).
[0150] Subsequently, when washing of the occipital region 11 is
completed, the occipital region care unit 500 supports the
occipital region 11 (Step S06).
[0151] Subsequently, when support of the occipital region 11 by the
occipital region care unit 500 is confirmed, the support of the
head 10 by the washing unit 12 is released.
[0152] The head washing operation using the automatic head washing
system in the first embodiment is performed by executing Steps S01
to S07 and then, repeating Steps S02 to S07 predetermined times
(once or more) as necessary.
[0153] The sequence of washing of the head 10 except for the
occipital region 11 (Steps S02 to S04) and washing of the occipital
region 11 (Step S05 to S07) may be changed. However, in this case,
in Step S01, it is need to support the head 10 at the head support
positions by the washing unit 12. When the occipital region 11 is
first supported, the washed person probably can feel at ease.
Therefore, it is preferable that the head be washed in the sequence
shown in FIG. 17 if possible.
Second Embodiment
[0154] FIG. 14 is a block diagram showing the configuration of an
occipital region pushing force control section 610 in accordance
with a second embodiment. Only the occipital region pushing force
control section 610 of the automatic head washing system in
accordance with the second embodiment of the present invention that
is different from the occipital region pushing force control
section 610 of the automatic head washing system in accordance with
the first embodiment will be described, and description of the same
configuration and operation as those of the automatic head washing
system in the first embodiment is omitted. Like FIG. 13, FIG. 14
shows only the head contact unit 409L of the left arm 114L, but the
head contact unit 409R of the right arm 114R is also arranged at
the head support position.
[0155] The occipital region pushing force control section 610 in
the second embodiment performs the same control as the control in
the first embodiment, as well as control to prevent a malfunction
caused by oscillation of the occipital region care unit 500 at
washing of the occipital region 11 by the occipital region care
unit 500.
[0156] Specifically, the pushing force of the occipital region
contact unit 548 onto the occipital region 11 varies depending on
the oscillating angle .theta..sub.T of the occipital region care
unit 500. For this reason, in the case where the head support
positions of the arms 114L and 114R are merely adjusted based on
the output value of the third pressure sensor 580 as in the first
embodiment, when the occipital region care unit 500 cares the
occipital region 11 while being oscillated, the head support
positions and the head 10 vertically move every time the occipital
region care unit 500 oscillates, which possibly makes the user
uncomfortable.
[0157] To prevent this malfunction, in the second embodiment, the
output correcting section 616 executes compensation processing for
the command value outputted from the command value output section
612 to prevent variation in the height of the head support
positions.
[0158] As shown in FIG. 14, as in the first embodiment, the
occipital region pushing force control section 610 has a comparator
622 and a position controller 624. The occipital region pushing
force control section 610 in the second embodiment has an FF
compensator 632 and an adder 634 that are controlled by the output
correcting section 616.
[0159] Information on the oscillating angle .theta..sub.T of the
occipital region care unit 500, which is outputted from the encoder
592, is inputted to the FF compensator 632. The FF compensator 632
executes the compensation processing for the command value
outputted from the command value output section 612 according to
the inputted value of the oscillating angle .theta..sub.T. The
compensation processing uses information corresponding to the
oscillating angle .theta..sub.T, which is previously stored in the
storage section 690.
[0160] In a specific example, in the case where as the oscillating
angle .theta..sub.T is smaller, the pushing force of the occipital
region contact unit 548 onto the occipital region 11 becomes
larger, as the oscillating angle .theta..sub.T is smaller, the head
support positions tend to rise, and as the oscillating angle
.theta..sub.T is larger, the head support positions tend to lower.
For this reason, in this case, the output correcting section 616
corrects the command value outputted from the command value output
section 612 to become larger as the oscillating angle .theta..sub.T
is smaller, thereby allowing an increase in the pushing force to
prevent the head support positions from rising due to oscillation
of the occipital region care unit 500. Further, output correcting
section 616 corrects the command value outputted from the command
value output section 612 to become smaller as the oscillating angle
.theta..sub.T is larger, thereby allowing a decrease in the pushing
force to prevent the head support positions from lowering due to
oscillation of the occipital region care unit 500.
[0161] The adder 634 adds a value outputted from the FF compensator
632 to the command value outputted from the command value output
section 612. The command value thus corrected is sent to the
comparator 622, and the same feedback control as in the first
embodiment is performed.
[0162] As described above, in the second embodiment, by using the
same feedback control as in the first embodiment and feed forward
control based on the oscillating angle .theta..sub.T, the occipital
region care unit 500 can care the occipital region 11 with more
suitable pushing force while giving a higher priority to preventing
vertical movement of the person's head 10 than preventing variation
in the pushing force.
Third Embodiment
[0163] FIG. 15 is a block diagram showing the configuration of an
occipital region pushing force control section 610 in accordance
with a third embodiment. Only the occipital region pushing force
control section 610 of the automatic head washing system in
accordance with the third embodiment of the present invention that
is different from the occipital region pushing force control
section 610 of the automatic head washing system in accordance with
the first embodiment will be described, and description of the same
configuration and operation as those of the automatic head washing
system in the first embodiment is omitted. FIG. 15 is a schematic
view showing the state where the person's head 10 is supported from
below by the head contact units 409L and 409R of the arms 114L and
114R arranged at the respective head support positions, and the
occipital region care unit 500 cares the occipital region 11 when
viewed from the top of the head 10.
[0164] The occipital region pushing force control section 610 in
accordance with the third embodiment performs the same control as
in the first embodiment as well as control to prevent an imbalance
between loads from the head 10 on the right and left arms 114L and
114R at washing of the occipital region 11 by the occipital region
care unit 500.
[0165] Specifically, the height of the lower end of the head 10
stored in the bowl 101 may laterally vary because, for example, the
shape of the person's head 10 is not symmetrical, the head 10 in
the inclined state is stored in the bowl 101, or the center of the
head 10 is displaced from the center of the bowl 101 in the lateral
direction. In this case, when the head support positions of the
right and left arms 114L and 114R are set uniform, the loads on the
right and left arms 114L and 114R may be imbalanced, applying an
excessive load on one of the arms 114L and 114R.
[0166] To prevent this malfunction, in the third embodiment, the
input correcting section 618 executes compensation processing for
the command value inputted from the command value output section
612 to the right arm pushing motor 206R via the support position
adjusting section 614 to prevent the imbalance of the loads on the
right and left arms 114L and 114R.
[0167] As shown in FIG. 15, as in the first embodiment, the
occipital region pushing force control section 610 has a comparator
622 and a position controller 624. The occipital region pushing
force control section 610 in accordance with third embodiment has a
comparator 646, a balance compensator 648, and an adder 650 that
are controlled by the input correcting section 618.
[0168] The comparator 646 compares an output value from the first
pressure sensor 211L provided at the left arm 114L with an output
value from the second pressure sensor 211R provided at the right
arm 114R, and calculates a difference between pushing forces
applied from the head 10 to the right and left arms 114L and 114R.
An error signal outputted from the comparator 646 is sent to the
balance compensator 648.
[0169] Based on information inputted from the comparator 646, the
balance compensator 648 executes compensation processing for the
pushing force command value inputted to the right arm pushing motor
206R such that the pushing force applied to the left arm 114L
corresponds to the pushing force applied to the right arm 114R.
[0170] The adder 650 adds a value outputted from the balance
compensator 648 to the pushing force command value inputted from
the command value output section 612 via the position controller
624. The command value acquired after addition in the adder 650 is
inputted to the right arm pushing motor 206R.
[0171] The compensation processing of the balance compensator 648
will be specifically described. For example, when the pushing force
applied to the right arm 114R is larger than the pushing force
applied to the left arm 114L, the balance compensator 648 executes
the compensation processing such that the pushing angle
.theta..sub.PR of the right arm 114R decreases. As a result, since
the head contact unit 409R of the right arm 114R lowers, the load
on the right arm 114R is decreased to prevent the imbalance between
the loads on the right and left arms 114L and 114R. Conversely,
when the pushing force applied to the right arm 114R is smaller
than the pushing force applied to the left arm 114L, the balance
compensator 648 executes the compensation processing such that the
pushing angle .theta..sub.PR of the right arm 114R increases. As a
result, since the head contact unit 409R of the right arm 114R
rises, the load on the left arm 114L is decreased to prevent the
imbalance between the loads on the right and left arms 114L and
114R.
[0172] As described above, in the third embodiment, since the
imbalance between the loads on the right and left arms 114L and
114R is compensated, an excessive load on one of the arms 114L and
114R can be prevented. The loads applied from the arms 114L and
114R on the person's head 10 can also maintain a balance.
[0173] In the third embodiment, the above-mentioned control of the
occipital region pushing force control section 610 may be combined
with the same feed forward control as that in the second
embodiment, thereby preventing vertical movement of the head
10.
[0174] Although the present invention has been described with
reference to the embodiments, the present invention is not limited
to the embodiments.
[0175] For example, in the embodiments, the head contact units 409L
and 409R each are configured of the plurality of contacts 109, and
the occipital region contact unit 548 is configured of the
plurality of contacts 550. However, according to the present
invention, the configuration of the head contact units 409L and
409R and the occipital region contact unit 548 is not specifically
limited.
[0176] The right and left arms 114L and 114R each may be provided
with a link mechanism extending and contracting the length of the
arm 114L or 114R. By providing such link mechanisms, the head 10
can be cared more suitably according to its shape and size.
INDUSTRIAL APPLICABILITY
[0177] The automatic head washing system according to the present
invention can be widely used in the industry of beauty care and
hairdressing and in the medical field including nursing, which is
useful.
PARTS LIST
[0178] 10 head [0179] 11 occipital region [0180] 100 automatic head
washing system [0181] 101 bowl [0182] 101c notch [0183] 101d bottom
[0184] 104L, 104R, 212L, 212R, 213L, 213R, 214L, 214R, 523, 524
support shaft [0185] 109, 550 contact [0186] 114L, 114R arm [0187]
201L, 201R arm swinging motor [0188] 203L, 203R, 204L, 204R, 207L,
207R, 208L, 208R, 302L, 303L, 305L, 307L, 311L, 313L, 315L, 318L,
502, 503, 505, 507, 511, 513, 537, 541 gear [0189] 206L, 206R arm
pushing motor [0190] 209L, 209R arm rotation shaft [0191] 211L
first pressure sensor [0192] 211R second pressure sensor [0193]
291L, 291R, 296L, 296R, 592 encoder [0194] 301L, 301R arm kneading
motor [0195] 304L, 504 drive shaft [0196] 306L, 314L, 506, 514
cylindrical rack [0197] 306La, 314La rack mechanism [0198] 308L,
312L, 316L, 319L, 564 rotation shaft [0199] 401L, 401R arm actuator
[0200] 402r occipital region care unit actuator [0201] 409L, 409R
head contact unit [0202] 500 occipital region care unit [0203] 501
occipital region kneading motor [0204] 508, 512, 538, 542 rotation
shaft [0205] 509, 510, 539, 540 kneading arm [0206] 527, 528
holding stage [0207] 548 occipital region contact unit [0208] 562
oscillating arm [0209] 570 base [0210] 572 occipital region
oscillating motor [0211] 580 third pressure sensor [0212] 600
control device [0213] 602 head care control section [0214] 604
occipital region care control section [0215] 606 head support
control section [0216] 610 occipital region pushing force control
section [0217] 612 command value output section [0218] 614 support
position adjusting section [0219] 616 output correcting section
[0220] 618 input correcting section [0221] 690 storage unit
* * * * *