CN106974423A - Get a haircut and give a rubdown with a damp towel multi-functional mechanical equipment - Google Patents

Abstract

Multi-functional mechanical equipment of giving a rubdown with a damp towel and get a haircut belongs to mechanical；Present haircut is all people's control hair scissors haircut, because people's thinking ability, decision-making ability, the different haircut effect of technology are different；Existing electric hair electric scissors can not independently get a haircut；Computer has the ability that control machinery hand does various actions；But the ability of various hair styles is managed out without control machinery hand.What haircut plant equipment was developed for above-mentioned advantage and disadvantage.Plant equipment of giving a rubdown with a damp towel and haircut plant equipment have a variety of tracks and multiple power；Multi-functional mechanical equipment of giving a rubdown with a damp towel and get a haircut equally is devised using service object.Figure of abstract be above and below the left and right positioning track of I-shaped track and the I-shaped track in crown face in the face residing for the hair trimming manipulator face beyond hair style curve positioning track and during the mechanical finger-tight pressurization of give a rubdown with a damp towel plant equipment trunk manipulator and lower limb the extension rail of pressure level left and right；Move up and down the common rail design of track.

Description

Get a haircut and give a rubdown with a damp towel multi-functional mechanical equipment

Technical field：

It is mechanical.

Background technology：

Present haircut is by common electric hair scissors by people's control is sent out Lai in；Due to the different control of the thinking decision-making ability of people Ability processed is different, and the hair dressing tools such as existing haircut electric scissors can get a haircut but be unable to automatic hair dressing, and computer has some machineries of control Hand ability to work, but without special haircut software；This plant equipment is directed to their advantage and disadvantage；By them, both are combined one Rise and devise haircut plant equipment, the track that plant equipment of giving a rubdown with a damp towel has above and below many, left and right is slided；Above and below having, left and right it is dynamic Power, multiple electric motors feature, the same using object is all that everyone can use；For features described above：Devise；Get a haircut and give a rubdown with a damp towel and be many Functional machinery equipment.1. computer has video, image, head portrait, the disposal ability of hair style have by object of reference or reference coordinates by haircut Hair style curve and reason go hair lengths to help ability that part or control machinery hand work and sequence controlled machine hand by paving Ability, the control parameter that the ability or object of reference or reference coordinates for carrying out work by directing light beams are set up carrys out the energy of control machinery hand Power.

The content of the invention

The foundation in A hair styles storehouse：Computer is provided with hair style storehouse：It is made up of many hair styles；It is in men's style, woman style；Adult type, end adult Type hair style storehouse；

B head dummys are classified：With the face contour curve of people, nose, eyes, mouth are taken turns with the combination contour feature of face and face Behind the distance between the head dummy of wide curve composition people and two faces of people, the crown to the length combination between the lower cheek, close to rectangle Or square；By the head of different people after being integrated by face contour curve and combination contour curve and rectangle or square It is divided into different types；

The design of C-shaped elephant：

After the facial characteristics and head dummy tagsort of people, each class configures the best configuration storehouse of several hair styles；The hair per class Several optimal hair styles that type is configured are configured to image design；

D user's head dummy is determined：

When user station in camera after, beat in after video, computer input automatic identification behind the head judge the head dummy as Any class head dummy

The foundation of E work hair styles confirms：

Computer can search out several hair styles configured with the head dummy automatically and automatic display user selects hair style or used Person is not selected after computer automatic sequence selection work hair style or user design hair style and haircut length input, draw the hair style and Control parameter or user oneself selection hair style：User can search out a variety of hair styles from hair style storehouse, by user oneself Hair style is selected, the hair style after above-mentioned several selections is defined as the work hair style of computer；

F goes to send out the determination of length：

The allocation plan that hair length or computer most preferably stay hair length to certain all kinds of hair style of class head dummy is wiped out in user's input, It is determined that going to send out length；

Hair style after G haircuts：

Stayed according to user's selection in hair length or allocation plan and stay hair length, draw head dummy and face after people haircut It is automatically displayed in hairstyle image feature on computer display screen；

Curve maps of the H per class hair style；

Distance of the hair style curve away from the eyelash on eye above the foundation of hair style curve distance object of reference parameter, volume Parameter；

2. hair style curve distance ear foreign steamer of the hair style curve of head two sides using the outline of ear as object of reference face side One that the lower end of neck of the hair style curve away from people set up apart from length behind parameter, brains of wide side is parallel with the shoulder of people is straight Linear distance sets up parameter

A kind of 2 haircut plant equipment include：Computer；Computer camera；Haircut software；The helmet of getting a haircut is constituted：

A kind of design for the helmet of getting a haircut：

Four working faces of the A helmets are set up：Helmet working face, head behind two planes, the brain of head residing for lateral head face Plane at top is working face on the helmet；The object of reference set up using four working faces of the helmet, on four working faces of the helmet That sets up is corresponding with reference to article coordinate conjugate；The side of the helmet is lower section and the shoulder institute that working face is neck after earphone class, the helmet On the straight line at place, the conjugate before the helmet above volume is eyes as with reference to thing part；

The shape of the B helmets：

The various shapes of the helmet：

Cuboid column-type；Square column-type；It is spherical；The helmet-shaped of motorcycle；

The C helmets are divided into two working portions：

A hair styles curve trims working portion；Hair length trims working portion beyond b curves

D has cut the positioning of the hair style curve after hair and the head relevant position of people

1. having cut the hair style curve after hair guides the work of the manipulator of the haircut helmet as follows：Shone by many tiny light beams Project the work that the cursor curve as the hair style after the trimming is guided work electric hair electric scissors by cursor curve Robot work；The head of people is radiated at this glazing mark song the end of a thread portion synchronizing moving in movement；

2. using object of reference as with reference to the hair style curve set up after trimming；

People puts on earphone or glasses in haircut, and computer is measured according to the length after trimming using ear or glasses as object of reference Go out the distance parameter of each curve point；The distance parameter of each point of hair style curve is set up before head by object of reference of eyebrow；After brain The good rear hair style parameter of curve of trimming is set up in face by object of reference of shoulder；Or people face two faces and brain behind, four, crown face Respective reference coordinates are set up in face, and are led to by the hair style curve negotiating reference coordinates for having cut hair corresponding to each face and with reference to parameter The light irradiation cursor curve of correspondence position formation as the hair style curve on head is crossed, and head will have been cut corresponding to each face What the hair style curve after hair needed the point of angle modulation and adjustment direction inputs computer as control machinery to the parameter of longitudinal coordinate The parameter of hand；

3. the position adjustment of the helmet is to operating position：

Plane residing for several working faces using the peak behind the crown and brain is reference plane；Repairing hair-cutting type curve When；Plane and I shape track upper rail face residing for the highest of the crown is in approximately the same plane, and the haircut helmet is adjusted in place；

3 hair style curves trim the design of some mechanical hand：

Location A adjusts track：I-shaped positioning track；

The horizontal rail being made up of respectively double optical axises and double optical axis sliding blocks up and down；By a double optical axis between upper lower railway, The track of double optical axis sliding block compositions, is separately fixed on lower railway optical axis slide attachment plate；Three slide attachment plates have electromagnetism Iron plate；Each base connecting plate is connected three optical axis tracks by a connecting rod respectively；This I-shaped track is used as adjustment machinery The horizontal and vertical positioning track of hand；

The working track of hair scissors is fixed on one end of orientation adjusting motor axle by B, and the axle of motor is fixed on I-shaped by sleeve On shape track long rails slide attachment plate, electric haircutting scissors is fixed on electric haircutting scissors workpiece working track：This work Make track on the slide attachment plate that double optical axises and double optical axis sliding blocks are constituted, the rotation of the axle of orientation adjusting motor drives the work of hair scissors The first rotation of work for making track and hair scissors changes direction, changes the side that electric hair curve repairs the work head of electric scissors To change；

The fixation of C Angle Modulation Motors and electric hair electric scissors：

The afterbody of electric scissors is fixed on the axle of Angle Modulation Motor, the work of electric scissors is adjusted by the rotation of Angle Modulation Motor Make the planar shaped residing for the head hair style curve of the plane residing for head and people to have a certain degree；It is main to complete hair style slope or nothing Under the work of slope hair style, the working track that the fixed component of Angle Modulation Motor and electric hair electric scissors is fixed on to haircut electric scissors On optical axis slide attachment plate；

The power supply of D haircut electric scissors；

A pair of belt rollers are driven by the motor of lower section one, the working track of the power belt and haircut electric scissors of formation is put down OK, the operative orientation and operating distance of haircut hair style curve trimming electric haircutting scissors, this group are controlled by magnet switching electricity Power part is fixed in the parallel orbit connecting rod that electronic curve is repaired above electric scissors, remains electric hair electric scissors Obtain equidirectional power；A kind of trimming of curve hair style trimming haircut curve is realized by afterbody orientation adjusting motor；

(3) fixing means of the haircut electric scissors manipulator of haircut hair style curve：

a；Center is fixed on the rotary part of one 360 rotation, rotary part on the support frame above the haircut helmet Fixing again has the rotary part that one 360 degree are fixed below a guide matched, guide on a guide rod, guide rod；Rotating part The I-shaped positioning track of hair style curve haircut electric scissors is fixed on part；The Motionless electromagnetic band-type brake again on guide, by I-shaped positioning Track is transferred to behind desired position, and electromagnetic brake is powered I-shaped tracks positioned in this position；

B adjusts the position of I-shaped positioning track using the track of double optical axises, double optical axis sliding blocks composition；In the haircut helmet One 360 degree of rotary part is fixed in center directly over support frame；Fixed double optical axises and double optical axises are slided on rotary part Connected between block, two optical axis base connecting plates using connecting rod, optical axis connecting rod is connected with rotary part, double optical axis sliding blocks connect Fixed curve below one 360 degree of rotary part, rotary part is fixed below fishplate bar to get a haircut the I-shaped tune of electric haircutting scissors Position track, fix an electromagnetism iron plate below double optical axis slide attachment plates, and the optical axis base connecting rod of energization adhesive two positions work The position of font track；

Power Environment Monitoring Network realizes the supply of power, electromagnetism iron plate and the separation and adhesive of the iron on Power Environment Monitoring Network；Power Environment Monitoring Network is each Four Power Environment Monitoring Networks that plane is all run above and below laterally left and right and longitudinal direction are constituted；Each power part and Power Environment Monitoring Network for needing to run Connecting rod one end of connection is connected with power part, and the other end is connected with Power Environment Monitoring Network, and the one end being connected with Power Environment Monitoring Network is by two electricity Magnet is constituted, and an electromagnet can be connected with the powered belt of lateral dynamics net, and another can be connected with the powered belt of Longitudinal, Power part by connecting rod and electromagnet and Power Environment Monitoring Network and laterally or longitudinally power supply, the adhesive of electromagnet and Power Environment Monitoring Network and Separate to realize power, power direction and range ability；

The job step of curve hair style haircut manipulator is as follows：

The positioning of a working tracks：After the working face of work required for computer control working track is turned to, outside rotary part Electromagnetic brake, which is powered, to be fixed；

The electromagnet for moving left and right the two ends by the power connector bar below positioning track of the I-shaped working face tracks of b That end is powered and tunes up or turn down working face, after the I-shaped track that works reaches required operating position, on positioning track Electromagnetism iron plate is powered and holds positioning with the connecting plate beside track：Here positioning track refers under helmet support frame rotary part The guide and guide rod or double optical axises and optical axis sliding block in face；By I-shaped orbit adjusting to work desired position；

After c adjusts I-shaped track or so in place；The double-slider connecting plate on long rails is adjusted again is adjusted to required Height, the electromagnetism iron plate beside slide attachment plate on long rails holds with track connecting plate, needed for sliding block is positioned at The height wanted；

The Angle Modulation Motor work of d curves trimming hair scissors afterbody, adjusts the angle of electric hair scissors, to required angle Degree；Orientation adjusting motor repairs curve direction or the angle and direction synchronous adjustment of hair scissors adjustment work head；

Electromagnetism iron plate on the belt of the power motor of e electric haircutting scissors be initially powered up with the iron plate adhesive outside belt layer or Separation, starts to control the range ability of electric haircutting scissors；

The long hair of hair beyond 4 curves wipes out the design of manipulator：

Comb layer, four layers of composition of the hair brush of electric haircutting scissors working lining, mover layer, brush hair and hair collecting bag；

A mover layers：

Power supply of the mover layer to A, B, C, D, four faces is varied；Motor, pneumatic, hydraulic pressure supply power source and match somebody with somebody The power supply part of set

1. many motors；

2. powered belt is supplied：Belt is driven by motor, belt roller does do action；Motor can drive many pair rollers many Individual belt is arranged on different working faces；Each work of multiple working faces of the resonable hair helmet is driven by two motors Make face, arrange the power supply Netowrk tape of horizontal and vertical positive and negative both direction；

3. by steel wire rope or chain, pulley, gear is arranged in multiple working faces around operation, each working face The power composition Power Environment Monitoring Network of horizontal and vertical positive and negative both direction, steel wire is connected by the supporting steel wire rope electromagnetic brake of steel wire rope Restrict with separating to control the power direction and range ability of haircut helmet need of work；Comb, electric hair electric scissors, hair hair Brush, track；

4. track uses I-shaped track：

Above and below respectively by double optical axises and double optical axis sliding blocks and slide attachment plate, each pair optical axis two ends base connecting plate Between connected by connecting rod, the base connecting rod two ends at longitudinal optical axis two ends are connected to laterally double optical axis sliding blocks connections again On plate, connecting rod one end that longitudinal optical axis slide attachment plate is combined with Power Environment Monitoring Network is fixed on longitudinal optical axis slide attachment plate, separately One end sets electromagnetism iron plate to be connected with Power Environment Monitoring Network, and the long rails in the middle of I-shaped track are moved left and right, and longitudinal optical axis base connects The push rod that fixed long rails are moved left and right in the middle of connecting rod between fishplate bar, connecting rod, long rails rail slider connecting plate Upper fixed work robot and electromagnetism iron plate, the push rod other end are combined by electromagnet with Power Environment Monitoring Network, promote longitudinal optical axis or so to move It is dynamic；

B haircut electric scissors work dragging tracks：

(1) dragging track the first：Guide rod and two holes or guide；Second of dragging track：Optical axis and sliding block composition；

Bar is penetrated in hole or guide by two holes or guide；Or optical axis and sliding block composition：By push rod on comb Promote electric haircutting scissors worked on comb dragging track work movement；

(2) dragging track the third：Slided by pulley or sliding block on dragging track：

Dragging track by raise steel wire rope by steel wire rope by the dragging track of the hair scissors in four faces by steel wire rope and Pulley condenses together to be uniformly controlled and raised：

C combs are raised, and are declined and are positioned：

One group of guide rod and guide are fixed on the increased connecting plate of comb, guide is imported in guide rod by guide rod and guide group There is electromagnetic brake on comb steel wire rope connector, guide into position to have on the position of comb, comb connecting plate, steel wire rope is pulled Comb is moved upward to behind desired position, and electromagnetic brake embraces guide and guide rod, and comb is fixed on into certain altitude；

Control polymerization is raised and declined to the comb in four faces by the comb of four working faces by the combination of steel wire rope and pulley The height of comb and head surface is uniformly controlled by one piece of control panel together

The height control process of d combs and electric hair electric scissors：

Many block pressur plates are fixed below a block pressur plate；Fixed below pressing plate the steel wire rope that four face combs are raised depression bar and The depression bar that the steel wire rope depression bar and control haircut electric scissors sub-track of decline are raised and declined, the depression bar that electric scissors of getting a haircut here is raised It is greater than the depression bar length that comb is raised, is in all the time above comb so that electric scissors are sub, electric scissors is in hair-cutting, and electric scissors is adjusted Hair is left during whole beginning or electric scissors sub-track height is individually controlled by a motor, it is appropriate with comb when being had hair cut with electric scissors that begins Distance or electric scissors and the same guide rod of comb, electric scissors and comb are all enclosed on loop bar, and electric scissors are sub on comb The distance needed for haircut is kept with comb, electric scissors is higher than hair when adjusting electric scissors original position, then adjusts electric scissors Position

The manipulator of hair trimming beyond the hair style curve of the e haircut helmets is by four I-shaped tracks, four haircut electricity Scissors, the control unit that four groups of combs are raised and declined, the control unit that four groups of sub- dragging tracks of haircut electric scissors are raised and declined, The combination control unit of electric scissors and Power Environment Monitoring Network, composition wipes out the manipulator of hair length；

The positioning Track desigh of the I-shaped track in tetra- faces of f is as follows：

The haircut helmet wipes out the hair lengths trimming manipulator in addition to hair style curve：

Four working faces are made up of four I-shaped positioning tracks：The I-shaped positioning track of side residing for the face of people will The I-shaped track requirement that asking left and right can reconcile behind brain has the Track desigh of fore-aft adjustable as follows：

Latter two position in face of vertical with face, crown face sets two optical axises, two optical axises, two sliding blocks of each series connection, adjustment Two I-shaped tracks of face side are moved left and right；It is used as the fixed component of I-shaped track by two optical axises, this two Optical axis is used as the adjustment track adjusted before and after the I-shaped positioning track behind brain simultaneously；Each series connection one on the two optical axises Sliding block；I-shaped positioning track behind brain is fixed in the connecting rod of two optical axis sliding blocks, before being carried out to I-shaped positioning track After move；

G sweeps the job design of scared brush；Punching rear enclosure is on a bar in the middle of hairbrush, and bar is fixed on the support frame of the helmet again On, hair collecting bag is fixed below support frame hairbrush again, such hairbrush can just be rotated, the afterbody of hairbrush connects two by iron plate The connecting rod of positive and negative both direction operation, the other end of two connecting rods fixes two electromagnetism iron plates respectively again, and electromagnetism iron plate can It is connected with the Power Environment Monitoring Network of the positive and negative both direction of laterally positive and negative both direction or longitudinal direction, hairbrush is followed by of short duration positive and negative both direction Hair enters in collecting bag after the hair of gyration work cleaning hair scissors work head；Often cut one to turn one's head after sending out, haircut electric scissors It is stopped, electric scissors and hair are moved on hair collecting bag together, by sweeping scared brush do action, hair is swept into collection The job step of hair scissors hair lengths electric haircutting scissors in bag beyond hair style curve：

A by four I-shaped orbit adjustings behind the plane and brain above head, residing for face in place；Pass through I-shaped longitudinal direction The comb on slide attachment plate on track is adjusted to original position；

1. crown face will be away from place beyond the curve of volume front end, and comb is transferred in front of volume by forehead direction each time after comb alignment Position, or by a face be allocated as several sections come work hair-cutting,

2. hair style curve low side top position is transferred to behind head；

3. the place for the hair for not influenceing to be cut into hair style curve is transferred in two sides；

The position of hair is combed to each face comb by adjusting the slide position of I-shaped track connecting plate；

By adjusting connector one end that each face slide attachment plate and the iron outside the belt of lengthwise movement are connected with power Electromagnetic actuation and separation come control comb run direction and required distance, be transferred to the operating position of needs；Comb is each Individual face head epidermis, face side and brain behind move from bottom to top, crown face is moved from volume to hindbrain direction,

(1) each face range ability length, computer distance controlling software controls to connect in the middle of the I-shaped track in each face The electromagnetism iron plate for the connecting rod afterbody being connected on track connecting plate with power control range ability or while operation while raise comb Highly；Comb is fixed on to the height for staying hair length the same；

(2) electric haircutting scissors is run in the running track of comb above the comb, the work head of electric scissors work scissor simultaneously Except hair；

(3) electric scissors is stopped, and electric scissors is run at hair collecting bag, and hairbrush starts to sweep on this electric scissors work head Hair；

(4) so each face circulation industrial finishs wiping out for paired each face hair；

5 haircut plant equipment and other equipment compare also following characteristics：

The a haircut helmets are provided with the accessory with the hair style laying-out curve of the head of the people of haircut；Such as earphone；Glasses, shoulder Wing tong begins the hair style laying-out curve after having cut in user head correspondence position by these accessories；And using guiding machine Tool is made or robot work guide work auxiliary head by hand；Or haircut plant equipment passes through the ginseng on head in hair style laying-out curve According to accessory：Ear, eyes, shoulder, eyebrow position the head correspondence position of the hair style curve after haircut to recognize；Haircut machinery is set It is standby that manipulator and head synchronizing moving are ensured by accessory；

The manipulator of b haircut plant equipment has curve ability to work and multiple working faces while wiping out the ability of hair；

C haircuts plant equipment is provided with different working faces, and there are laterally positive and negative both direction and longitudinal direction positive and negative two in each face The power supply network in individual direction；

D haircuts plant equipment is provided with workpiece and the combination of Power Environment Monitoring Network and the control unit separated and each work department The part positioned on part, or the part of ability that some part is positioned on some position, electromagnet；

A kind of electric hair electric scissors controlled by signal of e, make into by computer control software or the control of various control signals Electric hair electric scissors；The big I of work head of electric hair electric scissors changes, and can also have angle modulation or right angle that slope is had hair cut Multiple work heads, that is, have right angle, oblique angle also have certain distance run a variety of work heads；The reason of control signal can be received Send out work head；Electric hair electric scissors can also be melted as one with the robot section of haircut plant equipment or the function of whole Body；Have and adjust direction, multi-functional haircut electric scissors of one or more work head of the various control signals of reception of hue angle；

F haircuts plant equipment has a variety of tracks to meet the work of manipulator；

A kind of 6 designs of intelligent electric haircut electric scissors：

A signals receive control unit：Opening and closing signal control electric hair electric scissors of work head；Electric scissors is turned to With corner, hair scissors work head range ability control signal；

B makes the work head of of electric hair electric scissors currently on the market into can turn to rotary work head；Can be with angle modulation Work head；The work head that work head can have the work head i.e. work head of certain operating distance and have Telescopic works head can be with It is one or several combinations among them；

The steering of c haircut plant equipment electric hair electric scissors or corner or work head range ability can be by following several Method is realized：

(1) steering of electric scissors or corner or range ability positioning are completed by manipulator；Compared work with present hair scissors Make to control with not working by control signal；

The partial function of manipulator is realized by electric hair electric scissors；The head that works will have steering or corner or flexible The work head of function；Work head is combined into one with turning member, rebate members, Telescopic part and electric scissors work head With control signal be combined into intelligent electric haircut electric scissors；

Plant equipment of getting a haircut can be controlled soft using manipulator as class humanoid robot as robot and hair style Part, computer, camera, accessory, electric hair electric scissors be combined into haircut plant equipment；

Haircut plant equipment：Electric hair electric scissors controlled by signal has does curvilinear motion by manipulator on one face It is adjusted to the manipulator that different operating face is made to move；

7 one kind plant equipment of giving a rubdown with a damp towel also has following characteristics：

A give a rubdown with a damp towel plant equipment track selection straight optical axis and optical axis sliding block composition；In order to stablize part direction using double Optical axis, double-slider are realized；

B give a rubdown with a damp towel plant equipment increase a decompression equalizing tank；Each manipulator pressure level is used when tensing pressurization by pressurizeing With decompression water tank composition；Same manipulator pressure level is all connected the pressure level other end with two water tanks and the shell of manipulator connects Connect；Two water tanks can pull same manipulator pressure level to be run to positive and negative both direction respectively；Pressurised water tank weight is more than Pressurizeed during decompression water tank weight；Decompression or decompression when decompression water tank weight is more than pressurised water tank weight；The activity of tightening belt one end Manipulator shell is fixed on, after the upper limbs or lower limb or trunk of people are coiled into a circle, the belt other end is fixed on prolonging for pressure level Stretch on the slide attachment plate on trajectory, pressurization later be connected with water tank by steel wire rope or depressurized,

C adds the balance of power measure of manipulator；The weight stress track of manipulator and add manipulator balance Equalizing feature；The upper and lower slide rail of angle iron composition, the weight of manipulator, manipulator are born by pulley is slided above and below this track After shell and angle iron slide rail are by connecting rod oblique pull, brace one end is fixed on manipulator shell, and the other end is fixed sliding Wheel,

What d gave plant equipment a rubdown with a damp towel adds multi-level safety safeguard measure：

1. three layers of manipulator are used with the shell of manipulator and are flexibly connected；

When the people direction vertical to three layers of direction to manipulator circular flow of manipulator is exerted oneself；Three layers of manipulator with Manipulator is separated；

The connection that three layers of manipulator：The waistband that pressure level, packed layer, internal layer employment are worn, the circle that such as belt is made will add Laminate layer, packed layer, internal layer, it is inserted in circle；This circle is referred to as clamping ring；The shell of clamping ring and manipulator using plug and The mode of jack is connected；Or the mode of guide and loop bar is connected；Fix and inserted in upper plug, the fixation of manipulator shell such as clamping ring Hole：Plug is inserted in jack and connected；Or clamping ring fixes sleeve, loop bar is fixed on manipulator shell：

Sleeve is inserted in loop bar and connected；

Pressure level tightening belt one end is fixed on the slide attachment plate of extension rectilinear orbit, the other end and manipulator shell Also connected using plug-in type；

2. power section is used with manipulator cage connection and is flexibly connected：The connection member of manipulator shell and power connector With the connection of the chain of motor：Connecting rod on feed screw nut is used with the connection of manipulator to be flexibly connected：As crimped；Work as machinery Their junction is under the excessive pulling force of motor when the stroke of hand exceedes motor range, and the chain of manipulator and motor exists Junction is separated；

3. multiple emergency power-off devices are most nearby provided with more than travel switch at each travel switch；When travel switch event During barrier or during overtravel, manipulator shell and cut-off switch collision rift, manipulator emergency power off avoid personal injury；Give a rubdown with a damp towel machinery Equipment is supplied respectively to power by three motors；

A kind of trunk manipulator of plant equipment of giving a rubdown with a damp towel of stand-type bathing of e and the shell of lower limb manipulator are by three pairs of straight lines Optical axis slide rail is constituted：The pressure level extension rail of manipulator is made up of 2 pairs of straight optical axis, then is set on the vertical face of extension rail A pair of optical axises are put as the left and right dragging track of extension rail；Manipulator shell is also secured to a perpendicular positioning rail On road and stress track；Nut driving mechanical hand circulation on piece horizontally arranged screw mandrel of upper limbs manipulator is dynamic Make；The positioning track of travel switch and upper limbs separator is made up of below screw mandrel parallel direction a pair of optical axises；Positioning track is fixed On a positioning track and a stress track vertical with this track；Realize that positioning rail height is adjustable；Feed screw nut connects The fixed plate of one piece of upper limbs manipulator is fixed in activity on extension bar；The extension of other three layers of solid mechanical hand and pressure level in fixed plate Track；Extension rail is vertical with track and travel switch the positioning track of manipulator circulation work；

A kind of 8 existing scrubbing functions have being produced as follows for the combine equipment of haircut function again；

The helmet of getting a haircut is fixed on to the highest of the highest point, the i.e. upper limit travel switch of trunk manipulator of plant equipment of giving a rubdown with a damp towel It is more than stroke；When needing haircut, the haircut helmet is reduced to the height as trunk manipulator；It will be got a haircut using Removable hook The I-shaped track of plane residing for the face of the people for the helmet of getting a haircut is hung in two of the pressure level of trunk manipulator by the helmet Two parallel every light of optical axis are set on extension rail on face vertical with the two line slide rails (on line slide rail) Axle is connected four optical axis sliding blocks respectively；Then after a pair of sliding blocks of sliding block on two optical axises are linked together by connecting plate； Two extension line slide rails are separately fixed on the slide attachment plate at optical axis two ends；Two line slide rails can be moved left and right, It can be moved left and right after two I-shaped slide rails of the helmet of getting a haircut are hung over above；Adjusted with the cyclic track up and down of trunk manipulator The I-shaped track on the crown of the haircut helmet reaches required height；Plant equipment of giving a rubdown with a damp towel is powered by three motors and has a transverse direction With two power in longitudinal direction；The horizontal and vertical power for having positive and negative both direction makes joint to realize that motor common rail is shared Plant equipment；Plant equipment of giving a rubdown with a damp towel can be using the computer for plant equipment of getting a haircut come intelligent control pressure size, point of manipulator Close；

A kind of 9 combine equipment include following product form：Camera；Computer；The haircut helmet；Optical axis；Optical axis sliding block； Orientation adjusting motor；Angle Modulation Motor；Water tank；Sliding block；Emergency power off impact switch；The several layers of connector of plant equipment of giving a rubdown with a damp towel；Circle；Insert Head and jack；Sleeve and loop bar；Give a rubdown with a damp towel mechanical device activity connection member；Electromagnet；Electromagnetic brake；Get a haircut the helmet ear muff or Earphone；Glasses；Intelligent electric haircut electric scissors；There is the manipulator turned to corner；The human-like mechanical arm of class as arm； Hair style storehouse；Work hair style；Object of reference or reference coordinates that the hair style that works is positioned with head；The control software of haircut；Guide manipulator The cursor curve of the work hair style of work；Mechanical arm as class humanoid robot；Track；

10 it is a kind of haircut plant equipment can by electric hair electric scissors be combined with the dynamically working head of hydraulic pressure or air pressure or The power supply feature that the manipulator of robot combines to realize haircut electric scissors is in the work head or manipulator with power supply Controlling feature it is as follows：By having cut the hair style after hair for work hair style, by the various parameters of work hair style are come control machinery hand Action；Control parameter includes staying hair length parameter or goes to send out length parameter；With some position on human body, ear or eyes or Reference coordinates are set up in shoulder or other positions with them；Set up the various distance parameters of hair style curve, directioin parameter；On hair style curve Slope initial parameters, slope and the angle parameter of the head surface of the slope correspondence position on hair style curve；Slope Width parameter；The directioin parameter set up on point and reference coordinates on each working face of curve carrys out the action of control machinery hand； The bonded block that manipulator is combined with the head of people：The fixture of earphone or ear muff or glasses or shoulder, is manipulator and people Head bonded block completes the combination of manipulator and head part；Haircut plant equipment has been characterised by hair style storehouse；And it is various Several hair styles of the best configuration of capitiform and certain class head dummy stay the optimal of hair length to stay hair length configuration parameter；Their parameter It can be set up with reference to the optimal image in head for having cut hair descendant；And the hair style curve of the various head dummys ramp angles that are and tiltedly Slope width parameter；Their best configuration scheme formation work hair styles；Set up the control parameter of manipulator；By passing through the ear on head Or eyes or shoulder and the bonded block on manipulator with their combinations；The hair style that works is positioned to the head of the people by bonded block On correspondence position；Electric scissors of getting a haircut founds the vertical hair of workpiece comb by the comb for founding number of people hair comb；This vertical part of comb exists The power part of raising on head or the work head for declining or running can be with multiple choices；Reference coordinates can select head Any of the above profile sets up reference coordinates；The foundation in the face as residing for the ear of people；The eyes of people can be selected on the face Point completes the foundation of reference coordinates as horizontal and vertical origin or zero point；

Brief description of the drawings

Figure (1) is the electronic reason that helmet hair style curve trims some mechanical hand and hair scissors is removed in addition to hair style curve of getting a haircut Hair clipper are except the horizontal and vertical I-shaped track of positioning of the work of manipulator：

A1 to A6 is optical axis sliding block；B1 to B6 is optical axis；C1 to C6 is optical axis base connecting plate；D1, D2, D3 are optical axis Slide attachment plate；

By on the connecting plate D3 of the base connecting plate C6 fixed lateral optical axis sliding blocks of longitudinal optical axis；By the base of longitudinal optical axis Connecting plate C5 is fixed on the connecting plate D1 of lower transverse axis sliding block；Three double optical axises, optical axis sliding block are combined into I-shaped track；

Scheme the tuning schematic diagram that (2) hair style curve trims some mechanical hand：

A1, A2 are double optical axis base connecting plates；B1, B2 are optical axis sliding block；C1, C2 are optical axis；D2 is I-shaped longitudinal rail Double optical axis slide attachment plates on road；E is the axle F and D2 of orientation adjusting motor connection guide；Optically biaxial base connecting plate or double Optical axis base connecting plate A1, A2 connecting rod, which are fixed on the axle F of orientation adjusting motor, adjusts haircut electric scissors work by F rotation The direction of head；The workpiece of fixed haircut electric scissors below B1, B2 optical axis slide attachment plate；

Workpiece includes Angle Modulation Motor and haircut electric scissors；Workpiece is driven to exist by the power motor for electric scissors of getting a haircut The range ability to complete some direction haircut electric scissors in some direction is slided on optical axis C1, C2；

Scheme (3) hair style curve haircut sub- angle modulation workpiece of electric scissors；A is haircut electric scissors；B is motor shaft；C is haircut The fixed component of electric scissors；C is fixed on B；

Scheme the mover layer lateral dynamics supply of (4) haircut helmet, the design A1 of the lateral dynamics supply network of each working face For belt roller belt；C1, C2, C3, C4 are roller bearing；

Driven by a motor, four faces, 8 rollers, 4 belts, constitute each face transverse movement both forward and reverse directions power Supply,

Scheme the supply of (5) for the longitudinal positive and negative both direction of the haircut helmet：B1, B2 are belt；A1, A2 are soft iron skin；C1、 C2, C3 are belt pulley；Same each face is acted the power of the positive and negative both direction in longitudinal direction by motor belt motor by a pair roller and belt Band；

Scheme the mover layer of the horizontal and vertical positive and negative both direction of (4) and each working face of figure (5) combination supply；

Scheme the roller and belt group of (6) for the power supply motor of the manipulator of haircut helmet curve trimming electric haircutting scissors Into power supply figure；A1, A2 are belt roller；B is belt；C is the soft iron of belt appearance；D is electromagnet；E is electromagnet With the connecting rod of hair scissors；Pass through this power supply and command range of design control haircut electric scissors when some curve is wiped out Length；The belt of power supply is parallel with the running track for motor of getting a haircut；This motor, belt and belt roller are fixed on haircut electricity Cut above or below running track；

The power of the horizontal and vertical both direction of each working face when figure (7) is powered for the haircut helmet by steel wire rope Supply network design drawing：A is wire rope pulley；B is steel wire rope；C Power Environment Monitoring Networks supply support frame；

Hair length of the figure (8) for the haircut helmet in addition to hair style curve wipes out the comb of manipulator and electric scissors of getting a haircut Raise pressing plate schematic diagram；D1 is comb steel wire rope connecting rod；B is depression bar；A is pressing plate；The steel that D2 haircut electric scissors sub-tracks are raised Cord connector；The steel wire rope depression bar that C raises for haircut electric scissors sub-track；Each working face is several by a depression bar and steel wire rope Face Synchronization Control, is synchronously raised；

Figure (9) raises schematic diagram for the comb that haircut helmet hair length in addition to hair style curve wipes out manipulator； A1、 A2 is the location guide of comb connector；B1, B2 are guide；C is to raise steel wire rope；D is comb external connection part；E is comb； B1, B2 are fixed on the connecting plate of the double optical axis sliding blocks of I-shaped track long rails；

The electric scissors sub-track and track of hair length of the figure (10) for the haircut helmet in addition to curve raise schematic diagram： A1、 A2 is the connection guide of track and comb top guide bar；B1, B2, B3, B4 are steel wire rope；C 1, C2 are the fix bar of connection guide, Fix bar is fixed in orbit and on guide；D is electric hair electric scissors；E1, E2 are the sub dragging track of haircut electric scissors；F1、 F2, F3, F4 are the sub pulley of haircut electric scissors；G1, G2, G3, G4 are the wireline connection at four angles of track；

Figure (11) wipes out the tune face track of manipulator for the haircut hair style curve of the haircut helmet：

A is sleeve；B is guide rail；Hair style C is 360 degree of swivel head；I-shaped track is fixed below A；Rotate after C I-shaped track can be rotated to different working faces；I-shaped track is moved to hair style curve work after guide is mobile on bar Make position；

Figure (12) is tune face and the roll adjustment design of the I-shaped track of the hair style curve haircut manipulator of the haircut helmet：

B is optical axis slide attachment plate；C1, C2 are swivel head；D1, D2 are optical axis；E1, E2 are optical axis sliding block；A is electromagnetism Iron；

The function that figure (11) figure (12) is just as；

Scheme the positioning of (13) for the haircut helmet four I-shaped tracks of the manipulator of hair length in addition to hair style curve Design：

A1 to A9 is optical axis sliding block；B1 to B5 is optical axis；C1, C2 are the fixed connecting rod of optical axis base；

Scheme the Track desigh of (14) for give a rubdown with a damp towel plant equipment lower limb and trunk manipulator；

A1 to A13 is optical axis sliding block；B1 to B7 is optical axis；C is the connecting rod between optical axis base connecting plate；D is motor Guide chain；G is triangle pulley；F is angle iron slide rail；M is the brace that connecting rod is connected with F；

B1 and B2, B3 and B4 double optical axis slide rails are to give plant equipment a rubdown with a damp towel to tense extension rail during pressurization and for can be with The track moved left and right；

B1 and B2；The B4 and B5 track that moves left and right is made up of double optical axis B5 and B6；

B7 is the working track circulated above and below manipulator；F is the stress track of manipulator, and manipulator shell fixes upper oblique pull Bar M, the brace other end fixes upper triangle pulley, and F is parallel with B7；The shell of manipulator simultaneously, be fixed on working track and by Run simultaneously on power track；The weight of manipulator is born by angle iron track F；A11 and A13 is the lower limit of trunk manipulator The fixed optical axis sliding block of the adjustment position of travel switch and upper limit travel switch；Two steel wire ropes are fixed on A1 A2 connecting plate Fixed connector；After pressurised water tank and break pressure cistern are connected by pulley with steel wire rope with A1 A2 connector；Pass through pressure regulation two Individual water tank controls the pressurization or decompression of pressure level；F and B7 is long rails；B1 and B2, B3 and B4, B5 and B6 horizontal rails； B1 and B2, B3 and B4 can be slided left and right on B5 and B6；

B1 and B2, B3 and B4, tri- tracks of B5 and B6 constitute the shell of manipulator；Manipulator shell is fixed on B7 and F Do action up and down；Optical axis B1 and B2 are fixed on optical axis sliding block A7 and A15 connecting plate, and optical axis B3 and B4 are fixed on optical axis cunning On block A10 and A14 connecting plate；The upper limit travel switch of lower limb manipulator and the lower bound range of trunk manipulator are fixed on A11 Switch, fix above A13 trunk manipulator upper limit travel switch travel switch be adjusted in place after be positioned on F.

Beneficial effect：

(1) haircut is completed by the manipulator of intelligent control；(2) by the work that can be mutually for the manipulator got a haircut and given a rubdown with a damp towel Part；Share to reduce their production cost using both；(3) service function of plant equipment is maximized；

Embodiment：

The manipulator used is used as after being reequiped using of electric hair electric scissors currently on the market；Manipulator selection is flexible；Reason Plant equipment is sent out mainly in conjunction with feature.

Claims (10)

1. computer has video, image, head portrait, the disposal ability of hair style have bent by the hair style of haircut by object of reference or reference coordinates Line and reason go the ability and the ability of sequence controlled machine hand that hair lengths help part or control machinery hand work by spreading, by The control parameter that the ability or object of reference or reference coordinates that directing light beams carry out work are set up carrys out the ability of control machinery hand；

The foundation in A hair styles storehouse：Computer is provided with hair style storehouse：It is made up of many hair styles；It is in men's style, woman style；Adult type, last adult type hair Type storehouse；

B head dummys are classified：With the face contour curve of people, the combination contour feature and face mask of nose, eyes, mouth and face are bent Behind the distance between the head dummy of line composition people and two faces of people, the crown to the length combination between the lower cheek, close to rectangle still Square；The head of different people is divided into after being integrated by face contour curve and combination contour curve and rectangle or square Different types；

The design of C-shaped elephant：

After the facial characteristics and head dummy tagsort of people, each class configures the best configuration storehouse of several hair styles；Per class hair style institute Several optimal hair styles of configuration are configured to image design；

D user's head dummy is determined：

After user station is in camera, beat in after video, computer inputs automatic identification behind the head and judges the head dummy as which class Head dummy

The foundation of E work hair styles confirms：

Computer can search out several hair styles configured with the head dummy automatically and automatic display user selects hair style or user not Select after computer automatic sequence selection work hair style or user design hair style and haircut length input, draw the hair style and control Parameter or user oneself selection hair style：User can search out a variety of hair styles from hair style storehouse, be selected by user oneself Hair style, the hair style after above-mentioned several selections is defined as the work hair style of computer；

F goes to send out the determination of length：

The allocation plan that hair length or computer most preferably stay hair length to certain all kinds of hair style of class head dummy is wiped out in user's input, it is determined that Go to send out length；

Hair style after G haircuts：

Stayed according to user's selection in hair length or allocation plan and stay hair length, show that head dummy and face are with sending out after people haircut Type image characteristics are automatically displayed on computer display screen；

Curve maps of the H per class hair style；

Distance ginseng of the hair style curve away from the eyelash on eye above the foundation of hair style curve distance object of reference parameter, volume Number；

2. hair style curve distance ear outline one of the hair style curve of head two sides using the outline of ear as object of reference face side The lower end of neck of the hair style curve away from people set up apart from length behind parameter, brains of the side straight line parallel with the shoulder of people away from From setting up parameter.

2. one kind haircut plant equipment includes：Computer；Computer camera；Haircut software；The helmet of getting a haircut is constituted：

A kind of design for the helmet of getting a haircut：

Four working faces of the A helmets are set up：Helmet working face, the top of the head behind two planes, the brain of head residing for lateral head face Plane be working face on the helmet；The object of reference set up using four working faces of the helmet, is set up on four working faces of the helmet It is corresponding with reference to article coordinate conjugate；The side of the helmet be after earphone class, the helmet working face be neck lower section and shoulder residing for On straight line, the conjugate before the helmet above volume is eyes as with reference to thing part；

The shape of the B helmets：

The various shapes of the helmet：

Cuboid column-type；Square column-type；It is spherical；The helmet-shaped of motorcycle；

The C helmets are divided into two working portions：

A hair styles curve trims working portion；Hair length trims working portion beyond b curves

D has cut the positioning of the hair style curve after hair and the head relevant position of people

1. having cut the hair style curve after hair guides the work of the manipulator of the haircut helmet as follows：Irradiated by many tiny light beams Cursor curve as the hair style after the trimming is guided the work mechanism of work electric hair electric scissors by cursor curve Make by hand；The head of people is radiated at this glazing mark song the end of a thread portion synchronizing moving in movement；

2. using object of reference as with reference to the hair style curve set up after trimming；

People puts on earphone or glasses in haircut, and computer is measured respectively according to the length after trimming using ear or glasses as object of reference The distance parameter of individual curve point；The distance parameter of each point of hair style curve is set up before head by object of reference of eyebrow；Behind brain with Shoulder is that object of reference sets up the good rear hair style parameter of curve of trimming；Or people face two faces and brain behind, four, crown face face builds Respective reference coordinates are found, and pass through light by the hair style curve negotiating reference coordinates for having cut hair corresponding to each face and with reference to parameter It is radiated at cursor curve of the formation of correspondence position on head as the hair style curve, and by having cut after hair corresponding to each face Hair style curve need the point of angle modulation and adjustment direction to the parameter of longitudinal coordinate to input computer as control machinery hand Parameter；

3. the position adjustment of the helmet is to operating position：

Plane residing for several working faces using the peak behind the crown and brain is reference plane；During repairing hair-cutting type curve；Head Push up plane and I shape track residing for highest and get on the right track face in approximately the same plane, the haircut helmet is adjusted in place.

3. hair style curve trims the design of some mechanical hand：

Location A adjusts track：I-shaped positioning track；

The horizontal rail being made up of respectively double optical axises and double optical axis sliding blocks up and down；By a double optical axis, double light between upper lower railway The track of axle sliding block composition, is separately fixed on lower railway optical axis slide attachment plate；Three slide attachment plates have electromagnetism iron plate； Each base connecting plate is connected three optical axis tracks by a connecting rod respectively；This I-shaped track is horizontal as adjustment manipulator With the positioning track of longitudinal direction；

The working track of hair scissors is fixed on one end of orientation adjusting motor axle by B, and the axle of motor is fixed on I-shaped rail by sleeve On road long rails slide attachment plate, electric haircutting scissors is fixed on electric haircutting scissors workpiece working track：This work rail Road is on the slide attachment plate that double optical axises and double optical axis sliding blocks are constituted, and the rotation of the axle of orientation adjusting motor drives the work rail of hair scissors First rotation of work of road and hair scissors changes direction, and the direction for changing the work head that electric hair curve repairs electric scissors changes Become；

The fixation of C Angle Modulation Motors and electric hair electric scissors：

The afterbody of electric scissors is fixed on the axle of Angle Modulation Motor, the work head of electric scissors is adjusted by the rotation of Angle Modulation Motor Planar shaped residing for residing plane and the head hair style curve of people has a certain degree；It is main to complete hair style slope or without slope hair The work of type, optical axis under the working track of haircut electric scissors is fixed on by the fixed component of Angle Modulation Motor and electric hair electric scissors On slide attachment plate；

The power supply of D haircut electric scissors；

A pair of belt rollers are driven by the motor of lower section one, the power belt of formation is parallel with the working track for electric scissors of getting a haircut, and leads to Magnet switching electricity is crossed to control the operative orientation and operating distance of haircut hair style curve trimming electric haircutting scissors, this group of power part Part is fixed in the parallel orbit connecting rod that electronic curve is repaired above electric scissors, remains that electric hair electric scissors is obtained together The power in direction；A kind of trimming of curve hair style trimming haircut curve is realized by afterbody orientation adjusting motor；

(3) fixing means of the haircut electric scissors manipulator of haircut hair style curve：

a；Center is fixed solid again on the rotary part of one 360 rotation, rotary part on the support frame above the haircut helmet There is the rotary part that one 360 degree are fixed below the guide of a matching, guide on a fixed guide rod, guide rod；On rotary part The I-shaped positioning track of fixed hair style curve haircut electric scissors；The Motionless electromagnetic band-type brake again on guide, by I-shaped positioning track It is transferred to behind desired position, electromagnetic brake is powered I-shaped tracks positioned in this position；

B adjusts the position of I-shaped positioning track using the track of double optical axises, double optical axis sliding blocks composition；In haircut helmet support One 360 degree of rotary part is fixed in center directly over frame；Fixed double optical axises and double optical axis sliding blocks, two on rotary part Connected between individual optical axis base connecting plate using connecting rod, optical axis connecting rod is connected with rotary part, double optical axis slide attachment plates Fixed curve below one 360 degree of rotary part, rotary part is fixed below to get a haircut the I-shaped positioning rail of electric haircutting scissors Road,

An electromagnetism iron plate is fixed below double optical axis slide attachment plates, the optical axis base connecting rod of energization adhesive two is I-shaped to position The position of track；

Power Environment Monitoring Network realizes the supply of power, electromagnetism iron plate and the separation and adhesive of the iron on Power Environment Monitoring Network；The each plane of Power Environment Monitoring Network Four Power Environment Monitoring Networks all run above and below laterally left and right and longitudinal direction are constituted；Each power part for needing to run is connected with Power Environment Monitoring Network Connecting rod one end be connected with power part, the other end is connected with Power Environment Monitoring Network, and the one end being connected with Power Environment Monitoring Network is by two electromagnet Composition a, electromagnet can be connected with the powered belt of lateral dynamics net, and another can be connected with the powered belt of Longitudinal, power Part the adhesive of electromagnet and Power Environment Monitoring Network and is separated by connecting rod and electromagnet and Power Environment Monitoring Network and laterally or longitudinally power supply To realize power, power direction and range ability；The job step of curve hair style haircut manipulator is as follows：

The positioning of a working tracks：After the working face of work required for computer control working track is turned to, the outer electromagnetism of rotary part Band-type brake, which is powered, to be fixed；

That end of the electromagnet for moving left and right the two ends by the power connector bar below positioning track of the I-shaped working face tracks of b Energization tunes up or turned down working face, after the I-shaped track that works reaches required operating position, the electromagnetism on positioning track Iron plate is powered and holds positioning with the connecting plate beside track：Here positioning track refers to below helmet support frame rotary part Guide and guide rod or double optical axises and optical axis sliding block；By I-shaped orbit adjusting to work desired position；

After c adjusts I-shaped track or so in place；The height that the double-slider connecting plate on long rails is adjusted to required is adjusted again The electromagnetism iron plate beside slide attachment plate on degree, long rails holds with track connecting plate, required for sliding block is positioned at Highly；

The Angle Modulation Motor work of d curves trimming hair scissors afterbody, adjusts the angle of electric hair scissors, to required angle； Orientation adjusting motor repairs curve direction or the angle and direction synchronous adjustment of hair scissors adjustment work head；

Electromagnetism iron plate on the belt of the power motor of e electric haircutting scissors be initially powered up with the iron plate adhesive outside belt layer or point From, start control electric haircutting scissors range ability.

4. the long hair of the hair beyond curve wipes out the design of manipulator：

Comb layer, four layers of composition of the hair brush of electric haircutting scissors working lining, mover layer, brush hair and hair collecting bag；

A mover layers：

Power supply of the mover layer to A, B, C, D, four faces is varied；Motor, pneumatic, hydraulic pressure supply power source and supporting Power supply part

1. many motors；

2. powered belt is supplied：Belt is driven by motor, belt roller does do action；Motor can drive the multiple skins of many pair rollers Band is arranged on different working faces；Each work of multiple working faces of the resonable hair helmet is driven by two motors Face, arranges the power supply Netowrk tape of horizontal and vertical positive and negative both direction；

3. by steel wire rope or chain, pulley, gear is arranged in multiple working faces around operation, each working face is horizontal Constitute Power Environment Monitoring Network with the power of the positive and negative both direction in longitudinal direction, by the supporting steel wire rope electromagnetic brake of steel wire rope come connecting steel wire ropes with Separate to control the power direction and range ability of haircut helmet need of work；Comb, electric hair electric scissors, hair hairbrush, Track；

4. track uses I-shaped track：

Above and below respectively between double optical axises and double optical axis sliding blocks and slide attachment plate, each pair optical axis two ends base connecting plate Connected by connecting rod, the base connecting rod two ends at longitudinal optical axis two ends are connected to laterally double optical axis slide attachment plates again On, connecting rod one end that longitudinal optical axis slide attachment plate is combined with Power Environment Monitoring Network is fixed on longitudinal optical axis slide attachment plate, another End sets electromagnetism iron plate to be connected with Power Environment Monitoring Network, and the long rails in the middle of I-shaped track are moved left and right, longitudinal optical axis base connection On the push rod that fixed long rails are moved left and right in the middle of connecting rod between plate, connecting rod, long rails rail slider connecting plate Fixed work robot and electromagnetism iron plate, the push rod other end are combined by electromagnet with Power Environment Monitoring Network, promote longitudinal optical axis to move left and right；

B haircut electric scissors work dragging tracks：

(1) dragging track the first：Guide rod and two holes or guide；Second of dragging track：Optical axis and sliding block composition；

Bar is penetrated in hole or guide by two holes or guide；Or optical axis and sliding block composition；Promoted on comb by push rod Electric haircutting scissors worked on comb dragging track work movement；

(2) dragging track the third：Slided by pulley or sliding block on dragging track：

The dragging track of the hair scissors in four faces is passed through steel wire rope and pulley by dragging track by raising steel wire rope by steel wire rope Condense together to be uniformly controlled and raise：

C combs are raised, and are declined and are positioned：

Fix one group of guide rod and guide on the increased connecting plate of comb, guide import in guide rod by guide rod and guide constitute Lai Position to have on the position of comb, comb connecting plate and have electromagnetic brake on comb steel wire rope connector, guide, steel wire rope pulls comb Move upward to behind desired position, electromagnetic brake embraces guide and guide rod, comb is fixed on certain altitude；

The comb in four faces is raised and declined control by the combination of steel wire rope and pulley and be aggregated in one by the comb of four working faces Play the height that comb and head surface are uniformly controlled by one piece of control panel

The height control process of d combs and electric hair electric scissors：

Many block pressur plates are fixed below a block pressur plate；Depression bar and the decline for the steel wire rope that four face combs are raised are fixed below pressing plate Steel wire rope depression bar and the control haircut electric scissors sub-track depression bar raising and declines, the depression bar that electric scissors of getting a haircut here is raised will be greatly The depression bar length raised in comb, is in above comb all the time so that electric scissors are sub, and electric scissors is in hair-cutting, and electric scissors adjustment is opened Hair is left during the beginning or electric scissors sub-track height is individually controlled by a motor, with begin electric scissors hair-cutting when with comb it is appropriate away from From or electric scissors and the same guide rod of comb, electric scissors and comb be all enclosed on loop bar, and electric scissors are sub on comb and combs Son keeps the distance needed for haircut, and when adjusting electric scissors original position, electric scissors is higher than hair, then adjusts the position of electric scissors

The manipulator of hair trimming beyond the hair style curve of the e haircut helmets is by four I-shaped tracks, and four haircut electric scissors are sub, The control unit that four groups of combs are raised and declined, the control unit that four groups of sub- dragging tracks of haircut electric scissors are raised and declined, electric scissors The combination control unit of son and Power Environment Monitoring Network, composition wipes out the manipulator of hair length；

The positioning Track desigh of the I-shaped track in tetra- faces of f is as follows：

The haircut helmet wipes out the hair lengths trimming manipulator in addition to hair style curve：

Four working faces are made up of four I-shaped positioning tracks：The I-shaped positioning track of side residing for the face of people requires left The I-shaped track requirement that the right side can reconcile behind brain has the Track desigh of fore-aft adjustable as follows：

Latter two position in face of vertical with face, crown face sets two optical axises, two optical axises, two sliding blocks of each series connection, adjustment face side Two I-shaped tracks in face are moved left and right；It is used as the fixed component of I-shaped track by two optical axises, this two optical axises It is used as the adjustment track adjusted before and after the I-shaped positioning track behind brain simultaneously；One cunning of respective series connection on the two optical axises Block；I-shaped positioning track behind brain is fixed in the connecting rod of two optical axis sliding blocks, before and after being carried out to I-shaped positioning track It is mobile；

G sweeps the job design of scared brush；Punching rear enclosure is on a bar in the middle of hairbrush, and bar is fixed on the support frame of the helmet again, Hair collecting bag is fixed below support frame hairbrush again, such hairbrush can just be rotated, the afterbody of hairbrush is connecting two just by iron plate The connecting rod of anti-both direction operation, the other end of two connecting rods fixes two electromagnetism iron plates respectively again, and electromagnetism iron plate can be with The laterally Power Environment Monitoring Network connection of the positive and negative both direction of positive and negative both direction or longitudinal direction, hairbrush is circulated by of short duration positive and negative both direction Hair enters in collecting bag after the hair of action cleaning hair scissors work head；Often cut one to turn one's head after sending out, haircut electric scissors stops Only work, electric scissors and hair are moved on hair collecting bag together, by sweeping scared brush do action, hair is swept into collecting bag In

The job step of hair scissors hair lengths electric haircutting scissors beyond hair style curve：

A by four I-shaped orbit adjustings behind the plane and brain above head, residing for face in place；Pass through I-shaped long rails On slide attachment plate on comb be adjusted to original position；

1. crown face will be away from place beyond the curve of volume front end, and comb is transferred to the position in front of volume by forehead direction each time after comb alignment Put, or a face be allocated as several sections and carry out work hair-cutting,

2. hair style curve low side top position is transferred to behind head；

3. the place for the hair for not influenceing to be cut into hair style curve is transferred in two sides；

The position of hair is combed to each face comb by adjusting the slide position of I-shaped track connecting plate；Slided by adjusting each face The electromagnetic actuation of connector one end that block connecting plate and the iron outside the belt of lengthwise movement are connected with power and separate to control The direction of comb operation and required distance, are transferred to the operating position of needs；Each face of comb head epidermis, face side and brain Move from bottom to top below, crown face is moved from volume to hindbrain direction,

(1) each face range ability length, computer distance controlling software controls connection track in the middle of the I-shaped track in each face The electromagnetism iron plate for the connecting rod afterbody being connected on connecting plate with power controls range ability or raises the height of comb in operation； Comb is fixed on to the height for staying hair length the same；

(2) electric haircutting scissors is run in the running track of comb above the comb, and work scissor removes head to the work head of electric scissors simultaneously Hair；

(3) electric scissors is stopped, and electric scissors is run at hair collecting bag, and hairbrush starts to sweep the head on this electric scissors work head Hair；

(4) so each face circulation industrial finishs wiping out for paired each face hair.

5. haircut plant equipment and other equipment compare also following characteristics：

The a haircut helmets are provided with the accessory with the hair style laying-out curve of the head of the people of haircut；Such as earphone；Glasses, shoulder folder Hand begins the hair style laying-out curve after having cut in user head correspondence position by these accessories；And using guiding manipulator Work or robot work guide work auxiliary head；Or haircut plant equipment is auxiliary by the reference on head in hair style laying-out curve Help part：Ear, eyes, shoulder, eyebrow position the head correspondence position of the hair style curve after haircut to recognize；Plant equipment of getting a haircut is led to Cross accessory and ensure manipulator and head synchronizing moving；

The manipulator of b haircut plant equipment has curve ability to work and multiple working faces while wiping out the ability of hair；

C haircuts plant equipment is provided with different working faces, and there are positive and negative two sides of laterally positive and negative both direction and longitudinal direction in each face To power supply network；

D haircuts plant equipment is provided with workpiece and the combination of Power Environment Monitoring Network and the control unit separated and each workpiece The part of positioning, or the part of ability that some part is positioned on some position, electromagnet；

A kind of electric hair electric scissors controlled by signal of e, make the electricity by computer control software or the control of various control signals into Dynamic haircut electric scissors；The big I of work head of electric hair electric scissors changes, and can also have many of angle modulation that slope is had hair cut or right angle Individual work head, that is, have a variety of work heads that right angle, oblique angle also have certain distance to run；The haircut work of control signal can be received Make head；Electric hair electric scissors can also be combined together with the robot section for plant equipment of getting a haircut or the function of whole；I.e. Have and adjust direction, multi-functional haircut electric scissors of one or more work head of the various control signals of reception of hue angle；

F haircuts plant equipment has a variety of tracks to meet the work of manipulator.

6. a kind of design of intelligent electric haircut electric scissors：

A signals receive control unit：Opening and closing signal control electric hair electric scissors of work head；Electric scissors is turned to and turned Angle, hair scissors work head range ability control signal；

B makes the work head of of electric hair electric scissors currently on the market into can turn to rotary work head；Can be with the work of angle modulation Make head；Work head can have the work head i.e. work head of certain operating distance to have the work head work head of Telescopic to be him Among one or several combinations；

The steering of c haircut plant equipment electric hair electric scissors or corner or work head range ability can be by following several methods To realize：

(1) steering of electric scissors or corner or range ability positioning are completed by manipulator；Compared with present hair scissors work with Do not work by control signal to control；

The partial function of manipulator is realized by electric hair electric scissors；The head that works will have steering or corner or Telescopic Work head；Work head being combined into one and controlling with turning member, rebate members, Telescopic part and electric scissors work head Signal processed be combined into intelligent electric haircut electric scissors；

Plant equipment of getting a haircut can be using manipulator as class humanoid robot as robot and hair style control software, electricity Brain, camera, accessory, electric hair electric scissors be combined into haircut plant equipment；

Haircut plant equipment：Electric hair electric scissors controlled by signal has to be done curvilinear motion and adjusts manipulator on one face The manipulator for making to move to different operating face.

7. one kind is given a rubdown with a damp towel, plant equipment also has following characteristics：

A give a rubdown with a damp towel plant equipment track selection straight optical axis and optical axis sliding block composition；In order to stablize part direction using double optical axises, Double-slider is realized；

B give a rubdown with a damp towel plant equipment increase a decompression equalizing tank；By pressurizeing and losing when each manipulator pressure level is pressurizeed using tension Press water tank composition；Same manipulator pressure level is all connected the cage connection of the pressure level other end and manipulator with two water tanks； Two water tanks can pull same manipulator pressure level to be run to positive and negative both direction respectively；Pressurised water tank weight is more than decompression Pressurizeed during water tank weight；Decompression or decompression when decompression water tank weight is more than pressurised water tank weight；The activity of tightening belt one end is fixed In manipulator shell, after the upper limbs or lower limb or trunk of people are coiled into a circle, the extension that the belt other end is fixed on pressure level is straight On slide attachment plate on trajectory, pressurization later is connected with water tank by steel wire rope or depressurized,

C adds the balance of power measure of manipulator；The weight stress track of manipulator and the balance for adding manipulator balance Part；The upper and lower slide rail of angle iron composition, the weight of manipulator, manipulator shell are born by pulley is slided above and below this track With angle iron slide rail by connecting rod oblique pull after, brace one end is fixed on manipulator shell, the other end fix top sheave,

What d gave plant equipment a rubdown with a damp towel adds multi-level safety safeguard measure：

1. three layers of manipulator are used with the shell of manipulator and are flexibly connected；

When the people direction vertical to three layers of direction to manipulator circular flow of manipulator is exerted oneself；Three layers of manipulator and machinery Hand is separated；

The connection that three layers of manipulator：The waistband that pressure level, packed layer, internal layer employment are worn, the circle that such as belt is made will plus after layer, Packed layer, internal layer, it is inserted in circle；This circle is referred to as clamping ring；The shell of clamping ring and manipulator uses plug and jack Mode connect；Or the mode of guide and loop bar is connected；As clamping ring fixes upper plug, the upper jack of manipulator shell fixation：Will Connected in plug insertion jack；Or clamping ring fixes sleeve, loop bar is fixed on manipulator shell：Sleeve is inserted in loop bar and connected；

Pressure level tightening belt one end is fixed on the slide attachment plate of extension rectilinear orbit, and the other end is also adopted with manipulator shell Connected with plug-in type；

2. power section is used with manipulator cage connection and is flexibly connected：The connection member of manipulator shell and power connector and electricity The connection of the chain of machine：Connecting rod on feed screw nut is used with the connection of manipulator to be flexibly connected：As crimped；When manipulator Their junction is under the excessive pulling force of motor when stroke exceedes motor range, and the chain of manipulator and motor is in connection Place's separation；

3. multiple emergency power-off devices are most nearby provided with more than travel switch at each travel switch；When travel switch failure Or during overtravel, manipulator shell and cut-off switch collision rift, manipulator emergency power off avoid personal injury；Give a rubdown with a damp towel plant equipment Power is supplied respectively to by three motors；

A kind of trunk manipulator of plant equipment of giving a rubdown with a damp towel of stand-type bathing of e and the shell of lower limb manipulator are by three pairs of straight optical axis Slide rail is constituted：The pressure level extension rail of manipulator is made up of 2 pairs of straight optical axis, then one is set on the vertical face of extension rail To left and right dragging track of the optical axis as extension rail；Manipulator shell be also secured to a perpendicular positioning track and On stress track；Nut driving mechanical hand do action on piece horizontally arranged screw mandrel of upper limbs manipulator；Silk The positioning track of travel switch and upper limbs separator is made up of below bar parallel direction a pair of optical axises；Positioning track is fixed on and this On track vertical a positioning track and a stress track；Realize that positioning rail height is adjustable；In feed screw nut's connecting rod The fixed plate of one piece of upper limbs manipulator is fixed in activity；The extension rail of other three layers of solid mechanical hand and pressure level in fixed plate； Extension rail is vertical with track and travel switch the positioning track of manipulator circulation work.

8. a kind of existing scrubbing function has being produced as follows for the combine equipment of haircut function again；

The helmet of getting a haircut is fixed on to the highest stroke of the highest point, the i.e. upper limit travel switch of trunk manipulator of plant equipment of giving a rubdown with a damp towel More than；When needing haircut, the haircut helmet is reduced to the height as trunk manipulator；It will be got a haircut the helmet using Removable hook The I-shaped track of plane residing for the face of the people for the helmet of getting a haircut is hung in two extensions of the pressure level of trunk manipulator Two parallel optical axis every optical axises point are set on track on face vertical with the two line slide rails (on line slide rail) Chuan Lian not four optical axis sliding blocks；Then after a pair of sliding blocks of sliding block on two optical axises are linked together by connecting plate；By two Individual extension line slide rail is separately fixed on the slide attachment plate at optical axis two ends；Two line slide rails can be moved left and right, and work as reason Hair two I-shaped slide rails of the helmet can be moved left and right after hanging over above；Haircut is adjusted with the cyclic track up and down of trunk manipulator The I-shaped track on the crown of the helmet reaches required height；Plant equipment of giving a rubdown with a damp towel is powered by three motors and has horizontal and vertical To two power；The horizontal and vertical power for having positive and negative both direction makes combine to realize that motor common rail is shared Equipment；Plant equipment of giving a rubdown with a damp towel can be using the computer for plant equipment of getting a haircut come intelligent control pressure size, the division of manipulator.

9. a kind of combine equipment includes following product form：Camera；Computer；The haircut helmet；Optical axis；Optical axis sliding block；Adjust To motor；Angle Modulation Motor；Water tank；Sliding block；Emergency power off impact switch；The several layers of connector of plant equipment of giving a rubdown with a damp towel；Circle；Plug And jack；Sleeve and loop bar；Give a rubdown with a damp towel mechanical device activity connection member；Electromagnet；Electromagnetic brake；The ear muff or ear of the haircut helmet Machine；Glasses；Intelligent electric haircut electric scissors；There is the manipulator turned to corner；The human-like mechanical arm of class as arm；Hair Type storehouse；Work hair style；Object of reference or reference coordinates that the hair style that works is positioned with head；The control software of haircut；Guide machinery by hand The cursor curve of the work hair style of work；Mechanical arm as class humanoid robot；Track.

10. a kind of haircut plant equipment can be combined electric hair electric scissors or machine with the dynamically working head of hydraulic pressure or air pressure The power supply feature that the manipulator of people combines to realize haircut electric scissors is in the work head or the control of manipulator with power supply Feature processed is as follows：By having cut the hair style after hair for work hair style, by the various parameters of work hair style are come the action of control machinery hand； Control parameter includes staying hair length parameter or goes to send out length parameter；With some position on human body, ear or eyes or shoulder or Reference coordinates are set up in other positions with them；Set up the various distance parameters of hair style curve, directioin parameter；It is oblique on hair style curve Slope and the angle parameter of the head surface of the slope correspondence position on the initial parameters on slope, hair style curve；The width on slope Parameter；The directioin parameter set up on point and reference coordinates on each working face of curve carrys out the action of control machinery hand；Machinery The bonded block that hand is combined with the head of people：The fixture of earphone or ear muff or glasses or shoulder, is manipulator and the head of people Bonded block completes the combination of manipulator and head part；Haircut plant equipment has been characterised by hair style storehouse；And various capitiforms Best configuration several hair styles and certain class head dummy stay the optimal of hair length to stay hair length configuration parameter；Their parameter can also Set up with reference to the optimal image in head for having cut hair descendant；And the hair style curve of the various head dummys ramp angles that are and slope it is wide Spend parameter；Their best configuration scheme formation work hair styles；Set up the control parameter of manipulator；By passing through the ear or eye on head Eyeball or shoulder and the bonded block on manipulator with their combinations；Work hair style is positioned on the head of the people by bonded block Correspondence position；Electric scissors of getting a haircut founds the vertical hair of workpiece comb by the comb for founding number of people hair comb；This vertical part of comb is in head On the power part of the work head for raising or declining or running can be with multiple choices；Reference coordinates can select the-head Any one profile sets up reference coordinates；The foundation in the face as residing for the ear of people；The eyes of people can be selected to make in point on the face The foundation of reference coordinates is completed for horizontal and vertical origin or zero point.