CN113473877A - Hair-planting device - Google Patents

Abstract

The hair-planting device is provided with: a substrate holding mechanism (20) for holding a substrate (J); a first supply unit (80) that holds hair for hair growth (M) on one surface side of the held base material; and a coupling mechanism for knotting the hair for hair transplantation supplied from the first supply unit (80) to the base material by means of the hook needles (41, 51, 61). The first supply unit (80) has a first gripping mechanism (81) and a second gripping mechanism (82) that grip both end portions of hair for hair setting, respectively, and the first gripping mechanism (81) has: two sliding plates (812, 813) which slidably hold hair for hair transplantation; an elastic body (814) that gives a gripping pressure to the two slide plates; and an adjustment body (816) that adjusts the gripping pressure.

Description

Hair-planting device

Technical Field

The invention relates to a hair-planting device.

Background

A conventional hair transplantation device holds a mesh-like base material to be transplanted, and uses a plurality of hooks to form knots of hair for transplantation in respective mesh holes of the base material, thereby performing hair transplantation (for example, see patent document 1).

The hair transplantation device performs hair transplantation operation with respect to the base material while holding both end portions of hair for transplantation at a constant holding pressure.

Patent document 1: japanese laid-open patent publication No. 2018-040084

Disclosure of Invention

When hair for hair transplantation is transplanted into a base material, a hook needle is operated to catch the hair for hair transplantation and draw the hair for hair transplantation into mesh holes, but the conventional hair transplantation device grips both ends of the hair for hair transplantation with a constant gripping pressure, so that resistance is large, smooth drawing operation is hindered, and the hair for hair transplantation may be damaged or broken.

The purpose of the present invention is to smoothly perform hair transplantation.

(1) The hair transplantation device of the present invention comprises:

a substrate holding mechanism for holding a substrate;

a first supply unit that holds hair for hair growth on one surface side of the held base material; and

a coupling mechanism for knotting the hair for hair transplantation supplied from the first supply unit to the base material with a crochet hook,

the first supply unit has a first grasping mechanism and a second grasping mechanism for grasping both end portions of the hair for transplantation,

the first gripping mechanism has: two sliding plates for slidably holding the hair for hair transplantation; an elastic body that imparts a gripping pressure to the two slide plates; and an adjusting body that adjusts the gripping pressure.

(2) The invention provides the hair transplant device according to item (1),

the first supply unit may include a variable actuator that varies an interval between the first gripping mechanism and the second gripping mechanism.

(3) The present invention provides the hair transplant device according to (1) or (2),

the first supply unit may include a movable portion that moves the first grip mechanism and the second grip mechanism in a direction intersecting with a longitudinal direction of the hair for hair transplantation held by the first grip mechanism and the second grip mechanism.

(4) The hair transplant device according to any one of (1) to (3) of the present invention,

the second gripping mechanism may have: two gripping members for gripping the hair for hair transplantation; and two lifting actuators for independently lifting and lowering the two gripping members.

(5) The hair transplant device according to any one of (1) to (4) of the present invention,

may be provided with a second supply unit for delivering the hair for transplantation to the first supply unit,

the second supply unit includes: a third gripping mechanism and a fourth gripping mechanism that grip both end portions of the hair for hair transplantation; and a tension applying mechanism that applies tension to the hair transplant by increasing a distance between the third gripping mechanism and the fourth gripping mechanism at a delivery position where the hair transplant is delivered to the first supplying section.

(6) The invention provides the hair transplant device of (5),

the second supply unit may include a support plate that supports the third gripping mechanism and the fourth gripping mechanism and moves from an initial position to the delivery position,

the tension applying mechanism includes:

a pressing spring that presses the third gripping mechanism supported movably on the support plate toward the fourth gripping mechanism;

an abutment member provided to the third gripping mechanism; and

a stopper that abuts against the abutment member while the support plate moves from the initial position to the delivery position,

the tension applying mechanism is configured to apply tension to the hair for hair transplantation by expanding a gap between the third gripping mechanism and the fourth gripping mechanism by pushing the third gripping mechanism back in a direction away from the fourth gripping mechanism against the pressure spring by the contact member in contact with the stopper if the support plate is moved to the delivery position.

(7) The hair transplant device according to any one of (1) to (6) of the present invention,

the hook may be configured to catch a part of the hair for permanent set and to be inserted into a thread loop penetrating the hair for permanent set,

The hair-planting device is provided with:

a hair holding section for holding the part of the hair for hair transplantation captured together with the hook;

a first advancing/retreating mechanism that advances and retreats the hair holding portion and the bearded needle with respect to the base material held by the base holding mechanism; and

and a second advancing/retreating mechanism that advances and retreats the hair holding section relative to the hook needle, and switches between a holding position for holding the part of the hair for transplantation together with the hook needle and a retreating position for retreating the hair holding section from the hook needle.

(8) The invention provides the hair transplant device of (7),

a regulating portion may be provided which regulates the clamping pressure of the hair clamping portion.

(9) The invention provides the hair transplant device according to (7) or (8),

may be provided with: a setting unit that sets a backward movement amount of the hook needle by the first forward/backward moving mechanism from a state in which the hair holding portion switches the part of the hair for hair setting to a holding state to a release state; and

and a tightening control unit that controls the hair holding unit and the first advancing/retracting mechanism based on the set amount of backward movement, and adjusts a tightening force of the thread loop of the hair for transplantation.

ADVANTAGEOUS EFFECTS OF INVENTION

The first grasping mechanism of the present invention includes: two sliding plates for slidably holding hair for hair transplantation; an elastic body that imparts a gripping pressure to the two slide plates; and an adjusting body for adjusting the holding pressure, so that the tension and the change of the tension generated on the hair for hair transplantation due to the adjustment of the holding pressure can be met, and the hair transplantation operation can be smoothly performed.

Drawings

Fig. 1 is a front view showing the overall structure of a hair transplant device according to an embodiment of the present invention.

Fig. 2 is a block diagram showing a control system of the hair transplant apparatus.

Fig. 3(a) is a partial sectional view of the substrate holding mechanism, and fig. 3(B) is a partial sectional view of a comparative example of the substrate holding mechanism.

Fig. 4 is a front view of the first supply portion.

Fig. 5 is a front view of the first supply part after the position of the first grip mechanism is adjusted.

Fig. 6(a) to 6(D) are side views of the second grasping mechanism.

Fig. 7(a) to 7(D) are explanatory views showing an operation of supplying hair transplantation hairs by the second grasping means.

Fig. 8(a) is a plan view of the second supply unit, and fig. 8(B) is a front view.

Fig. 9(a) is a plan view of the second supply unit, and fig. 9(B) is a front view.

Fig. 10(a) is a plan view of the second supply unit, and fig. 10(B) is a front view.

FIG. 11 is an oblique view of the looper mechanism.

Fig. 12(a) is a plan view of the looper mechanism in a state where the looper is opened, and fig. 12(B) is a plan view of the looper mechanism in a state where the looper is closed.

Fig. 13 is a front view of the second catch mechanism.

Fig. 14 is a front view of the second catch mechanism.

Fig. 15(a) is a front view of a second latch described later, and fig. 15(B) is a side view.

Fig. 16(a) is a front view showing another example of the shape of the tip of the second crochet hook, and fig. 16(B) is a side view.

Fig. 17(a) shows a state where the second bearded needle with a rounded tip captures hair for setting to form a loop, and fig. 17(B) shows a state where the second bearded needle with a sharp tip captures hair for setting to form a loop.

Fig. 18 is a front view showing the operation of the third catching mechanism.

Fig. 19 is a front view showing the operation of the third capturing mechanism subsequent to fig. 18.

Fig. 20 is a front view showing the operation of the third capturing mechanism after fig. 19.

Fig. 21 is a front view showing the operation of the third capturing mechanism subsequent to fig. 20.

Fig. 22 is a front view showing the operation of the third capturing mechanism subsequent to fig. 21.

Fig. 23(a) and 23(B) are plan views showing a range in which hair transplantation is performed with respect to a base material.

Fig. 24(a) and 24(B) are side views showing a range in which hair transplantation is performed with respect to a base material.

Fig. 25 is a conceptual diagram of a standard image showing the standard positions of mesh holes specified by the hair set data.

Fig. 26 is an explanatory diagram showing a process of associating the standard positions of the mesh holes with the standard positions of the mesh holes.

Fig. 27 is an explanatory diagram showing a process of associating the standard positions of the mesh holes with the standard positions of the mesh holes after fig. 26.

Fig. 28 is an explanatory diagram showing a process of associating the standard positions of the mesh holes with the standard positions of the mesh holes after fig. 27.

Fig. 29 is an explanatory diagram showing a process of associating the standard positions of the mesh holes with the standard positions of the mesh holes after fig. 28.

Fig. 30 is an explanatory diagram showing a process of associating the standard positions of the mesh holes with the standard positions of the mesh holes after fig. 29.

Fig. 31 is an explanatory diagram showing an input method of hair transplantation positions.

Fig. 32 is an explanatory diagram showing an input method of hair transplantation positions.

Fig. 33 is an explanatory diagram of the operation in the planar direction of hair transplantation operation control.

Fig. 34(a) is an explanatory view of the operation of hair transplantation operation control, which is a front view of the hair transplantation site, and fig. 34(B) is an explanatory view of the operation of hair transplantation operation control, which is a side view of the hair transplantation site.

Fig. 35(a) is an explanatory view of the operation of hair transplantation operation control, which is a front view of the hair transplantation site, and fig. 35(B) is an explanatory view of the operation of hair transplantation operation control, which is a side view of the hair transplantation site.

Fig. 36(a) is an explanatory view of the operation of hair transplantation operation control, which is a front view of the hair transplantation site, and fig. 36(B) is an explanatory view of the operation of hair transplantation operation control, which is a side view of the hair transplantation site.

Fig. 37(a) is an explanatory view of the hair-planting operation control, which is a front view of the hair-planting position, and fig. 37(B) is an explanatory view of the hair-planting operation control, which is a side view of the hair-planting position.

Fig. 38(a) is an explanatory view of the hair-planting operation control, which is a front view of the hair-planting position, and fig. 38(B) is an explanatory view of the hair-planting operation control, which is a side view of the hair-planting position.

Fig. 39(a) is an explanatory view of the operation of hair transplantation operation control, which is a front view of the hair transplantation site, and fig. 39(B) is an explanatory view of the operation of hair transplantation operation control, which is a side view of the hair transplantation site.

Fig. 40(a) is an explanatory view of the operation of hair transplantation operation control, which is a front view of the hair transplantation site, and fig. 40(B) is an explanatory view of the operation of hair transplantation operation control, which is a side view of the hair transplantation site.

Fig. 41(a) is an explanatory view of the operation of hair planting operation control, which is a front view of the hair planting position, and fig. 41(B) is an explanatory view of the operation of hair planting operation control, which is a side view of the hair planting position.

Fig. 42(a) is an explanatory view of the operation of hair transplantation operation control, which is a front view of the hair transplantation site, and fig. 42(B) is an explanatory view of the operation of hair transplantation operation control, which is a side view of the hair transplantation site.

Fig. 43(a) is an explanatory view of the operation of hair transplantation operation control, and is a front view of the hair transplantation site, and fig. 43(B) is an explanatory view of the operation of hair transplantation operation control, and is a side view of the hair transplantation site.

Fig. 44(a) is an explanatory view of the operation of hair transplantation operation control, which is a front view of the hair transplantation site, and fig. 44(B) is an explanatory view of the operation of hair transplantation operation control, which is a side view of the hair transplantation site.

Fig. 45(a) is an explanatory view of the operation of hair transplantation operation control, and is a front view of the hair transplantation site, and fig. 45(B) is an explanatory view of the operation of hair transplantation operation control, and is a side view of the hair transplantation site.

Fig. 46 is a flowchart of hair transplant operation control.

Fig. 47(a) is an explanatory view showing a knot made by one rotation of the hair fiber to the left, and fig. 47(B) is an explanatory view showing a knot made by one rotation of the hair fiber to the right.

Detailed Description

[ overall Structure of embodiment ]

Hereinafter, a hair transplantation device 10 according to an embodiment of the present invention will be described in detail with reference to the drawings.

Fig. 1 is a front view showing the overall structure of a hair setting device 10. Fig. 2 is a block diagram showing a control system thereof.

The hair transplantation device 10 is used to smoothly transplant hair M to a base material J while reducing a work load.

The hair for hair transplantation M is not limited to human hair, and includes all other fibers that look like human hair including natural fibers and artificial fibers.

The base material J is not limited to a fiber shape, and includes all sheet-like materials formed in a planar shape or a curved shape. In the present embodiment, the substrate J is a sheet-like material having a curved surface shape following the shape of the top of the head of a human being and having hexagonal lattice-like mesh holes.

The mesh openings may not be hexagonal in shape.

As shown in the figure, the hair transplantation device 10 includes a substrate holding mechanism 20, a moving mechanism 25, a first catching mechanism 40, a second catching mechanism 50, a third catching mechanism 60, a looper mechanism 70, a first supply unit 80, and a second supply unit 90. More specifically, the hair transplantation device 10 includes a base holding mechanism 20 for holding the base J and a first hook 41 penetrating from the back side of the held base J. The hair transplantation device 10 further includes: a first catching mechanism 40 for forming a loop by pulling the hair M for hair transplantation, which is not the end portion, to the back surface side of the base material J by the first hook needle 41; a looper mechanism 70 for opening the small thread loops of the hair M for hair transplantation to form larger thread loops; and a second crochet hook 51 penetrating from the surface of the held base material J. The hair transplantation device 10 further includes: a second catching mechanism 50 for pulling out the loop of the hair M for hair transplantation from a hole different from the first hook 41 to the surface side of the base material J by the second hook 51; and a third hook 61 inserted into the loop of the hair M for hair transplantation captured by the second hook 51. The hair transplantation device 10 further includes: a third catching mechanism 60 for pulling a part of the hair M for hair transplantation into the thread loop by the third hook needle 61; a first supply unit 80 for holding hair for permanent hair M on the surface (one surface) side of the held base material J; a second supplying section 90 for delivering the hair M for hair transplantation to the first supplying section 80; and a moving mechanism 25 for moving the held base material J relative to the crochet hooks 41, 51, 61. The hair transplantation device 10 further includes: a camera 11 as an imaging unit that images the substrate J held by the substrate holding mechanism 20; a pedal 14 for executing the holding operation of the substrate J by the substrate holding mechanism 20; a control device 100 for controlling the operation of hair transplantation of hair M to a base material J; and a base 12 for supporting the above-described respective structures.

The first to third catching mechanisms 40, 50, 60 and the looper mechanism 70 constitute a coupling mechanism for knotting the hair M for hair transplantation to the base material J.

In the following description, as shown in fig. 1, two directions that are horizontal and orthogonal to each other are referred to as an X-axis direction and a Y-axis direction. One of the X-axis directions is set to the "left" side, the other is set to the "right" side, one of the Y-axis directions is set to the "front" side (near side in the vertical direction of the paper in fig. 1), and the other is set to the "rear" side (far side in the vertical direction of the paper in fig. 1). The vertical up-down direction orthogonal to the X-axis direction and the Y-axis direction is set as the Z-axis direction. One of the Z-axis directions is referred to as "upper" side, and the other is referred to as "lower" side.

[ substrate holding mechanism ]

Fig. 3(a) is a partial sectional view of the substrate holding mechanism 20.

As shown in fig. 1 and 3(a), the substrate holding mechanism 20 includes: a lower frame 21 of a substantially hemispherical shell shape on which the base material J is placed; and a holding frame 22 for holding the base material J placed on the lower frame 21 from above.

The lower frame 21 has an opening 211 at the top of the lower frame 21, and the holding frame 22 also has an opening 221 corresponding to the opening 211. Hair transplantation work is performed inside these openings 211, 221 with respect to the base material J held between the lower frame 21 and the holding frame 22.

The holding frame 22 is supported by a holding cylinder 23 for holding the base material J so as to be able to move up and down. The substrate J is held by the cooperative action with the lower frame 21 if the holding frame 22 is lowered, and released if the holding frame 22 is raised.

The anti-slip material 24 for the base material J placed on the lower frame 21 is attached around the opening 221 on the lower surface of the holding frame 22. The anti-slip material 24 has a higher coefficient of friction than the lower surface of the holding frame 22 and is rich in contractility.

For example, as the non-slip material 24, a loop material of a hook and loop fastener is suitable. When the sheet-like material of an elastic body such as rubber having a large friction coefficient is used as the nonslip material 24A as shown in fig. 3(B), the thickness of the base material J is not uniform between the hair-planted portion and the hair-non-planted portion. If the nonslip member 24A can only partially contact the base material J having a non-uniform thickness, a gap is generated, and the holding frame 22 may not be able to sufficiently hold the base material J.

On the other hand, when the non-slip material 24 is made of a material having a large friction coefficient and high contractility, such as a loop material of a hook and loop fastener, the non-slip material 24 shrinks at each portion with respect to the base material J having an uneven thickness. The entire surface of the nonslip member 24 is in contact with the base material J, and the holding frame 22 can effectively hold the base material J.

Has the advantage that the thread loop material is not easily entangled with other base material J on which hair M for hair transplantation has been transplanted.

The holding cylinder 23 is a solenoid valve 23a for supplying air pressure, and is connected to the control device 100 via a drive circuit 23b of the solenoid valve 23 a.

The control device 100 controls the operation of the holding cylinder 23 via the electromagnetic valve 23a in accordance with the operation of the pedal 14.

The pedal 14 can be depressed in three stages from the neutral position, and incorporates a sensor for detecting the neutral position and the depressed state in three stages, and a detection signal of the sensor is input to the control device 100.

Control device 100 recognizes the depression state of pedal 14. In response to the stepping-in of each of the first to third steps, control device 100 lowers holding frame 22 toward lower frame 21 so that the pressurizing force is increased in stages. When the pedal 14 is returned to the neutral position, the control device 100 raises the holding frame 22 to bring the substrate J into the released state.

As described above, the holding pressure of the holding frame 22 with respect to the base material J on the lower frame 21 can be adjusted by operating the pedal 14 with a foot. The operator can finely adjust the position and the mounting state of the base material J while changing the holding pressure with both hands, and high workability can be obtained.

[ moving mechanism ]

The moving mechanism 25 includes: an X-axis table 26 and a Y-axis table 27 which can independently move the lower frame 21 and the holding frame 22 in the X-axis direction and the Y-axis direction; and a substrate X-axis motor 28 and a substrate Y-axis motor 29 serving as drive sources for moving the lower frame 21 and the holding frame 22 in the X-axis direction and the Y-axis direction, respectively.

Thus, the moving mechanism 25 can move and position the substrate J held by the lower frame 21 and the holding frame 22 to an arbitrary position on the X-Y plane. In the present embodiment, the moving mechanism 25 moves the base material J relative to the crochet hooks 41, 51, 61, but the crochet hooks 41, 51, 61 may be moved relative to the base material J.

[ first supply part ]

When the hair M for hair transplantation, which is to be transplanted to the base material J, is set from the outside (for example, manually by an operator or by a not-shown supply device) at a predetermined initial position, the second supply unit 90 conveys the hair M for hair transplantation to the delivery position.

The first supply unit 80 receives the hair M for hair transplantation from the second supply unit 90 at the transfer position, and conveys the hair M for hair transplantation to a hair transplantation work position above the lower frame 21 and the holding frame 22 of the base holding mechanism 20.

Fig. 4 and 5 are front views of the first supply unit 80.

The first supply unit 80 includes: a first gripping mechanism 81 and a second gripping mechanism 82 that grip both end portions of the hair for permanent set M, respectively; a support plate 83 that supports the first gripping mechanism 81 and the second gripping mechanism 82 and moves from the initial position to the delivery position; a movable section 84 (not shown in fig. 4 and 5) that conveys the first gripping mechanism 81 and the second gripping mechanism 82 in the Y-axis direction; and an interval adjusting cylinder 85 as a variable actuator for changing an interval between the first gripping mechanism 81 and the second gripping mechanism 82.

The first gripping mechanism 81 has the same structure as a so-called thread adjuster device mounted on a sewing machine. That is, the first gripping mechanism 81 includes: a bracket 811 supported by the support plate 83; two disk-shaped sliding plates 812, 813 for slidably grasping the hair M for hair transplantation; a coil spring 814 as an elastic body that gives gripping pressure to the two slide plates 812, 813; a support shaft 815 that supports the slide plates 812 and 813 and the coil spring 814; and an adjusting body 816 that adjusts the grasping pressure.

The bracket 811 supports the lower end of the support shaft 815 in a state where the support shaft 815 is erected in the Z-axis direction. The bracket 811 is slidably supported in the X-axis direction at the left end of the support plate 83.

The two sliding plates 812 and 813 have through holes formed in the centers of the sliding plates 812 and 813, respectively, and the support shaft 815 is inserted into the through holes. The two slide plates 812, 813 are supported movably along a fulcrum 815.

The outer peripheries of the sliding plates 812 and 813 are warped over the entire peripheries thereof in both of the sliding plates 812 and 813.

The support shaft 815 is provided upright in the Z-axis direction, and supports a coil spring 814, a slide plate 812, and a slide plate 813 in this order from above.

The two sliding plates 812, 813 are held in a state in which the peripheries of the central portions of the sliding plates 812, 813 are pressed against each other by the spring pressure of the coil spring 814 in a state in which the warping directions of the outer peripheral portions of each other are reversed.

A male screw is formed on the outer periphery of the upper end of the support shaft 815. The adjustment body 816 is in the form of a nut and is screwed to the external thread of the upper end of the support shaft 815.

The adjustment body 816 is screwed to the support shaft 815 and rotates, whereby the amount of expansion and contraction of the coil spring 814 changes, and the grasping pressure of the two slide plates 812, 813 can be adjusted.

The two sliding plates 812, 813 hold the hair M for hair transplantation between the sliding plates 812, 813. The grasping pressure of the two sliding plates 812, 813 is preferably adjusted to such an extent that the hair M for permanent set slides and can be pulled out if it is pulled with a tension in a range in which the hair M for permanent set does not stretch or is not pulled apart.

The two sliding plates 812, 813 are preferably made of a metal plate or a resin plate having a sliding property so as to slide with respect to the hair M for hair transplantation.

Since both the sliding plates 812 and 813 have their outer peripheries warped, the hair M for permanent set can be easily pushed in from the outer peripheries of the sliding plates 812 and 813.

The support plate 83 is a long flat plate, and the flat plate surface of the support plate 83 faces horizontally and is supported by the movable portion 84 in a state where the longitudinal direction of the support plate 83 is along the X-axis direction.

The support plate 83 holds a gap adjusting cylinder 85 near the left end of the support plate 83. The gap adjustment cylinder 85 has a plunger whose advancing/retreating direction is directed in the X-axis direction, and a tip end portion of the plunger is connected to the first grasping mechanism 81. Thus, the interval adjusting cylinder 85 can perform the movement operation in the X-axis direction with respect to the first grasping mechanism 81.

Instead of the interval adjusting cylinder 85, the first gripping mechanism 81 may be moved by a motor.

By switching the position of the first grasping mechanism 81 and contracting the gap between the first grasping mechanism 81 and the second grasping mechanism 82, the hair M for permanent hair transplantation held by the first grasping mechanism 81 and the second grasping mechanism 82 can be changed from the non-relaxed state shown in fig. 4 to the relaxed state shown in fig. 5.

Fig. 6(a) to 6(D) are side views of the second grasping mechanism 82.

As shown in fig. 4 to 6(D), the second gripping mechanism 82 includes: a bracket 821 supported by the support plate 83; two grip members 822, 823 for gripping hair for hair setting M; and a first holding cylinder 824 and a second holding cylinder 825 (not shown in fig. 4 and 5) as lifting actuators for independently lifting and lowering the holding members 822 and 823.

The bracket 821 is fixedly supported at the right end of the support plate 83.

Both the grip members 822, 823 are flat plates elongated in the Y axis direction, arranged in an up-down arrangement, and supported in a state where the lower surface of the grip member 822 and the upper surface of the grip member 823 face each other.

The upper holding member 822 is supported by the first holding cylinder 824 so as to be capable of switching between an upper position (see fig. 6B and 6C) and a lower position (see fig. 6 a and 6D).

Similarly, the lower grip member 823 is supported by the second grip cylinder 825 so as to be capable of switching between an upper position (see fig. 6 a and 6C) and a lower position (see fig. 6B and 6D).

As shown in fig. 6(a), when the upper grip member 822 is in the lower position and the lower grip member 823 is in the upper position, the lower surface of the upper grip member 822 and the upper surface of the lower grip member 823 are in close contact with each other, and hair M for hair growth can be gripped therebetween.

The hair transplantation hairs M gripped by the second grip mechanism 82 are not easily pulled out unlike the case of the first grip mechanism 81 in which the tip portion of the lower surface of the upper grip member 822 and the tip portion of the upper surface of the lower grip member 823 are both subjected to the slip prevention treatment.

Fig. 7(a) to 7(D) are explanatory views showing the operation of supplying the hair M for hair transplantation by the second grasping means 82.

Since the second grasping mechanism 82 is configured to grasp and receive the hair transplantation hairs M supported in the suspended state by the second supply unit 90, it is preferable that the upper grasping member 822 and the lower grasping member 823 are both lifted and lowered with respect to the hair transplantation hairs M to grasp the hair transplantation hairs M from above and below.

Since the second grasping mechanism 82 moves forward by the movable portion 84 to supply the hair M for hair transplantation above the lower frame 21 and the holding frame 22, it is necessary to avoid interference with the lower frame 21, the holding frame 22, and the peripheral structures thereof during the forward movement.

Therefore, as shown in fig. 7(a) and 7(B), the second grasping mechanism 82 grasps the hair for hair growth M from above and below with the upper grasping member 822 set to the upper position and the lower grasping member 823 set to the lower position, and with the upper grasping member 822 set to the lower position and the lower grasping member 823 set to the upper position.

As shown in fig. 7(C), when the movable portion 84 moves forward, the lower grip member 823 is located at the upper position, and therefore, interference with the obstacle G such as the lower frame 21 and the holding frame 22 located below can be avoided.

When releasing the hair M for permanent set, it is not necessary to move both the upper grip member 822 and the lower grip member 823 unlike the case of gripping, and therefore, for example, as shown in fig. 7(D), it is possible to release the hair M for permanent set by moving only the upper grip member 822, which does not interfere with the surroundings, to the upper position.

The movable portion 84 is fixed to and supported by the base 12, and supports the support plate 83 slidably in the Y-axis direction by the slide guide portion.

The movable portion 84 can move the support plate 83 arbitrarily in the Y-axis direction using a movable motor 841 as a drive source via a ball screw mechanism, a belt mechanism, or the like, which is a known linear motion mechanism.

[ second supply part ]

Fig. 8(a), 9(a), and 10(a) are plan views of the second supply unit 90, and fig. 8(B), 9(B), and 10(B) are front views of the second supply unit 90.

As shown in the drawing, the second supply portion 90 includes: a third gripping mechanism 91 and a fourth gripping mechanism 92 that grip both end portions of the hair for permanent set M, respectively; a support plate 93 supporting them; a movable section 94 that conveys the third gripping mechanism 91 and the fourth gripping mechanism 92 in the X-axis direction; and a tension applying mechanism 95 for applying tension to the hair M for hair growth by increasing the distance between the third gripping mechanism 91 and the fourth gripping mechanism 92 at the aforementioned delivery position.

The support plate 93 is a long flat plate, and the flat plate surface thereof is horizontally oriented, and is supported by the movable portion 94 with the longitudinal direction thereof along the X-axis direction.

The support plate 93 slidably supports the third gripping mechanism 91 in the X-axis direction near the left end portion of the upper surface thereof, and fixedly supports the fourth gripping mechanism 92 at the right end portion of the upper surface thereof.

The third gripping mechanism 91 has: a base 911 supported by the support plate 93; an upper holding member 912 and a lower holding member 913 for holding the hair M for hair setting; and a third holding cylinder 914 (not shown in fig. 2 and 8 a to 10B) for raising and lowering the holding member 912.

The base 911 is a block-shaped base, and has an upper surface that fixedly supports a lower grip member 913 and supports an upper grip member 912, which is stacked on the base, so as to be able to move up and down.

Both the grip members 912 and 913 are flat plates elongated in the Y-axis direction, and the lower surface of the grip member 912 and the upper surface of the grip member 913 are arranged in a vertical row in a state of facing each other.

The upper grip member 912 is switched between an upper position and a lower position by a third grip cylinder 914.

The fourth gripping mechanism 92 has: a base 921 supported on the support plate 93; an upper holding member 922 and a lower holding member 923 for holding hair for hair growth M; and a fourth gripping cylinder 924 (not shown in fig. 2 and 8 a to 10B) for raising and lowering the gripping member 922.

The base 921 is block-shaped, and has an upper surface that fixedly supports the lower gripping member 923 and supports the upper gripping member 922 placed on the upper surface so as to be able to move up and down.

Both the gripping members 922, 923 are flat plates elongated in the Y-axis direction, and are arranged in a vertical row with the lower surface of the gripping member 922 and the upper surface of the gripping member 923 facing each other.

The upper grasping member 922 is switched between an upper position and a lower position by a fourth grasping cylinder 924.

The movable portion 94 includes: a support plate 941 fixedly supported on the base 12; a slide rail 942 that slidably supports the base 911 in the X-axis direction on a support plate 941; and a movable motor 943 (not shown in fig. 2, 8 a to 10B) that slides the base 911 in the X-axis direction.

The support plate 941 has a flat plate shape elongated in the X-axis direction, and has a slide rail 942 on an upper surface thereof.

The slide rails 942 are provided in parallel to the X axis direction, and the base 911 can be slid by a slider, not shown, provided on the base 911 side.

The movable motor 943 is, for example, a stepping motor or the like whose operation amount can be controlled by the control device 100. The movable motor 943 imparts a moving motion to the base 911 via a transmission mechanism such as a ball screw mechanism or a belt mechanism that converts a rotational motion into a linear motion. A direct-drive motor may be used as the movable motor 943.

The movable section 94 sets one end (left end) of the movable ranges of the third gripping mechanism 91 and the fourth gripping mechanism 92 to the initial position, and sets the other end (right end) to the delivery position.

In the delivery position, the first gripping mechanism 81 and the second gripping mechanism 82 of the first supply unit 80 waiting behind the third gripping mechanism 91 and the fourth gripping mechanism 92 move between the third gripping mechanism 91 and the fourth gripping mechanism 92. The hair M for hair transplantation supported by the third gripping mechanism 91 and the fourth gripping mechanism 92 is gripped and delivered by the first gripping mechanism 81 and the second gripping mechanism 82.

Therefore, the height at which the hair for growth M is gripped by the first gripping mechanism 81 and the second gripping mechanism 82 is set to be equal to the height at which the hair for growth M is gripped by the third gripping mechanism 91 and the fourth gripping mechanism 92.

The tension applying mechanism 95 includes: a support column 951 that movably supports the third gripping mechanism 91 on the support plate 93 in the X-axis direction; a pressurizing spring 952, which is an elastic body, that pressurizes the third gripping mechanism 91 on the fourth gripping mechanism 92 side; an abutment member 953 provided on the base 911 of the third gripping mechanism 91; and a stopper 954 which abuts against the abutment member 953 in front of the delivery position when the support plate 93 is moved from the initial position to the delivery position.

The support column 951 movably supports the base 911 of the third gripping mechanism 91 in the X-axis direction, and one end (left end) of the pressure spring 952 is coupled to the support plate 93 and the other end (right end) is coupled to the base 911.

In a state where the support plate 93 is at the initial position (the position of fig. 8 a and 8B), the pressurizing spring 952 extends to a natural length, and holds the position so that the base 911 is retained at the right end portion of the movable range of the base 911 (the position on the side of the fourth grasping mechanism 92).

The contact member 953 extends in a direction (e.g., forward) deviating from the travel path of the base 911, and the stopper 954 is provided at a position (e.g., front side) deviating from the travel path of the base 911 on the support plate 941.

Therefore, if the support plate 93 moves from the initial position to the delivery position, the abutment member 953 abuts on the stopper 954 immediately before the delivery position is reached (the state of fig. 9 a and 9B).

Then, if the support plate 93 moves to the contact position, the contact member 953 pushes back the base 911 of the third gripping mechanism 91 against the pressurizing spring 952 in a direction away from the fourth gripping mechanism 92, and the interval between the third gripping mechanism 91 and the fourth gripping mechanism 92 is widened (the state of fig. 10 a and 10B).

Thus, even when the hair M for transplantation held between the third gripping mechanism 91 and the fourth gripping mechanism 92 is loosened, the hair M for transplantation can be set in a state of being loosened.

When the interval between the third gripping mechanism 91 and the fourth gripping mechanism 92 is widened, it is preferable that the gripping members 912, 913, 922, 923 of either or both of the third gripping mechanism 91 and the fourth gripping mechanism 92 grip with a gripping pressure that is slidable with respect to the hair M for hair transplantation, or that the surfaces gripped by the gripping members 912, 913, 922, 923 are made of a material having slidability so that the hair M for hair transplantation is not pulled apart.

[ looper mechanism ]

Fig. 11 is an oblique view of the looper mechanism 70, and fig. 12 is a plan view of a main portion of the looper mechanism 70. As shown, the looper mechanism 70 has: a support bracket 71 fixedly supported by the base 12 on the lower side of the lower frame 21; a head 73 movable in the Y-axis direction on the upper surface of the support bracket 71 by a moving mechanism 72; and a pair of left and right loopers 74, 75 provided on the head 73.

The support bracket 71 has a horizontal upper surface, and supports the moving mechanism 72 and the head 73.

The moving mechanism 72 includes a slide mechanism and a motor 721 for advancing and retreating, which is an actuator of a linear motion system. The slide mechanism is composed of a slide guide and a slide rail, and can slide the head 73 in the Y-axis direction.

The advancing and retreating motor 721 applies a thrust force in the Y axis direction to the head 73 by, for example, a belt mechanism which is a known linear motion mechanism. The forward/backward motor 721 may be a direct-drive motor.

The pair of loopers 74, 75 are tapered and have a bilaterally symmetrical shape when viewed from above.

These loopers 74 and 75 extend forward from the head 73, and are supported by the head 73 so that their rear end portions can rotate about the Z axis. A looper opening/closing actuator 77 that can be switched between an open state (the state of fig. 12 a) in which the distal end portions thereof are separated from each other and a closed state (the state of fig. 12B) in which the distal end portions thereof are close to each other is housed in the head portion 73.

In the hair transplantation operation, the loopers 74 and 75 are independently brought into a state of locking the thread loops of the hair for transplantation M, and then the loopers 74 and 75 need to be pulled out from the respective thread loops, but even when the loopers 74 and 75 are in a closed state, gaps are formed at the tip ends thereof to such an extent that the hair for transplantation M can pass through, and therefore the thread loops can be pulled out smoothly.

Both of the loopers 74 and 75 have recesses 741 and 751 formed near the distal end thereof and recessed inward. The left and right loopers 74, 75 can be moved forward in the closed state to project into the small thread loops of the hair M for transplantation and opened, whereby the hair M for transplantation is held in the recesses 741, 751 and the small thread loops are expanded to form larger thread loops.

[ second catching mechanism ]

Fig. 13 and 14 are front views of the second catching mechanism 50, fig. 15(a) is a front view of a second hook 51 described later, and fig. 15(B) is a side view of the second hook 51.

As shown in fig. 1, 13, and 14, the second catching mechanism 50 includes: a second hook 51 disposed above the openings 211 and 221 of the lower frame 21 and the holding frame 22 and having a distal end portion disposed downward; a second catching motor 52 for moving the second hook needle 51 forward and backward; a support block 53 that supports the second crochet hook 51; a support bracket 54 that supports the support block 53 so as to be able to move up and down in the Z-axis direction; and a rotation motor 55 (see fig. 2) that rotates the second crochet hook 51 about the Z axis.

As shown in fig. 15, the second crochet hook 51 is disposed with the distal end portion facing downward in the Z-axis direction. The second crochet hook 51 has a sharp needle-like distal end portion, a notch is formed in a distal portion of an outer periphery near the distal end portion, and a hook portion 511 in the form of a barb directed upward is formed inside the notch. Since the hook portion 511 has the distal end of the hook directed upward, if the second hook needle 51 is lowered from above the base material J and the hook portion 511 is passed through and then raised, the loop of the hair for transplantation M held by the looper mechanism 70 on the lower side of the base material J is hooked by the hook portion 511 and lifted up to the front surface side of the base material J, and the loop of the hair for transplantation M can be formed on the front surface side.

The second crochet hook 51 has a deep-cut relief groove 512 formed inside the notch and on both sides of the hook 511. When the hair M for permanent set is caught and lifted by the hook 511, the groove 512 allows the hair M for permanent set to recede to the inside of the groove 512, thereby preventing the hair M for permanent set from expanding to both sides (the direction perpendicular to the Z axis) of the second crochet hook 51. The second crochet hook 51 can be easily pulled out from the base J by the groove 512, but the groove 512 is not necessary in the case where the base J is a material having an infinite number of holes such as a mesh.

The second crochet hook 51 may not have a sharp distal end portion. Fig. 16(a) is a front view showing another example of the shape of the tip of the second crochet hook 51, and fig. 16(B) is a side view showing another example of the shape of the tip of the second crochet hook 51.

As described above, the tip end portion of the second crochet hook 51 may be rounded.

Fig. 17(a) shows a state where the second crochet hook 51 with a rounded tip is caught by the hair setting hair M to form a loop, and fig. 17(B) shows a state where the second crochet hook 51 with a sharp tip is caught by the hair setting hair M to form a loop.

During hair transplantation, the third bearded needle 61 described later is inserted into a loop formed by the second bearded needle 51 catching the hair for hair planting M.

As shown in fig. 17(a), in the case of the second bearded needle 51 with a rounded tip, a wide region R can be secured inside the loop of the hair M for hair transplantation, and the third bearded needle 61 can be easily inserted, so that the hair transplantation operation can be performed more stably. The damage of the base material J by the sharp distal end portion can be reduced and suppressed.

In the case of the second crochet hook 51 whose tip is rounded, the groove 512 may not be provided in the case where the base material J is a material having an infinite number of holes such as a mesh.

The second bearded needle 51 is not limited to the case of the tip circle, and is formed in a flat shape having a smooth surface perpendicular to the longitudinal direction of the second bearded needle 51, and a wide region R can be secured inside the loop of the hair M for hair transplantation.

The second crochet hook 51 is disposed in the vicinity of the center of the opening 211 of the lower frame 21 when viewed from above and slightly behind the first crochet hook 41 described later.

On the other hand, the hair M for hair transplantation held by the looper mechanism 70 is positioned between the first bearded needle 41 and the second bearded needle 51, i.e., slightly ahead of the second bearded needle 51, and when the second bearded needle 51 is lowered, the looper mechanism 70 moves the hair M for hair transplantation toward the second bearded needle 51, i.e., rearward, and comes into contact with the front side of the outer periphery of the second bearded needle 51. This enables the hook 511 to more reliably catch the hair M for hair transplantation.

The support block 53 supports the second crochet hook 51 rotatably about the Z axis, and is coupled to move up and down integrally with the second crochet hook 51 in the Z axis direction.

The support block 53 is supported by the support bracket 54 so as to be able to move up and down via a slide guide not shown.

Support bracket 54 is fixedly supported by base 12.

The second crochet hook 51 described above is at the retreated retracted position shown in fig. 13 when not in use, and projects to the position shown in fig. 14 when in use.

A protective cover 57 is provided at a lower end portion of the support bracket 54 at a position closer to and facing a distal end portion of the second crochet hook 51 in a forward direction (downward direction) of the distal end portion of the second crochet hook 51 at the retracted position.

The protective cover 57 is a flat plate shape perpendicular to the longitudinal direction of the second crochet hook 51, and a through hole 571 into which the second crochet hook 51 can be loosely inserted is provided in a central portion of the protective cover 57. The through-hole 571 is configured not to interfere with the operation of inserting the second hook 51 when the second hook 51 is used.

By providing the protective cover 57, it is possible to reduce or suppress an accidental accident such as the hand of the operator, the base material J, and the hair M for hair transplantation being erroneously caught by the distal end portion of the second crochet hook 51 when the second crochet hook 51 is retracted.

The protective cover 57 is not necessarily flat, and may be configured to allow the second crochet hook 51 to pass therethrough, and to prevent the contact of a person or an object by the distal end portion of the second crochet hook 51 at the retracted position. For example, the second crochet hook 51 may be configured to surround the passing region of the second crochet hook by a rod-shaped or tubular frame, or may be a cylindrical frame.

The second capturing motor 52 is supported by the base 12, and provides the support block 53 with an up-and-down motion via a direct-acting motion transmission mechanism, not shown, such as a ball screw mechanism or a belt mechanism. The second capturing motor 52 may use a direct-drive motor.

The second bearded needle 51 has a spline groove, not shown, formed in an upper portion of the second bearded needle 51, and a spline nut 56 provided near an upper end portion. The spline nut 56 receives a rotational force from the turning motor 55 via a belt mechanism not shown. The second hook needle 51 can thereby be rotated while being lifted, and a twisted portion can be formed in the loop of the hair M for hair transplantation captured by the second hook needle 51.

[ first catching mechanism ]

The first catching mechanism 40 is common to the second catching mechanism 50 in many configurations except for the arrangement and orientation of the first catching mechanism 40. Therefore, a detailed description of the common structure will be omitted.

As shown in fig. 1, the first catching mechanism 40 includes: a first hook 41 disposed below the openings 211 and 221 of the lower frame 21 and the holding frame 22 and having a tip portion disposed upward; a first catching motor 42 (see fig. 2) which is a driving source for moving the first crochet hook 41 up and down; a support block 43 that supports the first crochet hook 41; and a support bracket 44 that supports the support block 43 to be able to ascend and descend in the Z-axis direction.

The first crochet hook 41 is disposed with its tip portion directed upward in the Z-axis direction. The first crochet hook 41 is needle-shaped with a sharp distal end, and has a hook portion (not shown) formed on the rear side of the outer periphery near the distal end and facing downward in the shape of a barb. Since the hook portion has the distal end of the hook facing downward, if the first hook needle 41 is raised from below the base material J and lowered after the hook portion has been penetrated, the middle part of the hair M for hair transplantation held by the first supply portion 80 is hooked on the hook portion 411 above the base material J and pulled into the back surface side of the base material J, and a loop of string can be formed.

The first crochet hook 41 has the same configuration as the aforementioned second crochet hook 51. The first crochet hook 41 may have a rounded or flat front end portion.

The support block 43 and the support bracket 44 have the same structure as the support block 53 and the support bracket 54 of the second catching mechanism 50, but are arranged in the opposite directions.

The first catching motor 42 is supported by the base 12, and imparts an up-and-down motion to the first hook needle 41 via a direct-acting motion transmission mechanism, not shown, such as a ball screw mechanism or a belt mechanism. The first capturing motor 42 may be a direct-drive motor.

The support bracket 44 is provided with a protective cover, similarly to the support bracket 54, and can reduce or suppress contact between surrounding objects or workers and the first crochet hook 41 in the retracted position.

The first crochet hook 41 is disposed at the center of the opening 211 of the lower frame 21 when viewed from above with the hook portion facing rearward. When the first hook needle 41 is raised, the first supply portion 80 brings the hair M for hair transplantation into contact with the rear side of the outer periphery of the first hook needle 41 from the rear side of the first hook needle 41. This enables the hook 411 to more reliably catch the hair M for hair transplantation.

[ third catching mechanism ]

Fig. 18 to 22 are front views sequentially showing the operation of the third capturing mechanism 60.

As shown in the figure, the third catching mechanism 60 includes: a third crochet hook 61 disposed at the upper right of the opening parts 211 and 221 of the lower frame 21 and the holding frame 22, and disposed with the front end part facing the lower left side; a hair holding section 62 that holds a part of the hair M for hair transplantation captured by the third hook 61 together with the third hook 61; a first advancing/retreating mechanism 63 that advances and retreats the third crochet hook 61 and the hair holding portion 62 relative to the base material J held by the base holding mechanism 20; a second advancing/retreating mechanism 64 for advancing/retreating the hair holding part 62 relative to the third hook 61 and switching the hair holding part 62 to a holding position for holding a part of the hair M for hair transplantation together with the third hook 61 and a retreating position for retreating the hair holding part 62 from the third hook 61; and a support plate 65 that supports these components as a whole.

The third crochet hook 61 is disposed facing the openings 211, 221 of the lower frame 21 and the holding frame 22 located diagonally downward to the left. The third crochet hook 61 is needle-shaped with a sharp distal end, and a hook 611 in the shape of a barb facing the opposite side of the distal end is formed on the front side of the outer periphery near the distal end. Since the hook portion 611 has the tip of the hook facing obliquely upward to the right, if the third bearded needle 61 is inserted into the loop of the hair M for hair transplantation formed by the second bearded needle 51 above the base J until the hook portion 611 is reached and the hook portion 611 is moved back after being lowered to the hair M for hair transplantation near the upper surface of the base J, a part of the hair M for hair transplantation can be caught and inserted into the loop.

The third catching mechanism 60 is disposed so that an extension of the center line of the third hook 61 crosses or slightly deviates rearward from an extension of the center line of the second hook 51 above the base J.

The hair holding portion 62 has: a chuck member 621 that, together with the third hook 61, holds the hair M for hair transplantation captured by the hook 611 of the third hook 61; a chuck holding cylinder 622 (see fig. 2) for switching between holding and releasing the chuck member 621; and an adjuster 623 for adjusting the pressure of the air pressure supplied to the chuck holding cylinder 622.

The chuck member 621 is configured such that the pair of gripping portions can move in contact with or apart from each other, grips the third crochet hook 61 by the approaching operation, and releases the third crochet hook 61 by the separating operation.

The chuck member 621 is supported by the second advancing/retreating mechanism 64, and is positionable at a position for gripping the hook portion 611 of the third crochet hook 61 at the aforementioned gripping position and at a root side of the third crochet hook 61 at the retreated position.

The chuck holding cylinder 622 applies an approaching operation and a separating operation to the holding portion of the chuck member 621.

The adjuster 623 is capable of manually adjusting the air pressure supplied to the cartridge holding cylinder 622 by an adjusting screw, and thereby functions as an adjusting portion that arbitrarily adjusts the holding pressure of the third bearded needle 61 and the hair M for hair transplantation generated by the cartridge member 621.

The first advancing/retreating mechanism 63 includes: a third catching motor 631 (see fig. 2) serving as a driving source for the forward and backward movement of the third crochet hook 61 and the hair holding portion 62; a movable block 632 that supports the third hook 61, the hair holding section 62, and the second advancing-retreating mechanism 64; and a slide guide 633 which slidably supports the movable block 632 on the support plate 65.

The movable block 632 fixedly supports the third hook 61, and is supported by the slide guide 633 to be slidable in the same direction as the longitudinal direction of the third hook 61 with respect to the support plate 65. The support plate 65 is fixedly supported on the base 12.

The third catching motor 631 is provided on the support plate 65, and imparts a forward and backward movement motion in the longitudinal direction of the third hook pin 61 to the movable block 632 via a direct-acting motion transmission mechanism, not shown, such as a ball screw mechanism or a belt mechanism. The third capturing motor 631 may use a direct-drive motor.

The second advancing/retreating mechanism 64 has: a cartridge advancing/retreating cylinder 641 serving as a driving source for advancing/retreating the cartridge member 621 of the hair holding portion 62; a support plate 642 that supports the clip member 621; and a slide guide 643 which slidably supports the support plate 642 in the longitudinal direction of the third hook pin 61 with respect to the movable block 632.

The support plate 642 is a long flat plate extending in the longitudinal direction of the third hook pin 61, and supports the clip member 621 at one end of the support plate 642.

The chuck advancing and retreating cylinder 641 is fixedly supported by the movable block 632 such that the advancing and retreating direction of the plunger of the chuck advancing and retreating cylinder 641 is parallel to the longitudinal direction of the third hook 61, and the tip end portion of the plunger is connected to the support plate 642.

The chuck advancing and retreating cylinder 641 moves the chuck member 621 to a clamping position capable of clamping the hook portion 611 of the third crochet hook 61 during an advancing operation of the plunger of the chuck advancing and retreating cylinder 641, and moves the chuck member 621 to a retreating position on the rear end portion side of the third crochet hook 61 during a retreating operation of the plunger of the chuck advancing and retreating cylinder 641.

The third catching mechanism 60 configured as described above is capable of pulling a part of the hair M for transplantation into the thread loop of the hair M for transplantation formed with respect to the base material J and tightening the thread loop by applying tension.

This operation will be described in order based on fig. 18 to 22.

First, as shown in fig. 18, the clip member 621 is located at the retreat position in the released state, and the movable block 632 waits at the initial position where the distal end portion of the third hook needle 61 does not hit the hair M for hair transplantation.

As shown in fig. 19, if the movable block 632 moves forward by the driving of the third catching motor 631, the tip of the third hook needle 61 passes through the inside of the loop of the hair M for permanent wave, and the hook 611 catches a part of the hair M for permanent wave at the tip of the loop.

As shown in fig. 20, if the third hook 61 catches a part of the hair for permanent set M, the movable block 632 moves backward by driving the third catching motor 631. Thereby, a part of the hair M for permanent set is pulled in through the thread loop.

After a part of the hair M for hair transplantation is pulled into the thread loop, the cartridge advancing/retreating cylinder 641 moves the cartridge member 621 to the holding position at a predetermined timing. The chuck holding cylinder 622 switches the chuck member 621 to a holding state.

As a result, as shown in fig. 21, in a state where a part of the hair M for permanent hair transplantation is fixed to the hook portion of the third hook needle 61, the movable block 632 is pulled in accordance with the retreating movement, and the loop of the hair M for permanent hair transplantation is tightened and reduced.

As shown in fig. 22, if the wire loop is sufficiently tightened and becomes small, the chuck holding cylinder 622 switches the chuck member 621 to the released state.

Thus, the tension for fastening the loop of the hair M for permanent hair setting is not transmitted to the loop side, and only a part of the free end of the hair M for permanent hair setting is pulled by the third hook needle 61 and completely passes through the loop. Thereby, the hair transplantation operation of knotting the hair for hair transplantation M in the base material J is completed.

As shown in fig. 20, the retreating movement distance of the third capturing motor 631 between the switching of the chuck holding cylinder 622 to the holding state and the switching to the releasing state can be arbitrarily set from the operation panel 15 described later.

That is, the operation panel 15 functions as a "setting unit" that sets the amount of backward movement of the third beard needle 61 by the first advancing-retreating mechanism 63 from when the hair holding portion 62 switches the part of the hair M for permanent hair planting to the held state with respect to the third beard needle 61 to when the hair M for permanent hair planting is switched to the released state.

The operation panel 15 adjusts the backward movement operation distance, and thereby can adjust the force with which the loop of the hair M for permanent set is fastened. That is, if the retreating movement distance is long, the fastening force becomes large.

The control device 100 functions as a "tightening control unit", that is, controls the hair holding unit 62 and the first advancing-retreating mechanism 63 based on the set amount of retreating movement, and adjusts the tightening force of the loop of the hair for hair setting M.

Thus, the control device 100 can arbitrarily adjust the fastening force when the hair M for hair transplantation is knotted to the base material J and the hair is transplanted.

The third catching mechanism 60 is also provided with a not-shown protective cover, similarly to the first and second catching mechanisms 40 and 50. In the case of the third catching mechanism 60, the protective cover formed with the through hole into which the third barbed needle 61 can be loosely inserted is supported by the support plate 65 at a position (near the front side in the entering direction of the clip member 621 in fig. 20) that is at the most advanced position of the movable block 632 and near the front side of the clip member 621 in the entered state.

[ Camera ]

The camera 11 can photograph the substrate J held by the substrate holding mechanism 20 from below through the openings 211 and 221 of the lower frame 21 and the holding frame 22 on the lower side of the lower frame 21.

The camera 11 performs shooting at a timing when the first to third capturing mechanisms 40 to 60 do not perform hair planting operation, and can retreat to a position where the camera does not interfere with the first to third capturing mechanisms 40 to 60 during the hair planting operation.

[ control system for hair transplant device: control device

As shown in fig. 2, the control device 100 of the hair transplantation device 10 includes: a rom (read Only memory)102 that stores a program for controlling the operation of hair transplantation; a ram (random Access memory)103 serving as a work area for arithmetic processing; a rewritable nonvolatile data memory 104 as a storage unit that stores various setting data and the like; and a CPU 101(Central Processing Unit) that executes the program in the ROM 102.

The CPU 101 controls the driving of the X-axis motor 28 for the base, the Y-axis motor 29 for the base, the first capturing motor 42, the second capturing motor 52, the rotating motor 55, the third capturing motor 631, the advancing/retreating motor 721, the moving motor 841, and the moving motor 943 via the motor drive circuits 28a, 29a, 42a, 52a, 55a, 631a, 721a, 841a, and 943 a.

The CPU 101 controls driving of the opening/closing actuator 77 via the drive circuit 77 a.

The CPU 101 is connected to drive circuits 23b, 622b, 641b, 824b, 825b, 85b, 914b, 924b for controlling solenoid valves 23a, 622a, 641a, 824a, 825a, 85a, 914a, 924a for operating the holding cylinder 23, the chuck holding cylinder 622, the chuck advancing-retracting cylinder 641, the first holding cylinder 824, the second holding cylinder 825, the interval adjusting cylinder 85, the third holding cylinder 914, and the fourth holding cylinder 924, respectively.

The CPU 101 is connected to the camera 11 via the image processing device 16.

The CPU 101 is connected to the pedal 14 that adjusts the holding pressure of the base material J by the holding frame 22.

The CPU 101 is connected to an operation panel 15 having a function as a display unit for displaying various information and a function as an input unit for performing various inputs.

[ processing as the first position control section ]

The various processes and controls performed by the control device 100 with the above-described configuration will be described independently.

First, the CPU 101 of the control device 100 functions as a first position control unit that controls the moving mechanism 25 in cooperation with the image processing device 16 and performs hair transplantation based on hair transplantation pattern data that defines hair transplantation positions at a plurality of standard positions with respect to a plurality of mesh holes of the base material J.

The hair styling data is stored in the data memory 104.

The hair transplantation pattern data defines a hair transplantation position relative to a reference position based on a plurality of reference positions of a plurality of mesh holes of the base material J. The standard positions of the mesh holes are positions of the mesh holes in a plane on the premise that the surface of the base material J is regarded as a plane and regular hexagons having no distortion in all the mesh holes are filled at uniform intervals.

Fig. 23 is a plan view showing a range in which hair transplantation is performed with respect to the base material J, and fig. 24 is a side view showing a range in which hair transplantation is performed.

Since the base material J is supposed to be worn on the head, it is formed into a curved surface shape in which a spherical surface is deformed as shown in fig. 23(a) and 24 (a). Therefore, as shown in fig. 24(a), if the height difference h of the range in which hair transplantation is performed becomes large, it is difficult to determine all the hair transplantation positions based on the position setting of the plane.

Therefore, the hair-setting pattern data defines hair-setting positions with respect to the standard positions of the mesh holes in a range divided by a unit that divides the surface (one surface) of the base material J into a plurality of parts.

The unit division after the division is preferably a narrow range. For example, a range of a square or rectangle in which one side is set to a length of several millimeters to several centimeters is used.

As a result, as shown in fig. 23(B), one range finely divided on the surface of the base material J having a curved surface as a whole approaches the flat surface, and the level difference h between the respective divisions decreases as shown in fig. 24(B), so that it becomes easy to apply the position setting of the flat surface of the hair-planting position specified in the hair-planting pattern data to the actual surface of the base material J.

As described above, the hair-setting positions with respect to the standard positions of the plurality of mesh holes are defined within the range of the narrow unit divisions in the hair-setting pattern data, and the hair-setting operation is performed for each of the narrow unit divisions, whereby hair setting can be performed favorably with respect to the curved surface-shaped base material J.

Fig. 25 is a conceptual diagram of a standard image showing the standard positions of mesh holes specified by the hair set data. As shown in the figure, in the hair transplantation pattern data, a plurality of hair transplantation positions are set in order of hair transplantation at each position on a plane in which all the regular hexagons passing through mesh holes without distortion are laid at uniform intervals. Reference numeral K in the drawing shows the aforementioned unit division. There are 72 mesh holes in the unit division K, and numbers are set in the mesh holes in the order of arrangement. That is, in the unit partition K, an origin, not shown, is set near the lower right corner of the drawing, and "1" is set in the mesh hole at a position including the origin. The mesh holes in the zigzag rows alternately repeating obliquely downward left and obliquely upward left are sequentially given the following numbers starting from the mesh hole of "1", and the upper row is sequentially given the following numbers and is finally given the numbers up to "72".

Good within the unit division K shows the hair transplantation position. The hair-planting position is necessarily the boundary position of two mesh holes adjacent to each other, and therefore can be specified by the numbers of the two adjacent mesh holes. The hair-planting positions are also set with the hair-planting sequence.

The camera 11 described above performs shooting in a slightly wider range substantially equal to the unit division K.

The base material J is often made of a material having high stretchability and deformability, and tends to be stretched and distorted when the base holding mechanism 20 is installed. Therefore, the captured image when actually capturing the base material J is more likely to be stretched or deformed than the image showing the standard positions of the mesh holes. Since it is difficult to accurately align the directions at the time of setting the base material J, a tilt may occur.

Therefore, the deformed or inclined mesh holes at the actual position are associated with the mesh holes at the standard position set in the hair transplantation style data, and the mesh holes at the actual position are given numbers of 1 to 72.

When executing the processing as the first position control unit, the CPU 101 recognizes the actual positions of the mesh holes from the captured image of the base material J obtained by the camera 11, sequentially assigns the same number as the arrangement order of the mesh holes at the standard position, and associates the mesh holes at the actual positions with the mesh holes at the standard position. And determining the hair planting position in the shot image according to the mesh holes of the actual positions corresponding to the two numbers for determining the hair planting position, and performing hair planting at the actual positions of the mesh holes.

In order to correctly spread the hair-planting position, it is necessary to appropriately correspond the mesh holes at a plurality of actual positions in the captured image to the mesh holes at the standard value. Fig. 26 to 30 are explanatory views showing a procedure for identifying the mesh hole position from the captured image. In the actual imaging range, 72 mesh holes have a margin and have a width that enables imaging, as in fig. 25, but only a part of the imaging range is illustrated in fig. 26 to 30.

First, as shown in fig. 26, the shot image of the base material J is searched for mesh holes by a method such as matching processing, and the position of the center of gravity is calculated for each obtained mesh hole. The center of gravity here means a center of gravity on a graph, that is, a center of mass when mass is uniformly distributed on a graph. The black dots of fig. 26 show the center of gravity achieved.

When executing the processing as the first position control unit, the CPU 101 associates the actual positions of the mesh holes recognized by the imaging with the standard positions based on the arrangement conditions indicating the positional relationship between the standard positions of the plurality of mesh holes.

The arrangement condition indicating the positional relationship of the standard positions of the plurality of mesh holes includes, for example, a positional relationship geometrically generated with respect to the mutual barycentric position in the case of a regular hexagonal mesh hole array.

First, as shown in fig. 27, the CPU 101 specifies a mesh including an origin o set in advance in the imaging range as a mesh of "1". Next, in fig. 27 to 30, the center of gravity of the mesh hole with the determined number is indicated by a white dot with the determined number, instead of a black dot.

In the case where the mesh holes of the regular hexagon are fully paved, six mesh holes are adjacent to each other in the periphery with respect to one mesh hole.

Therefore, the CPU 101 determines the next mesh hole "2" under the arrangement condition that the centers of gravity of the mesh holes are present in six directions at 60 ° intervals around the center of gravity of the mesh hole "1".

That is, as shown in fig. 28, with the center of gravity of the mesh hole "1" as a starting point, the mesh hole having the closest center of gravity in an angular range of 60 ° on the lower left side in the drawing of one of the six directions is set as the mesh hole "2" with respect to the center of gravity of the mesh hole "1". In other words, the CPU 101 obtains the center of gravity of the mesh hole (second mesh hole) of "2" adjacent to the mesh hole (first mesh hole) of "1" with the center of gravity of the mesh hole (first mesh hole) of "1" as a starting point.

If the mesh hole of "2" is specified, the CPU101 sets, as shown in fig. 29, a mesh hole having the closest center of gravity in an angular range of 60 ° on the upper left side of the drawing of one of the six directions as the mesh hole of "3" with respect to the center of gravity of the mesh hole of "2" in accordance with the arrangement conditions. In other words, the CPU101 obtains the center of gravity of the mesh hole of "3" (third mesh hole) adjacent to the mesh hole of "2" (second mesh hole).

As shown in fig. 28 and 29, the mesh hole search in the angular range of 60 ° on the lower left and the mesh hole search in the angular range of 60 ° on the upper left are alternately repeated, thereby identifying the mesh hole numbers corresponding to the respective horizontal rows in a zigzag pattern. In other words, the CPU101 repeats the process of determining the center of gravity of one mesh and then determining the centers of gravity of other meshes adjacent to the one mesh, thereby correlating the actual position with the standard position.

In the hair setting pattern data shown in fig. 25, it is assumed that nine mesh holes are arranged in one horizontal row and eight mesh holes are arranged in the horizontal row in the vertical direction in the figure. Therefore, if the mesh openings up to "9" are determined in the lateral direction, the CPU101 sets, as shown in fig. 30, the mesh opening having the closest center of gravity in an angular range of 60 ° on the upper side of the figure in one of the six directions with respect to the center of gravity of the mesh opening of "1" as the mesh opening of "10".

Then, the CPU 101 specifies the numbers of the mesh holes arranged in eight rows, similarly to the rows of the mesh holes of "1" to "9", and thus specifies the numbers of "1" to "72" independently for 72 mesh holes in the imaging range.

The mesh holes of "1" to "72" of the specified actual positions correspond to the mesh holes of "1" to "72" of the standard positions of the hair transplant pattern data, respectively, and therefore the hair transplant position in the captured image can be specified by applying the numbers of the two mesh holes that specify the hair transplant position set in the hair transplant pattern data.

For example, when the boundary between the mesh hole of "1" and the mesh hole of "11" in the hair transplantation pattern data is set as the hair transplantation position, the CPU 101 sets the middle point of the side of the hexagon that is the boundary between the mesh hole of "1" and the mesh hole of "11" at the actual position as the hair transplantation position, and conveys the base material J by the moving mechanism 25 so that the hair transplantation position is positioned at the operation position determined by the first to third catching mechanisms 40, 50, 60 and the looper mechanism 70, thereby executing hair transplantation of the hair for hair transplantation M.

[ processing as the second position control section ]

The CPU 101 of the control device 100 can be handled as not only the first position control unit but also a second position control unit that controls the moving mechanism 25 and performs hair transplantation based on the second hair transplantation position input from the operation panel 15 as a position input unit to the captured image of the base material J.

When performing the processing as the second position control unit, the CPU101 moves the position of the pointer, for example, from the operation panel 15, and the hair transplantation can be performed faithfully to the determined position. In addition, the second hair planting position of the second position control part may be the same as the hair planting position of the first position control part.

Fig. 31 and 32 are explanatory views showing an input method of the second hair transplantation site.

For example, the CPU101 extracts the center of gravity position of each mesh hole from the image of the base material J obtained by the camera 11. As described in the first position control unit, the center of gravity position is determined by searching for mesh holes by a method such as matching and acquiring the center of gravity of each mesh hole.

As shown in fig. 31, for each mesh hole for which the center of gravity position is obtained, the operation panel 15 can select a position corresponding to any one of the sides a to F to be implanted, and the CPU101 performs the hair-implanting operation at a position specified by the selected mesh hole and the selected side a to F.

By selecting two mesh holes, it is possible to select a side to be a boundary.

Alternatively, as shown in fig. 32, when the pointer p is operated from the operation panel 15 with respect to the mesh hole for which the position of the center of gravity g is obtained and the pointer p is positioned at an arbitrary position around the center of gravity g, the CPU 101 may perform hair transplantation operation with respect to an outer edge portion of the mesh hole existing on an extended line of the position where the pointer p is positioned with respect to the center of gravity g.

[ control of the catch mechanisms when retracting the looper ]

The CPU 101 of the control device 100 will be described with respect to control of the first to third catching mechanisms 40, 50, and 60 when retracting the hook.

The CPU 101 waits until the bearded needles 41, 51, 61 of the catching mechanisms 40, 50, 60 are moved backward to the retracted position, except during the entry operation of the bearded needles for the hair transplantation operation. The retreat position at this time is set to two kinds of a first retreat position retreating to a position where the protective cover is accommodated rearward and a second retreat position not accommodated in the protective cover (a state where the tip end portions of the crochet hooks 41, 51, 61 are separated from the base material J to be provided but enter forward from the protective cover).

The CPU 101 controls the operation of the catch motors 42, 52, 631 so that the hook needle is retracted to the second retracted position during hair setting operation or during an intermittent time when the hair setting operation and the hair setting operation are continuous, and so that the hook needle is retracted to the first retracted position when the hair setting operation is not performed for the next time other than during the hair setting operation.

The CPU 101 of the control device 100 is connected to a power supply device, not shown, and constantly monitors switching from the on state to the off state of the main power supply. When switching to the off state is detected, the residual charge of the capacitors mounted on the control device 100 and the power supply device is used as a power supply, and the operation of the capture motors 42, 52, 631 is controlled so that the hooks 41, 51, 61 of the first to third capture mechanisms 40, 50, 60 move backward to the first retracted position.

[ Hair-transplant operation control by a control device ]

Fig. 33 to 45(B) show operation explanatory diagrams of hair planting operation control executed by the CPU 101 of the control device 100 of the hair planting device 10 configured as described above in accordance with a control program.

Fig. 46 shows a flowchart showing the overall flow of hair-planting operation control executed by the control device 100 in accordance with the control program.

As shown in fig. 46, in the hair setting device 10, first, the operator sets the base material J on the lower frame 21 of the base holding mechanism 20, and lowers the holding frame 22 by operating the pedal 14 to hold the base material J (step S1).

The operator sets one end and the other end of the hair M for hair transplantation to the third gripping mechanism 91 and the fourth gripping mechanism 92 at the initial positions (step S3), and if the start of the hair transplantation operation is input from the operation panel 15 or the pedal 14 to the second supply unit 90, the camera 11 photographs the substrate J held by the substrate holding mechanism 20 from below (step S5).

The CPU 101 acquires the center of gravity of each mesh hole from the captured image of the base material J.

When the process as the first position control unit is selected through the operation panel 15, the hair transplantation position set in the hair transplantation pattern data is read, the correction is performed based on the actual position of the mesh hole of the captured image, and the corrected hair transplantation position is developed on the captured image.

When the process as the second position control unit is selected by the operation panel 15, the hair transplantation position is determined by receiving an input of the hair transplantation position of the captured image by the operation panel 15.

The CPU 101 controls the moving mechanism 25 so that the hair planting position is positioned at the hair planting operation position where the bearded needles 41, 51, 61 perform hair planting based on the deployed hair planting position or the inputted hair planting position, and performs positioning of the base material J (step S7).

Next, the second supply unit 90 conveys the third gripping mechanism 91 and the fourth gripping mechanism 92 to the joining position, and the first gripping mechanism 81 and the second gripping mechanism 82 of the first supply unit 80 receive the hair M for hair transplantation from behind the third gripping mechanism 91 and the fourth gripping mechanism 92 and convey the hair M for hair transplantation to above the base material J held by the base holding mechanism 20 (step S9).

Next, the CPU 101 controls the first to third catching mechanisms 40 to 60 and the looper mechanism 70 to execute the hair setting operation of the hair M for hair setting with respect to the hair setting position to be the target of the base material J (step S11).

When the process as the first position control unit is selected, the CPU 101 determines whether or not hair transplantation is completed for all hair transplantation positions set in the hair transplantation style data (step S13).

As a result, when there is a hair transplantation site where hair transplantation has not been performed, the process returns to step S7 to position the base material J at the next hair transplantation site.

And under the condition that the hair planting aiming at all the hair planting positions is finished, finishing the hair planting action control.

When the process as the second position control unit is selected, the CPU 101 does not perform the process of step S13, and the hair setting operation control ends.

[ details of Hair transplantation actions ]

Next, the hair transplantation operation in step S11 will be described in detail. The operations in the following description are also executed based on the control of the overall CPU 101.

As shown in fig. 33, the CPU 101 images the needle location T of the second hook 51 by the camera 11 in advance, calculates the coordinates of the needle location T of the second hook 51 with respect to the center position C of the imaging range of the image processing device 16, performs calibration of recording, and acquires the correspondence between the position coordinates in the captured image and the needle location of the second hook 51.

As shown in fig. 34(a) and 34(B), the hair M for hair transplantation is stretched horizontally along the surface of the base J by the first supply unit 80.

The hair M for hair transplantation is caught by the first hook needle 41. That is, as shown in fig. 35(a) and 35(B), the CPU 101 operates the first catching motor 42 to raise the first crochet hook 41. Thereby, the first barbed needle 41 protrudes from the back surface side of the base material J into the mesh hole H1.

The CPU 101 advances the first and second gripping mechanisms 81 and 82 of the first supplying section 80 toward the first hook 41, and pulls the hair M for hair transplantation toward the hook 411 of the first hook 41. Thereby, the hair M for hair transplantation is arranged so as to be caught by the hook 411.

As shown in fig. 36(a) and 36(B), the CPU 101 operates the first catching motor 42 to lower the first hook 41. Thereby, the hair M for hair transplantation is pulled downward into the mesh hole H1, and the first hook needle 41 forms a loop of the hair M for hair transplantation on the back surface side of the base J.

The first and second grasping mechanisms 81 and 82 which advance toward the first crochet hook 41 return slightly rearward.

Next, the hair M for hair transplantation is enlarged by the looper mechanism 70.

As shown in fig. 37(a) and 37(B), the CPU 101 operates the looper advancing/retreating motor 721 to advance the head 73. Thus, the tip end portions of the loopers 74 and 75 in the closed state penetrate into the inner side of the loops of the hair M for hair transplantation, and the hair M for hair transplantation enters the recesses 741 and 751 (see fig. 12).

Further, as shown in fig. 38(a) and 38(B), the CPU 101 operates the looper opening/closing actuator 77 to open the loopers 74 and 75. This causes the small loops of the hair M for hair transplantation to be expanded in the left and right directions to form larger loops.

Next, as shown in fig. 39(a) and 39(B), the CPU 101 controls the moving mechanism 25 to move the base material J forward so that the center of gravity of the mesh hole H2 located behind the mesh hole H1 reaches a position directly below the second hook needle 51.

The second catching motor 52 is controlled to lower the second crochet hook 51 toward the mesh hole H2.

As shown in fig. 40(a) and 40(B), the CPU 101 operates the first trapping motor 42 in the ascending direction at a minute timing and then switches the ascending direction to the descending direction. Thereby, the first crochet hook 41 descends after slightly ascending. When the first looper 41 slightly ascends, the CPU 101 retreats the head 73 of the looper mechanism 70. Thereby, the loop of the hair M for hair transplantation caught by the first hook needle 41 is separated from the hook 411, is held only by the loopers 74 and 75, and is pressed by the hook 511 of the second hook needle 51.

As shown in fig. 41(a) and 41(B), the CPU 101 controls the interval adjustment cylinder 85 so that the first gripping mechanism 81 is once separated from the second gripping mechanism 82 and then moved closer to the second gripping mechanism 82 again to loosen the hair M for hair transplantation. Then, the second catching motor 52 is operated to raise the second hook needle 51. Thereby, the hook portion 511 pulls out the loop of the hair M for hair transplantation from the mesh hole H2 to the front surface side of the base material J.

As shown in fig. 42(a) and 42(B), the CPU 101 controls the rotating motor 55 to rotate the second hook 51 counterclockwise by 270 ° when viewed from above. Thereby, the loop of the hair M for permanent set is turned from a state of facing in the front-rear direction to a state of facing in the left-right direction.

Next, the knot fastening operation by the third hook needle 61 is performed.

As shown in fig. 43(a) and 43(B), the CPU 101 operates the third capturing motor 631 to project the third crochet hook 61. Thereby, the third bearded needle 61 projects into the loop of the hair M for hair transplantation caught by the second bearded needle 51, and the hook portion 611 of the third bearded needle 61 approaches the base material J. At this time, the first grasping mechanism 81 and the second grasping mechanism 82 are retreated, and the hair M for hair transplantation is pressed against the hook portion 611 of the third hook 61.

As shown in fig. 44(a) and 44(B), the CPU 101 controls the interval adjusting cylinder 85 to separate the first grasping mechanism 81 from the second grasping mechanism 82, and to raise the second hook needle 51 to the thread loop forming position by operating the second catching motor 52, thereby increasing the tension of the hair M for hair transplantation.

The CPU 101 controls the opening/closing actuator 77 to close the loopers 74 and 75, operates the third catching motor 631 to retract the third hook 61, catches the hair M for hair transplantation extending from the eyelet H1 toward the first catching mechanism 81 by the hook 611, and lifts the hair M for hair transplantation so as to be pulled into the loop of the hair M for hair transplantation.

As shown in fig. 45(a) and 45(B), the CPU 101 controls the interval adjustment cylinder 85 to move the first gripping mechanism 81 toward the second gripping mechanism 82 to loosen the hair M for hair transplantation, and then operates the looper advancing and retreating motor 721 to retreat the head 73 to pull out the loopers 74 and 75 from the hair M for hair transplantation.

The CPU 101 controls the turning motor 55 to turn the second hook needle 51 clockwise by 180 ° when viewed from above while switching the second catching motor 52 to the ascending direction after operating the second catching motor 52 in the descending direction at a minute timing. As a result, the loop of the hair M for hair transplantation is disengaged from the hook 511, and the hook needle 51 is raised to a position where it does not interfere with the subsequent hair setting operation.

On the other hand, after a part of the hair M for hair transplantation is pulled into the wire loop, the third catching mechanism 60 moves the cartridge member 621 to the gripping position by the cartridge advancing and retracting cylinder 641 at a predetermined timing, and switches the cartridge member 621 to the gripping state by the cartridge gripping cylinder 622 (see fig. 20).

The CPU 101 operates the third catching motor 631 to further retract the third hook 61 and also retracts the first grasping mechanism 81 and the second grasping mechanism 82 to tighten the loop of the hair M for hair transplantation (see fig. 21).

Then, the CPU 101 controls the third catching motor 631 to slightly advance the third hook 61, uniformizes the tension of the hair M for hair transplantation, and raises the third hook 61 again to the tightening height.

Further, the chuck holding cylinder 622 switches the chuck member 621 to the release state, and raises the third hook needle 61 to the retreat position. Thereby, a part of the free end of the hair M for hair transplantation is completely threaded through the thread loop, and the action of knotting the hair M for hair transplantation in the base material J is completed (see fig. 22).

As described above, the hair-setting operation of one hair M for hair setting is completed.

[ technical effects of the embodiments ]

In the hair transplantation device 10, the first grasping mechanism 81 of the first supply unit 80 has two sliding plates 812 and 813 for slidably grasping the hair M for transplantation, the coil spring 814, and the adjustment body 816, and therefore, during the hair transplantation operation, the hair M for transplantation slides before an excessive tension is applied to the hair M for transplantation, and the hair M for transplantation can be protected and favorable hair transplantation can be achieved with an appropriate tension.

Unlike the case of holding the hair for transplantation M by pinching, the present embodiment can realize smooth hair transplantation operation with less necessity of finely switching between pinching and releasing in the middle of hair transplantation operation.

Since the first supply unit 80 includes the interval adjustment cylinder 85 as a variable actuator for changing the interval between the first gripping mechanism 81 and the second gripping mechanism 82, the present embodiment can satisfactorily perform the operation with a margin by adjusting and relaxing the tension of the hair M for hair transplantation.

Since the first supply unit 80 includes the movable portion 84 that moves the first grip mechanism 81 and the second grip mechanism 82 in the front-rear direction, the present embodiment can adjust the tension of the hair M for transplantation by pressing or releasing the hair M for transplantation with respect to each of the crochet hooks 41 to 61.

The second supply unit 90 includes: two gripping members 912, 913 that grip the hair for hair setting M; and a third gripping cylinder 914 and a fourth gripping cylinder 924 as two lifting actuators for independently lifting and lowering the two gripping members 912 and 913, respectively, so that the present embodiment can move the gripping members 912 and 913 in addition to the gripping operation, and can freely move the gripping members 912 and 913 without interfering with the surroundings in a narrow area.

Since the second supply unit 90 includes the tension applying mechanism 95, and the tension applying mechanism 95 applies tension to the hair transplant hair M by widening the interval between the third gripping mechanism 91 and the fourth gripping mechanism 92 at the transfer position where the hair transplant hair is transferred to the first supply unit 80, the hair transplant hair M can be transferred to the first supply unit 80 in a tensioned state without being loosened, and a good hair transplant operation can be achieved.

The tension applying mechanism 95 of the second supplying unit 90 is configured such that, if the support plate 93 moves to the contact position, the contact member 953 in contact with the stopper 954 pushes back the third gripping mechanism 91 in a direction away from the fourth gripping mechanism 92 against the pressurizing spring 952, thereby expanding the interval between the third gripping mechanism 91 and the fourth gripping mechanism 92 and applying tension to the hair M. Therefore, the present embodiment does not require a separate actuator or the like for applying tension to the hair for permanent wave M, and can achieve a reduction in the number of components and a reduction in the manufacturing cost of the device associated therewith.

The third catching mechanism 60 includes: a hair holding section 62 that holds a part of the hair M for hair transplantation captured by the third hook 61 together with the hook 61; a first advancing/retreating mechanism 63 that advances and retreats the hair holding portion 62 and the third crochet hook 61 relative to the base material J held by the base holding mechanism 20; and a second advancing/retreating mechanism 64 that advances and retreats the hair holding portion 62 with respect to the third hook 61.

Thus, in the present embodiment, the loop of the thread on the base material J of the hair M for permanent set can be fastened, and when the loop is not fastened, the hair holding portion 62 can be retracted, and the third bearded needle 61 can be moved over a wide range.

Since the third catching mechanism 60 includes the adjuster 623 serving as an adjusting portion, the pinching pressure of the hair M for hair transplantation with respect to the third hook 61 can be freely adjusted.

In the present embodiment, during the operation of the third catching mechanism 60, the amount of the backward movement of the third bearded needle 61 by the first advancing-retreating mechanism 63 can be set by the operation panel 15 as the setting portion from the state where the hair holding portion 62 switches the part of the hair M for hair transplantation to the held state with respect to the third bearded needle 61 to the released state. Since the CPU 101 of the control device 100 controls the hair holding section 62 and the first advancing-retreating mechanism 63 based on the set amount of retreating movement, the present embodiment can arbitrarily adjust the tightening force of the loop of the hair M for permanent hair transplantation, and can perform permanent hair transplantation appropriately according to the type and properties of the hair M for permanent hair transplantation.

When the distal ends of the respective bearded needles 41 to 61 are formed flat or round, the hair transplantation device 10 can reduce and suppress the hooking of the distal ends to the surroundings, and can reduce and suppress the damage of the bearded needles due to the hooking of the distal ends.

When the hair M for hair transplantation is hooked by the hook needle to form the loop, the loop can be secured wide.

Since each catching mechanism 40-60 has a protective cover for accommodating the hooked needle 41-61 during the retreat, the hooking of the tip portion to the surroundings can be reduced and suppressed, and the damage of the hooked needle due to the hooking of the tip portion can be reduced and suppressed.

The CPU 101 of the control device 100 controls the respective latch needles to retreat to the protective covers if the main power supply is turned off, and therefore, the engagement of the distal end portions of the latch needles and the damage caused by the engagement can be effectively reduced when the device is not in use.

The CPU 101 of the control device 100 performs control to retract the hook needle to the second retracted position not housed in the protective cover during hair-planting operation or when hair-planting operation is continued, and to retract the hook needle to the first retracted position housed in the protective cover when hair-planting operation is not performed and when next hair-planting operation is not scheduled, so that hooking of the tip end portion of the hook needle can be effectively reduced, and the hook needle can be quickly set to a usable state when work is necessary.

The CPU 101 of the control device 100 functions as a first position control unit, that is, controls the moving mechanism 25, and performs hair transplantation based on hair transplantation pattern data defining hair transplantation positions corresponding to a plurality of standard positions of a plurality of mesh holes of the base material J. Therefore, the present embodiment can automatically and continuously perform the hair setting operation for a plurality of hair setting hairs M, and can realize an efficient hair setting operation without performing troublesome operations such as specifying a hair setting position one by one.

The CPU 101 of the control device 100 recognizes a plurality of actual positions of a plurality of mesh holes from the image of the base material J obtained by the camera 11 as a control by the first position control unit, correlates the standard positions of the plurality of mesh holes in the hair-transplant pattern data with the actual positions, and performs hair-transplantation at the actual positions of the mesh holes.

Therefore, even when the base material J is attached in a state where it extends and is inclined with respect to the base holding mechanism 20, or when the base material J itself is deformed, the present embodiment can accurately reflect the standard positions of the plurality of mesh holes of the hair-setting pattern data with respect to the base material J, and can perform a good hair-setting operation.

The CPU 101 of the control device 100, as controlled by the first position control unit, associates the actual positions of the mesh holes obtained from the captured image of the base material J with the standard positions based on the arrangement conditions indicating the positional relationship between the standard positions of the plurality of mesh holes.

Therefore, according to the present embodiment, the influence of the extension and inclination of the base material J, the deformation of the base material J, and the like is further reduced according to the arrangement conditions, and the standard positions of the mesh holes of the hair transplantation pattern data can be reflected more accurately with respect to the base material J, and a good hair transplantation operation can be performed.

The CPU 101 of the control device 100 determines the center of gravity of a second mesh hole adjacent to a first mesh hole, and similarly further determines the center of gravity of a third mesh hole adjacent to the second mesh hole, from among the plurality of centers of gravity of the plurality of mesh holes recognized based on the captured image of the base material J, by using the center of gravity of the first mesh hole closest to the predetermined origin position as a starting point and the centers of gravity of the mesh holes adjacent to each other in an angular range of 60 ° around the center of gravity of the starting point as an arrangement condition, and by repeating this process, correlates the actual position to the standard position.

As described above, in the present embodiment, since the arrangement conditions are flexible, even if the extension, inclination, deformation, or the like of the base material J occurs largely, the center of gravity of each mesh hole can be specified, and these influences can be suppressed, and the standard positions of the plurality of mesh holes of the hair transplantation pattern data can be reflected more accurately with respect to the base material J, and a favorable hair transplantation operation can be performed.

The CPU 101 of the control device 100 functions as a second position control unit that controls the operation panel 15 and the moving mechanism 25 for inputting the hair-planting position from the captured image of the base material J obtained by the camera 11, and performs hair planting based on the second hair-planting position input from the operation panel 15. Therefore, the present embodiment can perform hair transplantation not only at the hair transplantation position specified in the hair transplantation pattern data but also at the second hair transplantation position independently input, and can perform not only uniform hair transplantation but also various hair transplantation according to various requirements.

The CPU 101 of the control device 100 recognizes a plurality of actual positions of the plurality of mesh holes based on the captured image of the base material J obtained by the camera 11 as a control by the second position control unit, and performs hair transplantation at a position determined based on the second hair-transplantation position input from the operation panel 15 and the recognized actual position of the mesh hole.

Thus, the present embodiment can receive the input of the hair transplantation position at a more appropriate position, and can perform good hair transplantation.

In the hair transplantation pattern data, the hair transplantation positions and/or the second hair transplantation positions with respect to the standard positions of the mesh holes are defined in the range in which the one surface of the base material J is uniformly divided into the plurality of unit sections, and the CPU 101 of the control device 100 performs the hair transplantation operation for each range of the unit sections. Therefore, in the present embodiment, even when the base material J has a curved surface shape, the unit division is set sufficiently narrow, so that the hair-transplantation site specified in the hair-transplantation pattern data set in two dimensions can be appropriately expanded into a curved surface shape, and good hair transplantation can be performed.

The CPU 101 of the control device 100 receives the pedal operation, and can hold the holding frame 22 of the substrate holding mechanism 20 in three stages of releasing, pressing weakly, and pressing strongly the presser foot pressure of the substrate J. Therefore, in the present embodiment, when the substrate J is set in the substrate holding mechanism 20, the substrate J can be easily positioned at an appropriate position by easily adjusting the position of the substrate J.

In the present embodiment, since the antiskid material 24 having elasticity such as hook-and-loop fastener is attached to the lower surface of the holding frame 22 of the base holding mechanism 20, even in the case of the base J having a locally different thickness, it is possible to perform good holding in accordance with the thickness of each portion.

[ others ]

In the above embodiment, as shown in fig. 47(a), the case where the hair M for hair transplantation is transplanted on the base J by knotting with rotating the left half is exemplified as the knotting method, but as shown in fig. 47(B), the hair M for hair transplantation may be transplanted on the base J by knotting with rotating the right half as the knotting method.

The base material J is a mesh, but is not limited thereto as long as it is a sheet.

For example, the material may be a fibrous material or a resin sheet material. They have no mesh holes, but if the first crochet hook 41 and the second crochet hook 51 are inserted to other positions and they form other holes, knots of the hair M for hair transplantation can be formed between the holes.

The present application claims priority based on japanese application No. 2019-031179 filed on 25/2/2019, and the entire contents of the description in the above japanese application are cited.

Claims (9)

1. A hair-planting device having:

a substrate holding mechanism for holding a substrate;

a first supply unit that holds hair for hair growth on one surface side of the held base material; and

a coupling mechanism for knotting the hair for hair transplantation supplied from the first supply unit to the base material with a crochet hook,

the first supply unit has a first grasping mechanism and a second grasping mechanism for grasping both end portions of the hair for transplantation,

the first gripping mechanism has: two sliding plates for slidably holding the hair for hair transplantation; an elastic body that imparts a gripping pressure to the two slide plates; and an adjusting body that adjusts the gripping pressure.

2. The hair planting device of claim 1,

the first supply unit includes a variable actuator for varying an interval between the first gripping mechanism and the second gripping mechanism.

3. The hair transplantation device according to claim 1 or 2,

the first supply unit has a movable portion that moves the first gripping mechanism and the second gripping mechanism in a direction intersecting the longitudinal direction of the hair for hair transplantation held by the first gripping mechanism and the second gripping mechanism.

4. The hair transplantation device according to any one of claims 1 to 3,

the second gripping mechanism has: two gripping members for gripping the hair for hair transplantation; and two lifting actuators for independently lifting and lowering the two gripping members.

5. The hair transplantation device according to any one of claims 1 to 4,

a second supplying part for delivering the hair for hair transplantation to the first supplying part,

the second supply unit includes: a third gripping mechanism and a fourth gripping mechanism that grip both end portions of the hair for hair transplantation; and a tension applying mechanism that applies tension to the hair transplant by increasing a distance between the third gripping mechanism and the fourth gripping mechanism at a delivery position where the hair transplant is delivered to the first supplying section.

6. The hair planting device of claim 5,

the second supply unit includes a support plate that supports the third gripping mechanism and the fourth gripping mechanism and moves from an initial position to the delivery position,

the tension applying mechanism includes:

a pressing spring that presses the third gripping mechanism supported movably on the support plate toward the fourth gripping mechanism;

An abutment member provided to the third gripping mechanism; and

a stopper that abuts against the abutment member while the support plate moves from the initial position to the delivery position,

the tension applying mechanism is configured such that, if the support plate is moved to the delivery position, the contact member in contact with the stopper pushes back the third gripping mechanism in a direction away from the fourth gripping mechanism against the pressure spring, thereby widening a gap between the third gripping mechanism and the fourth gripping mechanism and applying tension to the hair for hair transplantation.

7. The hair transplantation device according to any one of claims 1 to 6,

the hook captures a part of the hair for hair transplant and inserts a loop of thread penetrating the hair for hair transplant,

the hair-planting device is provided with:

a hair holding section for holding the part of the hair for hair transplantation captured together with the hook;

a first advancing/retreating mechanism that advances and retreats the hair holding portion and the bearded needle with respect to the base material held by the base holding mechanism; and

and a second advancing/retreating mechanism that advances and retreats the hair holding section relative to the hook needle, and switches between a holding position for holding the part of the hair for transplantation together with the hook needle and a retreating position for retreating the hair holding section from the hook needle.

8. The hair planting device of claim 7,

the hair clamping device is provided with a regulating part which regulates the clamping pressure of the hair clamping part.

9. The hair transplantation device according to claim 7 or 8,

comprising:

a setting unit that sets a backward movement amount of the hook needle by the first forward/backward moving mechanism from a state in which the hair holding portion switches the part of the hair for hair setting to a holding state to a release state; and

and a tightening control unit that controls the hair holding unit and the first advancing/retracting mechanism based on the set amount of backward movement, and adjusts a tightening force of the thread loop of the hair for transplantation.

Images