CN117297784B - Operating manipulator of hair-shaving-free hair-planting and hair-pushing instrument and control method thereof - Google Patents
Operating manipulator of hair-shaving-free hair-planting and hair-pushing instrument and control method thereof Download PDFInfo
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- CN117297784B CN117297784B CN202311223233.3A CN202311223233A CN117297784B CN 117297784 B CN117297784 B CN 117297784B CN 202311223233 A CN202311223233 A CN 202311223233A CN 117297784 B CN117297784 B CN 117297784B
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000004140 cleaning Methods 0.000 claims abstract description 122
- 210000000078 claw Anatomy 0.000 claims abstract description 100
- 210000004209 hair Anatomy 0.000 claims abstract description 68
- 230000000694 effects Effects 0.000 claims abstract description 13
- 239000000428 dust Substances 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 41
- 210000003128 head Anatomy 0.000 claims description 37
- 210000004761 scalp Anatomy 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 210000004556 brain Anatomy 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 claims 1
- 230000002411 adverse Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000000605 extraction Methods 0.000 abstract description 2
- 230000009931 harmful effect Effects 0.000 abstract description 2
- 238000004321 preservation Methods 0.000 abstract 1
- 238000002513 implantation Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 7
- 238000007790 scraping Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 201000004384 Alopecia Diseases 0.000 description 1
- 231100000360 alopecia Toxicity 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000012459 cleaning agent Substances 0.000 description 1
- 210000004709 eyebrow Anatomy 0.000 description 1
- 210000000720 eyelash Anatomy 0.000 description 1
- 210000003780 hair follicle Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00743—Type of operation; Specification of treatment sites
- A61B2017/00747—Dermatology
- A61B2017/00752—Hair removal or transplantation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Cleaning In General (AREA)
Abstract
The invention relates to a manipulator technology, which is used for solving the problems that bundled hair has adverse effect on hair planting operation, head cleaning is incomplete before hair planting and attachments after cleaning drift around to pollute the environment, in particular to a manipulator for operating a hair-planting and hair-pushing instrument without shaving and a control method thereof, comprising a manipulator; clamping block that sets up on the claw pole through the manipulator is to the clamp operation of hair bundle, need not to manually carry out the snatch more convenient of hair bundle, and save time, can stretch out the adjustment of length according to pressure variation under reset spring and hydraulic output's effect through the clearance board, make the clearance board can be more laminate patient's head, the condition of dispelling the hourglass can not appear in the clearance in-process, and each partial the same hard, can not cause the condition of discomfort for the patient, and the attachment under the clearance is absorbed to the inside preservation of piece case under dust extraction structure's effect, can not cause harmful effects to indoor environment, the clearance board after the clearance can carry out cleaning operation under the effect of cleaning disc.
Description
Technical Field
The invention relates to a manipulator technology, in particular to an operating manipulator of a hair-grafting and hair-pushing instrument without shaving and a control method thereof.
Background
The hair implantation is mainly applied to the head cosmetology by using an autologous hair follicle implantation technology, and can be applied to the treatment of alopecia and the partial and total reconstruction of eyebrows, eyelashes, beards and armpits;
In the prior art, the hair which is not shaved is bound by a patient before hair implantation, the deviation direction of the hair bundles after binding is fixed, when the manipulator performs the hair implantation operation, the hair Shu Yi fixed in the deviation direction shields the hair implantation area, the normal work of the manipulator is affected, the change of the hair implantation area of the manipulator is random, the direction of the hair bundles is correspondingly changed, the manual direction adjustment consumes more time, the relaxed hair is easy to return to the original position, and when the hair bundles are more, the manual adjustment is inconvenient; when the head of a patient is cleaned before hair planting, a fixed-shape scraping plate is adopted to scrape off scalp attachments, and as the head structure of each patient is different, the operation of the fixed-shape scraping plate consumes longer time and is easy to have a leakage condition, the cleaned attachments drop everywhere, and part of attachments are easy to drift everywhere along with the flow of air flow, so that the indoor environment is dirty, and discomfort is caused to operators and patients;
The application provides a solution to the technical problem.
Disclosure of Invention
The invention aims to realize more convenient hair bundle grabbing operation without manual hair bundle grabbing through the clamping blocks arranged on the claw rods of the mechanical arm, save time, enable the cleaning plate to be more attached to the head of a patient according to pressure change under the action of the reset spring and the hydraulic output end, avoid the condition of omission in the cleaning process, enable the force of each part to be the same, avoid the condition of discomfort to the patient, enable the cleaned attachments to be sucked into the debris box for storage under the action of the dust collection structure, avoid adverse effects on indoor environment, enable the cleaning plate after cleaning to perform cleaning operation under the action of the cleaning plate, solve the problem that the bundled hair has adverse effects on hair planting operation, enable the head before hair planting to be cleaned incompletely and enable the cleaned attachments to drift around to pollute the environment, and provide the operation mechanical arm for the hair planting and the control method thereof.
The aim of the invention can be achieved by the following technical scheme:
The mechanical arm lower end is connected with a mechanical claw through a connecting disc, the mechanical claw comprises a claw rod and a rotating piece, the claw rods are adjacent to each other and are connected through the rotating piece in a rotating mode, a transmission rotating wheel II is connected in a rotating mode at the middle position of the inner portion of the rotating piece, a connecting seat is connected with the upper end of the mechanical claw in a rotating mode, a track groove is formed in the position of the connecting seat in a corresponding mode, an installation cavity is formed in the outer side of the outer side wall of the claw rod, an opening is formed in the position of the outer side of the claw rod in a corresponding mode, a clamping block is connected to the two sides of the opening in a rotating mode in the rotating sleeve in a corresponding mode, a sliding groove is formed in one side of the installation cavity in a corresponding mode in the rotating piece, an adjusting rod is connected with an adjusting rod in a sliding mode in the inner side of the sliding groove in a sliding mode, an annular adjusting rod is formed in the position of the outer side wall of the adjusting rod in a corresponding mode, and one end of the adjusting rod is integrally connected with a telescopic adjusting rod in a sliding mode.
As a preferred implementation mode of the invention, a plate groove is formed in one side of the claw rod far away from the placing port, a plurality of hydraulic tanks are arranged on one side of the interior of the plate groove, a hydraulic output end is arranged on one side of the hydraulic tank far away from the inner wall of the plate groove, a return spring is arranged at one end of the hydraulic output end far away from the hydraulic tank, a pressure sensor is arranged between the hydraulic output end and the return spring, a cleaning plate is arranged at the other end of the return spring, a displacement sensor is arranged at the position, corresponding to the cleaning plate, of the interior of the plate groove, and a cleaning tank is arranged at the position, corresponding to the opening of the plate groove, of the interior of the plate groove.
As a preferred implementation mode of the invention, a plurality of evenly-distributed transmission rotating wheels I are arranged on the upper surface of the cleaning box, a rotating speed sensor is arranged at the position, corresponding to the transmission rotating wheels I, of the upper surface of the cleaning box, adjacent transmission rotating wheels I are in transmission connection through a transmission toothed belt, a limiting plate is integrally formed on the outer side wall of the transmission rotating wheel I at the rightmost side, a first baffle box is arranged at the position, corresponding to the transmission rotating wheels I, of the upper surface of the cleaning box, a second baffle box is arranged at the position, corresponding to the first baffle box, of the upper surface of the cleaning box, baffles are connected inside the first baffle box and the second baffle box in a sliding mode, and a second electrifying spring is arranged at the position, corresponding to the baffles, of the lower surfaces of the first baffle box and the second baffle box.
As a preferred implementation mode of the invention, a cleaning block is arranged at a position of the inner upper surface of the cleaning box corresponding to the transmission rotating wheel, a cleaning disc is arranged at a position of the inner upper surface of the cleaning box corresponding to the transmission rotating wheel through a cleaning rotating shaft, a plurality of uniformly distributed connecting frames are arranged on the outer side wall of the cleaning disc, a rotating block is connected on the inner side of the connecting frame through a rotating shaft in a rotating mode, and a splice plate is arranged on the lower surface of the rotating block through a connecting rod.
As a preferable implementation mode of the invention, adjacent rotating shafts are connected through universal joints, a first tooth rotating wheel is arranged on the outer side wall of one rotating shaft, a second tooth rotating wheel is rotatably connected through a supporting frame at the position of the upper surface of the cleaning disc corresponding to the first tooth rotating wheel, a horizontal gear is rotatably connected through a rotating shaft at the position of the upper surface of the cleaning box corresponding to the second tooth rotating wheel, and a rotation angle sensor is arranged at the position of the upper surface of the cleaning disc corresponding to the horizontal gear.
As a preferred implementation mode of the invention, a hollowed-out plate is arranged at the position of the outer side wall of the claw rod corresponding to the cleaning plate, one end of the hollowed-out plate is connected with a suction pipe, the other end of the hollowed-out plate is provided with openings the same as the cleaning plates in number, the other end of the suction pipe is connected to the upper surface of a debris box, a switch valve is arranged at the position of the connection between the suction pipe and the debris box, a filter screen is arranged on one side of the upper surface of the interior of the debris box, which is close to the suction pipe, a vent hole is arranged at the position of the outer side wall of the debris box corresponding to the filter screen, and a dust collection structure is arranged at the position of the interior of the debris box corresponding to the suction pipe.
As a preferred embodiment of the present invention, the method for controlling the operating manipulator of the hair-shaving-free hair-planting and hair-pushing apparatus comprises the steps of:
Step one: after an operator starts the manipulator, the manipulator places the manipulator at a designated position under the control of a control system of the manipulator, a detection function of the rear manipulator positions the position of the head of a patient, a plate groove on the inner side of the manipulator is opened after positioning, a rear hydraulic output end stretches outwards by a set length under the action of a hydraulic box to push a cleaning plate outwards, the cleaning plate is pushed to stop, the comparison of a set moving distance and a detection moving distance is carried out through a displacement sensor after pushing, and after the comparison, the manipulator is controlled to move until one end of the cleaning plate contacts with the head of the patient, and the pressure sensor detects pressure change;
Step two: the method comprises the steps that an image acquisition device connected with a manipulator acquires images of the head of a patient, gray processing is carried out on the acquired images to obtain a head outline image of the head of the patient, the total length of the head top and a rear brain spoon of the patient is calculated according to the outline image, the calculated length data L1 is compared with the length data L2 of a mechanical claw, and if L1 is more than L2 or L1 = L2, the mechanical claw stops moving when pressure sensors corresponding to all cleaning plates on the mechanical claw detect pressure changes; if L1 is less than L2, the mechanical claw stops moving when the cleaning plate length data of the pressure sensor for detecting the pressure change on the mechanical claw reaches L1; in the process of adjusting the mechanical claws, the claw rods rotate through the rotating piece, the distance between the claw rods and the head is reduced, when the pressure sensor detects that the pressure data of the pressure sensor by the return spring reach a set pressure value, the hydraulic output end retracts and stops after the detected pressure is reduced to be smaller than the set pressure value, after the mechanical claws stop moving, the claw rods do not rotate any more, the mechanical claws integrally move, and the pressure values detected at the positions of all cleaning plates are the same through the length adjustment of the hydraulic output end in the moving process;
Step three: in the whole moving process of the mechanical claw, the mechanical claw moves along a track according to a head outline drawing obtained by image processing, the cleaning plate directly contacts with the scalp of a patient, the cleaning plate scrapes off attachments on the scalp, the scraped attachments are sucked away under the suction effect of the position of the hollow plate, and the attachments enter the inside of the debris box along the suction pipe for collection;
Step four: after cleaning is completed, the hydraulic output end retracts and drives the cleaning plate to move towards the inner side of the plate groove, after the hydraulic output end completely retracts, one exposed end of the cleaning plate reaches the position of the cleaning disc, a rotating shaft connected with a horizontal gear is connected with the output end of a miniature motor, the miniature motor drives the rotating shaft to rotate in the retracting process of the cleaning plate, the horizontal gear drives a rotating shaft connected with a first tooth rotating wheel to rotate through driving a second tooth rotating wheel perpendicular to the horizontal gear to rotate, adjacent rotating shafts are connected through universal joints, a rotating block connected to the rotating shaft rotates upwards to perform angle rotation, a rotating angle sensor performs rotation angle calculation in the rotation process, the rotating angle is stopped after reaching the degree, a driving motor on a mechanical claw drives a driving rotating wheel on a claw rod to rotate under the action of a driving toothed belt, bristles on the lower surface of the cleaning plate are driven to contact with the cleaning block in the rotating process of the cleaning disc connected with the driving rotating wheel through the cleaning rotating shaft, and after the rotating process is finished, the position of the miniature motor is reversed to reset the splicing plate in the splicing plate rotating process, and the cleaning end of the cleaning plate can be cleaned by the bristles in the process of the rotating process;
step five: after the head of a patient is cleaned, an operator can bundle hair of the patient, the claw rod is moved close after the head of the patient is bundled, when the hand of the operator, which grabs the hair bundle, is close to the claw rod, the hand presses the adjusting rod to enable the adjusting rod to slide inwards, the rotating sleeve is driven to rotate through mutual embedding of the outer convex teeth and the inner tooth grooves on the rotating sleeve in the sliding process, the hair bundle is stopped when the opening position of the rotating sleeve is overlapped with the placing opening, the bundled hair bundle is clamped between the two clamping blocks, the two clamping blocks clamp the hair bundle under the action of the first energizing spring, and after the hand of the operator leaves, the rotating sleeve rotates to enable the clamped hair bundle to be rotationally tightened.
Compared with the prior art, the invention has the beneficial effects that:
1. The clamping blocks arranged on the claw rods of the mechanical arm are used for clamping the hair bundles, so that the hair bundles do not need to be manually grabbed, the time is saved, the claw rods can move on the track grooves under the action of the connecting seat, the claw rods can also rotate at an angle to adjust the positions, and the hair bundles cannot cause adverse effects on the hair planting operation when the number of the hair bundles is large;
2. Can stretch out the adjustment of length according to pressure variation under the effect of reset spring and hydraulic output end through the clearance board, make the clearance board can be more laminate patient's head, the condition that leaks can not appear in the clearance in-process, and each partial hard the same, can not cause the condition of discomfort for the patient, and the attachment under the clearance is absorbed to the piece incasement portion under dust extraction structure's effect and preserve, can not cause harmful effect to the indoor environment, the clearance board after the clearance can wash the operation under the effect of cleaning tray.
Drawings
The present invention is further described below with reference to the accompanying drawings for the convenience of understanding by those skilled in the art.
FIG. 1 is a main block diagram of the present invention;
FIG. 2 is a block diagram of a connection pad of the present invention;
FIG. 3 is a block diagram of the mounting cavity of the present invention;
FIG. 4 is a block diagram of the present invention;
FIG. 5 is a diagram showing the construction of the inside of the plate groove of the present invention;
FIG. 6 is a block diagram of the cleaning block of the present invention;
FIG. 7 is an enlarged view of the portion A of FIG. 6 according to the present invention;
FIG. 8 is a diagram of a cleaning disc construction of the present invention;
FIG. 9 is an enlarged view of the portion B of FIG. 8 according to the present invention;
FIG. 10 is a view of a splice plate structure of the present invention;
In the figure: 1. a mechanical arm; 2. a connecting disc; 3. a mechanical claw; 31. a claw rod; 32. a rotating member; 41. a debris bin; 42. a suction tube; 43. clamping blocks; 44. a rotating sleeve; 45. a mounting cavity; 46. an inlet; 47. an adjusting rod; 48. a sliding groove; 49. an inner spline; 410. outer convex teeth; 411. a telescopic spring; 51. a connecting seat; 52. a track groove; 61. a hydraulic tank; 62. a plate groove; 63. a cleaning box; 64. a return spring; 65. a cleaning plate; 66. a first transmission rotating wheel; 67. a driving toothed belt; 68. a hydraulic output; 69. cleaning a tray; 610. a cleaning block; 611. a baffle; 612. a first gear box; 613. a second gear box; 614. cleaning a rotating shaft; 615. a limiting plate; 616. a connecting frame; 617. a rotating block; 618. a rotation shaft; 619. a first toothed wheel; 620. a support frame; 621. a second toothed wheel; 622. a horizontal gear; 623. splice plates.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1:
Referring to fig. 1-4, the operating manipulator of the hair-grafting and hemp-pushing instrument without shaving comprises a manipulator 1, wherein the lower end of the manipulator 1 is connected with a mechanical claw 3 through a connecting disc 2, the mechanical claw 3 comprises claw rods 31 and rotating parts 32, the adjacent claw rods 31 are rotationally connected through the rotating parts 32, one mechanical claw 3 consists of four claw parts, each claw part consists of three claw rods 31, the three claw rods 31 are rotationally connected through the rotating parts 32 at one end of the claw rods 31, a transmission rotating wheel II is rotationally connected at the middle position inside the rotating parts 32, the upper end of the mechanical claw 3 is rotationally connected with a connecting seat 51, a driving motor is connected to one side of the connecting seat 51, a rotating gear driven by the driving motor II is arranged on the connecting seat 51, the rotating gear drives the connecting seat 51 to move in position through mutual embedding with tooth groove track grooves 52, the track grooves 52 are formed in the lower surface of the connecting disc 2, the outer side of the outer side wall of the claw rod 31 is provided with a mounting cavity 45, the position of the mounting cavity 45 corresponding to the outer side of the claw rod 31 is provided with an inlet 46, the inside of the mounting cavity 45 is rotationally connected with a rotating sleeve 44, one side of the outer side wall of the rotating sleeve 44 is also provided with an opening, two sides of the inside of the rotating sleeve 44 corresponding to the opening are both slidably connected with clamping blocks 43, the positions of the two sides of the inner side wall of the rotating sleeve 44 corresponding to the clamping blocks 43 are provided with energizing springs I, the distance between the two clamping blocks 43 under the action of the energizing springs I is smaller, after hair bundles are plugged in, the clamping blocks 43 can clamp the hair bundles, one side of the inside of the claw rod 31 corresponding to the mounting cavity 45 is provided with a sliding groove 48, the inner side of the sliding groove 48 is slidably connected with an adjusting rod 47, the outer side wall of the rotating sleeve 44 is provided with an annular inner tooth groove 49 corresponding to the position of the adjusting rod 47, when the adjusting rod 47 slides inwards, the outer tooth 410 can drive the rotating sleeve 44 to rotate, the outer side wall of the adjusting rod 47 is integrally formed with an outer convex tooth 410 at one side close to the rotating sleeve 44, one end of the adjusting rod 47 positioned at the inner side of the sliding groove 48 is provided with a telescopic spring 411, and the telescopic spring 411 enables the adjusting rod 47 sliding inwards to reset when the telescopic spring 411 rebounds;
In the prior art, the hair which is not shaved is bound by a patient before hair implantation, the deviation direction of the hair bundles after binding is fixed, when the manipulator performs the hair implantation operation, the hair Shu Yi fixed in the deviation direction shields the hair implantation area, the normal work of the manipulator is affected, the change of the hair implantation area of the manipulator is random, the direction of the hair bundles is correspondingly changed, the manual direction adjustment consumes more time, the relaxed hair is easy to return to the original position, and when the hair bundles are more, the manual adjustment is inconvenient;
After the head of a patient is cleaned, an operator can bundle hair, after the head of the patient is bundled, the claw rod 31 is moved close, when the hand of the operator for grabbing the hair bundle is close to the claw rod 31, the hand presses the adjusting rod 47 to enable the adjusting rod 47 to slide inwards, the rotating sleeve 44 is driven to rotate through mutual embedding of the outer convex teeth 410 and the inner tooth grooves 49 on the rotating sleeve 44 in the sliding process, the opening position of the rotating sleeve 44 is stopped when the opening position is overlapped with the placing opening 46, the bundled hair bundle is clamped between the two clamping blocks 43, the two clamping blocks 43 clamp the hair bundle under the action of the first energizing spring, after the hair planting operation is finished, the clamping blocks 43 retract, the hair bundle is not clamped any more, after the hand of the operator leaves, the rotating sleeve 44 rotates to enable the clamped hair bundle to be rotated and tightened, the clamping blocks 32 arranged on the claw rod 31 of the manipulator do not need to clamp the hair bundle manually, time is saved, the claw rod 31 can clamp the hair bundle at the track groove 52, and the number of the hair bundle can be adjusted more than the number of the hair bundles can be affected when the hair bundle is moved on the track groove 52.
Example 2:
Referring to fig. 5 to 10, a plate groove 62 is provided on a side of the claw bar 31 far from the placement opening 46, the plate groove 62 is provided at a middle position of a side of the claw bar 31, when scalp cleaning operation is performed, the gripper 3 can be converted into a state of fig. 2, so that both gripper members simultaneously clean the scalp, a plurality of hydraulic tanks 61 are installed on one side of the inside of the plate groove 62, the plurality of hydraulic tanks 61 are all controlled by separate hydraulic systems, a hydraulic output end 68 is installed on a side of the hydraulic tank 61 far from an inner wall of the plate groove 62, a return spring 64 is installed on one end of the hydraulic output end 68 far from the hydraulic tank 61, a pressure sensor is provided between the hydraulic output end 68 and the return spring 64, a cleaning plate 65 is installed on the other end of the return spring 64, a displacement sensor is provided at a position corresponding to the cleaning plate 65 inside of the plate groove 62, a cleaning tank 63 is installed at a position corresponding to an opening position of the plate groove 62 inside the plate groove 62, the cleaning box 63 is connected with the plate groove 62 through a buckle, so that the cleaning box 63 can be disassembled and cleaned at any time, a plurality of uniformly distributed transmission first rotating wheels 66 are arranged on the upper surface of the cleaning box 63, the transmission first rotating wheels 66 on each claw rod 31 rotate through mutual transmission between the transmission toothed belt 67 and the transmission first rotating wheels 66 on the rotating piece 32, the transmission first rotating wheels 66 in the adjacent claw rods 31 on each claw piece are in transmission connection through the transmission second rotating wheels, a rotating speed sensor is arranged at the position of the upper surface of the cleaning box 63 corresponding to the transmission first rotating wheels 66, the adjacent transmission first rotating wheels 66 are in transmission connection through the transmission toothed belt 67, tooth grooves are formed on the inner sides of the transmission first rotating wheels 66, the transmission first rotating wheels 66 which are transmitted through the transmission toothed belt 67 synchronously rotate without slipping, the outer side wall of the right-most transmission first rotating wheels 66 is integrally formed with a limiting plate 615, a first baffle box 612 is arranged at the position, corresponding to the first 66 position, of the rightmost transmission rotating wheel, of the upper surface of the cleaning box 63, a second baffle box 613 is arranged at one side, corresponding to the first 66 position, of the cleaning box 63, the heights of the first baffle box 612 and the second baffle box 613 are smaller than the distance between the first 66 transmission rotating wheel and the upper surface of the cleaning box 63, baffles 611 are connected inside the first baffle box 612 and the second baffle box 613 in a sliding manner, second power-on springs are arranged at the positions, corresponding to the baffles 611, of the lower surfaces inside the first baffle box 612 and the second baffle box 613, of the cleaning blocks 610 are cleaning agent type blocks, corresponding to the first 66 position of the transmission rotating wheel, of the upper surface of the cleaning box 63, cleaning discs 69 are arranged through cleaning rotating shafts 614, the outer side walls of the cleaning discs 69 are provided with a plurality of evenly distributed connecting frames 616, the inner sides of the connecting frames 616 are rotatably connected with rotating blocks 617 through rotating shafts 618, the lower surfaces of the rotating blocks 623 are provided with connecting shafts, adjacent rotating shafts 618 are connected with the connecting shafts 619, the adjacent rotating shafts 619 are connected with the teeth 622 through rotating shafts 619, the teeth 622 are connected with the corresponding to the second 619 horizontally-arranged at the positions of the corresponding to the second shafts 622, and are horizontally-arranged at the positions of the corresponding to the upper surfaces of the first gear wheels, and the two horizontally-arranged teeth positions of the gears 622 are connected with the gears 621, and are horizontally-arranged at the corresponding to the positions of the gears 622, and are horizontally-arranged at the positions of the gears and correspond to the positions of the gears and the gears 622, and are corresponding to the positions of the gears and are corresponding to the positions of the gears and the two gears and are horizontally, and are horizontally correspond to the two gears and are horizontally, and are horizontally and are connected to one and are horizontally, and are arranged;
The outer side wall of the claw rod 31 is provided with hollowed-out plates corresponding to the positions of the cleaning plates 65, one ends of the hollowed-out plates are connected with the suction pipes 42, the other ends of the hollowed-out plates are provided with openings the same as the cleaning plates 65 in number, the other ends of the suction pipes 42 are connected to the upper surface of the debris box 41, the connecting positions of the suction pipes 42 and the debris box 41 are provided with switching valves, one side, close to the suction pipes 42, of the upper surface of the interior of the debris box 41 is provided with a filter screen, the positions, corresponding to the filter screens, of the outer side walls of the debris box 41 are provided with exhaust holes, the positions, corresponding to the suction pipes 42, of the interior of the debris box 41 are provided with dust collection structures, and the dust collection structures are identical with the dust collection structures of dust collectors;
In the prior art, when the head of a patient is cleaned before hair planting, a fixed-shape scraping plate is adopted to scrape off scalp attachments, and because the head structure of each patient is different, when the fixed-shape scraping plate is adopted to operate, the time is longer, the condition of omission is easy to exist, the attachments under cleaning fall everywhere, part of attachments easily drift around along with the flow of air flow, so that the indoor environment is dirty, and discomfort is caused to operators and patients;
After the manipulator is started by an operator, the manipulator places the mechanical claw 3 at a designated position under the control of the control system of the manipulator, the detection function of the rear manipulator positions the position of the head of a patient, the plate groove 62 on the inner side of the manipulator is opened after the positioning, the rear hydraulic output end 68 stretches outwards by a set length under the action of the hydraulic box 61 to push the cleaning plate 65 outwards, the displacement sensor is used for comparing the set moving distance with the detection moving distance after the pushing is stopped, and after the comparison, the mechanical claw 3 is controlled to move until one end of the cleaning plate 65 contacts the head of the patient, and the pressure sensor detects the pressure change;
The head of a patient is acquired through image acquisition equipment connected with a manipulator, the acquired image is subjected to gray processing to obtain a head outline drawing of the head of the patient, the total length of the head top and a rear brain spoon of the patient is calculated according to the outline drawing, the calculated length data L1 is compared with the length data L2 of the mechanical claw 3, and if L1 is more than L2 or L1 = L2, the mechanical claw 3 stops moving when pressure sensors corresponding to all cleaning plates 65 on the mechanical claw 3 detect pressure changes; if L1< L2, the mechanical claw 3 stops moving when the length data of the cleaning plate 65, which causes the pressure sensor to detect the pressure change, on the mechanical claw 3 reaches L1; in the process of adjusting the mechanical claw 3, the claw rods 31 rotate through the rotating piece 32, the distance between the claw rods 31 and the head is reduced, when the pressure sensor detects that the pressure data of the pressure sensor by the return spring 64 reach a set pressure value, the hydraulic output end 68 is retracted and stopped after the detected pressure is reduced to be smaller than the set pressure value, after the mechanical claw 3 stops moving, the claw rods 31 do not rotate any more, the mechanical claw 3 moves integrally, and the pressure values detected at the positions of the cleaning plates 65 are the same through the length adjustment of the hydraulic output end 68 in the moving process;
In the whole moving process of the mechanical claw 3, the mechanical claw 3 moves along a track according to a head outline drawing obtained by image processing, the cleaning plate 65 is directly contacted with the scalp of a patient, the cleaning plate 65 scrapes off attachments on the scalp, the scraped attachments are sucked away under the suction effect of the position of the hollow plate, and the attachments enter the inside of the debris box 41 along the suction pipe 42 for collection; after cleaning is completed, the hydraulic output end 68 retracts and drives the cleaning plate 65 to move towards the inner side of the plate groove 62, after the hydraulic output end 68 completely retracts, one exposed end of the cleaning plate 65 reaches the position of the cleaning disc 69, the rotating shaft connected with the horizontal gear 622 is connected with the output end of the micro motor, the micro motor drives the rotating shaft to rotate in the retracting process of the cleaning plate 65, the horizontal gear 622 drives the rotating shaft 618 connected with the first tooth rotating wheel 619 to rotate by driving the second tooth rotating wheel 621 perpendicular to the horizontal gear 622 to rotate, the adjacent rotating shafts 618 are connected through universal joints, the rotating blocks 617 connected to the rotating shafts 618 are rotated upwards for angle, the rotation angle of the rotating angle sensor is calculated in the rotating process, the rotating wheels stop after the rotation angle reaches 180 degrees, the first driving rotating wheel 66 on the mechanical claw 3 rotates under the action of the driving toothed belt 67, the bristles of the cleaning disc 69 connected with the first driving wheel 66 through the cleaning rotating shaft 614 are driven to contact the lower surface of the splicing plate 623 for a period of time, and the micro motor reverses the position of the splicing plate 623 to reset, so that the bristles 623 can be utilized to clean the cleaning end of the cleaning splicing plate 65 in the rotating process.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (2)
1. The mechanical arm (1) is connected with a mechanical claw (3) through a connecting disc (2) at the lower end of the mechanical arm (1), the mechanical claw (3) comprises a claw rod (31) and a rotating piece (32), the adjacent claw rods (31) are rotationally connected through the rotating piece (32), the mechanical arm is characterized in that a transmission rotating wheel II is rotationally connected at the middle position inside the rotating piece (32), a connecting seat (51) is rotationally connected at the upper end of the mechanical claw (3), a track groove (52) is formed in the position of the lower surface of the connecting disc (2) corresponding to the connecting seat (51), a mounting cavity (45) is formed in the outer side wall of the claw rod (31), a release opening (46) is formed in the position of the outer side wall of the mounting cavity (45) corresponding to the claw rod (31), an opening is formed in one side of the outer side wall of the rotating piece (44), two sides of the rotating piece (44) corresponding to the opening are correspondingly provided with sliding blocks, a sliding block (43) is correspondingly arranged on one side of the inner side of the mounting cavity (45) corresponding to the inner side wall (43), an adjusting rod (47) is connected to the inner side of the sliding groove (48) in a sliding manner, an annular inner tooth groove (49) is formed in the position, corresponding to the adjusting rod (47), of the outer side wall of the rotating sleeve (44), an outer convex tooth (410) is integrally formed on one side, close to the rotating sleeve (44), of the outer side wall of the adjusting rod (47), and a telescopic spring (411) is arranged at one end, located inside the sliding groove (48), of the adjusting rod (47);
A plate groove (62) is formed in one side, far away from the placing opening (46), of the claw rod (31), a plurality of hydraulic tanks (61) are arranged on one side of the inside of the plate groove (62), a hydraulic output end (68) is arranged on one side, far away from the inner wall of the plate groove (62), of the hydraulic tank (61), a return spring (64) is arranged at one end, far away from the hydraulic tank (61), of the hydraulic output end (68), a pressure sensor is arranged between the hydraulic output end (68) and the return spring (64), a cleaning plate (65) is arranged at the other end of the return spring (64), a displacement sensor is arranged at the position, corresponding to the cleaning plate (65), of the inside of the plate groove (62), and a cleaning tank (63) is arranged at the position, corresponding to the opening of the plate groove (62), of the inside of the plate groove (62).
A plurality of transmission first rotating wheels (66) which are uniformly distributed are arranged on the upper surface of the cleaning box (63), a rotating speed sensor is arranged at the position, corresponding to the first transmission rotating wheels (66), of the upper surface of the cleaning box (63), adjacent transmission first rotating wheels (66) are in transmission connection through a transmission toothed belt (67), a limiting plate (615) is integrally formed on the outer side wall of the first transmission rotating wheels (66) on the rightmost side, a first baffle box (612) is arranged at the position, corresponding to the first transmission rotating wheels (66) on the rightmost side, of the upper surface of the cleaning box (63), a second baffle box (613) is arranged at the position, corresponding to the first baffle box (612), of the upper surface of the cleaning box (63), baffles (611) are connected in a sliding mode, and a second electrifying spring is arranged at the position, corresponding to the inner lower surface of the first baffle box (612) and the second baffle box (613);
Cleaning blocks (610) are arranged at positions, corresponding to the first transmission rotating wheels (66), of the upper surfaces of the interiors of the cleaning boxes (63), cleaning discs (69) are arranged at positions, corresponding to the first transmission rotating wheels (66), of the upper surfaces of the interiors of the cleaning boxes (63) through cleaning rotating shafts (614), a plurality of evenly-distributed connecting frames (616) are arranged on the outer side walls of the cleaning discs (69), rotating blocks (617) are connected to the inner sides of the connecting frames (616) through rotating shafts (618) in a rotating mode, and splice plates (623) are arranged on the lower surfaces of the rotating blocks (617) through connecting rods;
Adjacent rotating shafts (618) are connected through universal joints, a first tooth rotating wheel (619) is installed on the outer side wall of one rotating shaft (618), a second tooth rotating wheel (621) is rotatably connected to the position, corresponding to the first tooth rotating wheel (619), of the upper surface of the cleaning disc (69) through a supporting frame (620), a horizontal gear (622) is rotatably connected to the position, corresponding to the second tooth rotating wheel (621), of the upper surface of the cleaning box (63), and a rotation angle sensor is arranged at the position, corresponding to the horizontal gear (622), of the upper surface of the cleaning disc (69);
The claw pole (31) lateral wall corresponds clearance board (65) position department installs the fretwork board, and the one end and the suction tube (42) of fretwork board are connected, the other end seted up with clearance board (65) quantity is the same opening, the other end of suction tube (42) is connected on the upper surface of piece case (41), suction tube (42) with piece case (41) hookup location department is provided with the ooff valve, piece case (41) inside upper surface is close to one side of suction tube (42) is installed the filter screen, piece case (41) lateral wall corresponds filter screen position department and has seted up the exhaust hole, piece case (41) inside corresponds suction tube (42) position department is provided with dust absorption structure.
2. A non-shaving, hair-planting, hair-pushing, and hair-pushing, instrument operation manipulator according to claim 1, characterized in that the control method of the non-shaving, hair-planting, hair-pushing, instrument operation manipulator comprises the steps of:
Step one: after an operator starts the manipulator, the manipulator places the mechanical claw (3) at a designated position under the control of the control system of the manipulator, the detection function of the manipulator positions the head of a patient, a plate groove (62) on the inner side of the manipulator is opened after positioning, a rear hydraulic output end (68) stretches outwards by a set length under the action of a hydraulic tank (61), a cleaning plate (65) is pushed outwards, after pushing is stopped, the set movement distance is compared with the detection movement distance through a displacement sensor, after the comparison, the mechanical claw (3) is controlled to move until one end of the cleaning plate (65) contacts the head of the patient, and the pressure sensor detects pressure change;
Step two: the head of a patient is acquired through image acquisition equipment connected with a manipulator, the acquired image is subjected to gray processing to obtain a head outline drawing of the head of the patient, the total length of the head top and a rear brain spoon of the patient is calculated according to the outline drawing, the calculated length data L1 is compared with the length data L2 of the mechanical claw (3), and if L1 is more than L2 or L1=L2, the mechanical claw (3) stops moving when pressure sensors corresponding to all cleaning plates (65) on the mechanical claw (3) detect pressure changes; if L1 is less than L2, the mechanical claw (3) stops moving when the length data of the cleaning plate (65) which causes the pressure sensor to detect the pressure change on the mechanical claw (3) reaches L1; in the process of adjusting the mechanical claw (3), the claw rods (31) rotate through the rotating parts (32), so that the distance between the claw rods (31) and the heads is reduced, when the pressure sensor detects that the pressure data of the pressure sensor by the return spring (64) reach a set pressure value, the hydraulic output end (68) is retracted and stopped after the detected pressure is reduced to be smaller than the set pressure value, after the mechanical claw (3) stops moving, the claw rods (31) do not rotate any more, the mechanical claw (3) integrally moves, and in the moving process, the pressure values detected at the positions of all cleaning plates (65) are the same through the length adjustment of the hydraulic output end (68);
Step three: in the whole moving process of the mechanical claw (3), the mechanical claw (3) moves along a track according to a head outline drawing obtained by image processing, the cleaning plate (65) is directly contacted with the scalp of a patient, the cleaning plate (65) scrapes off attachments on the scalp, the scraped attachments are sucked away under the suction effect of the position of the hollow plate, and the attachments enter the inside of the debris box (41) along the suction pipe (42) for collection;
Step four: after cleaning is completed, the hydraulic output end (68) retracts and drives the cleaning plate (65) to move towards the inner side of the plate groove (62), after the hydraulic output end (68) completely retracts, one exposed end of the cleaning plate (65) reaches the position of the cleaning plate (69), the rotating shaft connected with the horizontal gear (622) is connected with the output end of the micro motor, the micro motor drives the rotating shaft to rotate in the retracting process of the cleaning plate (65), the horizontal gear (622) drives the rotating shaft (618) connected with the first tooth rotating wheel (619) to rotate by driving the second tooth rotating wheel (621) perpendicular to the horizontal gear (622), the adjacent rotating shafts (618) are connected through universal joints, a rotating block (617) connected with the rotating shaft (618) is rotated upwards to perform angle rotation, a rotating angle sensor is stopped after the rotating angle reaches 180 DEG in the rotating process, a driving rotating wheel (66) on the mechanical claw (3) drives a driving wheel (31) to rotate under the action of the toothed belt (67), the rotating plate (623) connected with the driving wheel (614) to rotate in the rotating direction, the cleaning plate (69) rotates reversely, the brush hair is reset to the surface of the micro motor (623) for a period of time, and the brush hair is contacted with the cleaning position of the micro motor (623), the cleaning end of the cleaning plate (65) can be cleaned by utilizing bristles in the rotating process of the splice plate (623);
Step five: after the head of a patient is cleaned, an operator can bundle hair, after the hair is bundled, the claw rod (31) is moved close, when the hand of the operator, which is used for grasping hair bundles, is close to the claw rod (31), the hand presses the adjusting rod (47) to enable the adjusting rod (47) to slide inwards, the rotating sleeve (44) is driven to rotate through mutual embedding of the outer convex teeth (410) and the inner tooth grooves (49) on the rotating sleeve (44) in the sliding process, the hair bundles are stopped when the opening position of the rotating sleeve (44) coincides with the placing opening (46), the bundled hair bundles are clamped between the two clamping blocks (43), the two clamping blocks (43) clamp the hair bundles under the action of the first energizing spring, and after the hand of the operator is separated, the rotating sleeve (44) rotates to enable the clamped hair bundles to be rotationally tightened.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311223233.3A CN117297784B (en) | 2023-09-21 | 2023-09-21 | Operating manipulator of hair-shaving-free hair-planting and hair-pushing instrument and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311223233.3A CN117297784B (en) | 2023-09-21 | 2023-09-21 | Operating manipulator of hair-shaving-free hair-planting and hair-pushing instrument and control method thereof |
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| CN117297784A CN117297784A (en) | 2023-12-29 |
| CN117297784B true CN117297784B (en) | 2024-04-16 |
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| CN202311223233.3A Active CN117297784B (en) | 2023-09-21 | 2023-09-21 | Operating manipulator of hair-shaving-free hair-planting and hair-pushing instrument and control method thereof |
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| EP0830096A1 (en) * | 1995-05-19 | 1998-03-25 | William R. Rassman | Hair transplantation system |
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| CN110293580A (en) * | 2019-07-28 | 2019-10-01 | 南京昱晟机器人科技有限公司 | A kind of robot mechanical arm grasping structures |
| CN115089344A (en) * | 2022-06-20 | 2022-09-23 | 重庆智泊特机器人有限公司 | Automatic hair transplanting equipment and method based on visual guidance |
| CN115721811A (en) * | 2022-11-28 | 2023-03-03 | 深圳微美机器人有限公司 | Anesthesia injection device, automatic control method thereof and hair transplantation robot |
| CN116370244A (en) * | 2023-05-22 | 2023-07-04 | 北京碧莲盛不剃发植发医疗美容门诊部有限责任公司 | Adjustable head fastening device for non-shaving hair-planting |
| CN116392171A (en) * | 2023-03-28 | 2023-07-07 | 北京碧莲盛不剃发植发医疗美容门诊部有限责任公司 | Special microneedle drill bit for extracting hair follicle without shaving hair |
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2023
- 2023-09-21 CN CN202311223233.3A patent/CN117297784B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0830096A1 (en) * | 1995-05-19 | 1998-03-25 | William R. Rassman | Hair transplantation system |
| CN204364125U (en) * | 2014-12-04 | 2015-06-03 | 杨玲 | Cleaning plant in a kind of general surgery |
| CN110293580A (en) * | 2019-07-28 | 2019-10-01 | 南京昱晟机器人科技有限公司 | A kind of robot mechanical arm grasping structures |
| CN115089344A (en) * | 2022-06-20 | 2022-09-23 | 重庆智泊特机器人有限公司 | Automatic hair transplanting equipment and method based on visual guidance |
| CN115721811A (en) * | 2022-11-28 | 2023-03-03 | 深圳微美机器人有限公司 | Anesthesia injection device, automatic control method thereof and hair transplantation robot |
| CN116392171A (en) * | 2023-03-28 | 2023-07-07 | 北京碧莲盛不剃发植发医疗美容门诊部有限责任公司 | Special microneedle drill bit for extracting hair follicle without shaving hair |
| CN116370244A (en) * | 2023-05-22 | 2023-07-04 | 北京碧莲盛不剃发植发医疗美容门诊部有限责任公司 | Adjustable head fastening device for non-shaving hair-planting |
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|---|---|
| CN117297784A (en) | 2023-12-29 |
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