JP2020168312A - N-axis robot type depilator - Google Patents

Abstract

To provide a robot type depilator automatically performing an operation without manual operation.SOLUTION: An N-axis robot type depilator includes: an end unit which mounts a bed 11, a rail 12, a gantry type support body 13 movable along the rail 12, and a light irradiation head 31 radiating light to a person 2 to be treated; an N-axis robot arm which is suspended by the gantry type support body 13 to grip the end unit and operates its position and direction; a length measuring machine measuring a distance between the person 2 to be treated and the light irradiation head; a monitor 3 displaying information about the treatment; and a controller 40 controlling the depilator. The light irradiation head 31 radiates light in frequency suited to depilation. A program for control controls the depilator 1 according to an algorithm that causes the light irradiation head 31 to scan the body of the person 2 to be treated by moving an irradiation position along the body of the person 2 to be treated with a part near a position where the light irradiation head is in contact with the surface of the body of the person 2 to be treated as the irradiation position.SELECTED DRAWING: Figure 1

Description

The present invention relates to an N-axis robot type hair removal device. More specifically, the present invention relates to an N-axis robot type hair removal device that automatically performs a treatment.

In recent years, the development of IoT and technology has been remarkable, and combined with the labor shortage in the industrial world, robots have been adopted in many fields. Cleaning robots have become familiar not only in the industrial world but also in daily life, and pet robots and nursing care robots are being introduced.
Therefore, the inventors thought that a fully automatic robot that could perform hair removal without human intervention would be possible, and worked to realize it.
Conventional types of hair removal using light include those using a laser (see Patent Documents 1 and 2) and those using red to near-infrared light (used in the private sector) as irradiation light. By improving these light irradiation heads so that they can be gripped by a robot, realizing a robot structure that can move the position of the light irradiation head and control light irradiation, and making it possible to operate the robot's movements with a program, both It is possible to robotize the hair removal device.

Special Table 2001-500529 Gazette Japanese Unexamined Patent Publication No. 2001-046141

An object of the present invention is to provide a robot-type hair removal device that automatically performs a treatment without human intervention.

In order to solve the above problems, the N-axis robot type hair removal device 1 according to the first embodiment of the present invention has, for example, as shown in FIG. 1, a bed 11 on which the person to be treated 2 is placed and a longitudinal direction of the bed 11 or. A rail 12 laid in the lateral direction, a gate-type support 13 or a single-beam type support that can move along the rail 12 (collectively referred to as a gantry-type support), and a person to be treated during the treatment. A tip unit 30 (see FIGS. 2A and 3) on which a light irradiation head 31 (see FIGS. 2A and 3) that irradiates light with light 2 is mounted, and a tip unit suspended from a gantry type support 13 at the tip. A robot arm 20 (see FIGS. 2A and 3) that grips the 30 and operates the position and direction of the tip unit 30, and a length measuring device 32 (FIG. 2A) that measures the distance between the subject 2 and the light irradiation head 31. , FIG. 3), a monitor 3 that displays information related to the treatment, and a control device 40 that controls the entire hair removal device 1 and each part to exert a function as the hair removal device 1. hand;
The robot arm 20 is an N-axis robot arm, and the position of the tip unit 30 and the irradiation direction of light from the light irradiation head 31 can be adjusted. The light irradiation head 31 irradiates light having a frequency suitable for hair removal. The control device 40 holds a control program in the program storage unit 50, and the control program sets the irradiation position as the irradiation position with the vicinity of the position where the light irradiation head 31 is in contact with the body surface of the person to be treated 2 as the irradiation position. A program that controls the hair removal device 1 according to an algorithm that scans the entire area of the body of the subject 2 except the head, which is visible from the upper surface and the side surface of the bed 11, by moving along the body of the person 2. The monitor 3 is characterized in that the position and shape of the body of the person to be treated 2 and the position of the light irradiation head 31 created based on the measurement data of the length measuring device 32 are schematically displayed on the screen.

Here, the N-axis robot type hair removal device refers to a hair removal device in which a treatment is performed using an N-axis robot arm, and the N-axis robot arm has N (N = positive integer) rotation axes. A robot arm. The present invention deals with the case where the N-axis robot arm 20 is suspended from the gate type support 13 or the beam of the single beam type support. Further, the gate type support 13 is a support in which a beam 17 straddling the bed 11 is supported by two pillars 16, and a single beam support is a single beam over the bed. A support supported by pillars. In both cases, the pillars may be installed so as to be movable along the rail directly, or may be installed so as to be movable along the rail 12 via a base 14 provided under the bed 11 or beside the bed 11. Further, the number of rails 12 may be one or a plurality, and one gantry type support 13 may be moved along the two rails. In addition, the rail includes a rail having a groove and a protrusion and a slide rail. Further, the robot arm 20 refers to an arm operated by a computer such as an arm of a working robot. The irradiation position refers to the position of the light irradiation head 31 at the time of light irradiation.
With this configuration, it is possible to provide a robot-type hair removal device that automatically performs the treatment without human intervention.

Further, in the first aspect, the N-axis robot type hair removal device 1 according to the second aspect of the present invention is, for example, as shown in FIG. 2A, as a length measuring device 32 as either a laser beam, an ultrasonic wave, or a camera. Is used, and is characterized in that it is mounted side by side with the light irradiation head 31 on the tip unit 30.
With this configuration, the treatment can be performed safely while measuring the distance between the person to be treated 2 and the tip unit 30.

Further, in the N-axis robot type hair removal device 1 according to the third aspect of the present invention, in the first or second aspect, for example, as shown in FIG. 2A, the robot arm 20 is an N-axis robot arm, and N The tip unit 30 is attached to the tip arm of the shaft robot arm 21 so that the opening angle of the tip arm 22 in the irradiation direction from the light irradiation head 31 with respect to the axis can be adjusted.
Here, the adjustable angle includes a case where the angle can be adjusted within a predetermined range and a case where the angle can be adjusted to an arbitrary angle.
With such a configuration, it is possible to provide an N-axis robot type hair removal device having a relatively simple configuration and a high degree of freedom of operation.

Further, the N-axis robot type hair removal device 1 according to the fourth aspect of the present invention is the voice / hair removal device 1 emitted by a human in any one of the first to third aspects, for example, as shown in FIG. A sound sensor 36 that detects sound and sound from the surrounding environment, a voice recognition device 38 that extracts voice from the sound detected by the sound sensor 36, and a torque sensor 37 that detects torque applied to the robot arm 20 A pressure sensor 35 for detecting the pressure applied between the person to be treated 2 and the tip unit 30 is provided, and whether or not the detection value detected by any of the pressure sensor 35, the sound sensor 36, and the torque sensor 37 indicates an abnormality. When the abnormality determination unit 7 detects an abnormality, the control device 40 stops the irradiation of the light irradiation head 31, stops the movement of the light irradiation head 31, or is above. It is characterized by avoiding directions.
Here, the voice recognition device 38 can recognize sounds (vowels, consonants, scales, rhythms, accents, strengths and weaknesses). It is preferable to at least understand the words, understand the meaning of the words of the person to be treated 2, and reflect them in the safe treatment. Further, it is more preferable that the sound of the light irradiation head 31 touching the bed 11, the gantry, or the human body is recognized and reflected in the safe treatment.
With such a configuration, it becomes easy to detect an abnormality immediately by using voice or torque, which is effective in avoiding danger.

Further, in the N-axis robot type hair removal device 1 according to the fifth aspect of the present invention, in any one of the first to fourth aspects, the bed 11 can be raised and lowered up and down, and the bed 11 is lowered during the treatment to perform the treatment. It is characterized in that it is used by raising it back and forth.
With this configuration, the person to be treated 2 is laid down on the bed 11 at a low position and can receive the treatment at a high position, so that a sense of safety and a sense of superiority can be obtained.

Further, in the N-axis robot type hair removal device 1 according to the sixth aspect of the present invention, in any one of the first to fifth aspects, for example, as shown in FIG. 3, the light irradiation head 31 uses the irradiation medium 71. Built in the cartridge 70, the cartridge of the irradiation medium 71 can be replaced.
The tip unit 30 is connected to the electric wiring and the cooling water pipe via the electric wiring / water distribution pipe tube 46, and is configured to prevent water leakage when the cartridge 70 is replaced.
Here, the irradiation medium 71 refers to a medium that emits irradiation light such as infrared radiation, a laser light source, and a light emitting diode element. Further, the cartridge 70 may be composed of the light irradiation head 31 itself.
With this configuration, when the light irradiation head 31 is replaced, each cartridge 70 can be replaced, so that the light irradiation head can be easily replaced in a short time without water leakage.

Further, the N-axis robot type hair removal device 1B according to the seventh aspect of the present invention has the portal support 13 as the robot arm 20 in any of the second to sixth aspects, for example, as shown in FIG. A first robot arm 20A and a second robot arm 20B having the same structure suspended from the robot arm 20A are provided, and the first robot arm 20A grips the first tip unit 30A as the tip unit 30 and the second robot arm. 20B grips the second tip unit 30B having the same structure as the first tip unit 30A as the tip unit 30.
Here, the control device 40 may be separately provided by a combination of the first robot arm 20A and the first tip unit 30A and a combination of the second robot arm 20B and the second tip unit 30B, and may be collectively provided as one. The combination of the two robot arms and the tip unit may be switched and used by one control program.
With this configuration, when the light irradiation head 31 gripped by one robot arm is overheated by the treatment, the light irradiation head 31 of the other robot arm can perform the treatment and the light irradiation head 31 of one robot arm can be cooled. You can eliminate the waste of time to cool and wait.

Further, the N-axis robot type hair removal device 1A (see FIG. 8) according to the eighth aspect of the present invention is shown in, for example, FIG. 6 in the N-axis robot type hair removal device 1 according to any one of the first to seventh aspects. like,
A personal data application unit 61 that records personal data related to each customer's treatment in the treatment information database 51 and uses it for setting control parameters related to the treatment.
A customer management application unit 62 that records information related to each customer's individual in the customer management database 52 and uses it as a reference for treatment and for paperwork.
A control parameter setting unit 43 for setting control parameters related to the treatment of the hair removal device 1A is provided.
The personal data application unit 61 is accessed from the information read from the customer's smartphone when the customer who is the patient 2 visits the store, and the physical constitution data such as the customer's body shape and weight is read from the personal data related to the customer, and the treatment information is performed. Diagnostic data related to the customer's hair loss status is recorded in the database 51, and the control parameter setting unit 43 learns the personal data including the diagnostic data accumulated in the treatment information database 51 in association with the body shape constitution data to obtain the hair loss cycle. It is characterized in that estimation is performed and control parameters are set.

Here, examples of personal data related to the treatment include the body shape, weight, treatment site, treatment range, irradiation speed, amount of light (heat amount), etc. of the person to be treated, and information relating to the individual customer includes, for example, Address, telephone number, gender, age, blood type, place of origin, medical information related to the treatment, cosmetics information related to the treatment, preference information related to the treatment, and the like can be mentioned. However, it is not necessary to record all of these information in the treatment information database 51 and the customer management database 52, and other information may be included and recorded. A smartphone is a mobile terminal that also has the functions of a personal computer. The information read from the customer's smartphone is, for example, a membership number, validity period, number of points, and the like.
With this configuration, program control can efficiently process not only the treatment but also the entire process from reception to payment.

Further, the N-axis robot type hair removal device 1A according to the ninth aspect of the present invention has, in the eighth aspect, for example, the treatment information database 51, the hair growth when the person in charge of the treatment diagnoses or interviews the person to be treated. The situation (body part, growth range, growth density, length, color, etc.), treatment interval, hair cycle predicted by the person in charge of treatment, and confirmed hair cycle are recorded, and the control parameter setting unit 43 sets control parameters. It is characterized by calculating the value and the next treatment date.
With this configuration, control parameters are set using artificial intelligence (AI), so proper treatment can be reached quickly.

Further, the N-axis robot type hair removal device 1A according to the tenth aspect of the present invention is the N-axis robot type hair removal device 1 according to the eighth or ninth aspect.
Business progress / completion data and financial data are recorded in the business / accounting database 53, linked to the customer management application unit 62 and used for business / accounting processing, and wireless or wired communication is possible on the head office server 5. With a certain business / accounting application unit 63:
It is characterized by including an original state restoration application unit 64 having an original state restoration processing function that enables the original state restoration from an emergency stop and an emergency stop.
With this configuration, the efficiency of office work and accounting in the system can be improved.

According to the present invention, it is possible to provide a robot-type hair removal device that automatically performs a treatment without human intervention.

It is a figure which shows the outline of the N-axis robot type hair removal apparatus which concerns on Example 1. FIG. It is a figure which shows the outline of the robot arm which concerns on Example 1. FIG. It is a figure which shows the outline of the N-axis robot. It is a figure which shows the configuration example of the tip unit. It is a figure for demonstrating the irradiation direction of a light irradiation head. It is a figure for demonstrating an example of processing at the time of an abnormality. It is a figure which shows the example of the application unit and the database which are concerned with control. It is a figure which shows the operation flow example of the hair removal method by the N-axis robot type hair removal apparatus. It is a figure which shows the configuration example of the hair removal apparatus network system which concerns on Example 2. It is a figure for demonstrating the outline of the hair removal apparatus which concerns on Example 3. FIG. It is explanatory drawing which shows the example of the output waveform of the optical hair removal apparatus which concerns on Example 4, and the output waveform of the conventional hair removal apparatus. It is a perspective view which shows the example of the light irradiation head which concerns on one Example 5 of this invention. It is a perspective view which shows the example of the optical waveguide component in the light irradiation head which concerns on one Example 5 of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. Same or equivalent device
The same reference numerals are given to the parts, and duplicate description is omitted.

In the first embodiment, an example of a hair removal device using the N-axis robot 10 will be described.
FIG. 1 shows an outline of the N-axis robot type hair removal device 1 according to this embodiment. The N-axis robot type hair removal device 1 includes the following.
Bed 11: The person to be treated 2 is mounted for the treatment. Use an electro-hydraulic lift bed and pedal up and down. Have them lie down in a low position and perform the treatment in a high position. A speaker for voice guidance and a microphone for picking up the voice of the person to be treated are built in or installed near the head of the bed 11.
Rail 12: It is laid in the longitudinal direction of the bed 11. In this embodiment, one rail 12 is installed under the bed of the bed 11. The bed 11 is installed so as to extend from the head side end to the foot side end in a rod shape. However, two rails may be installed, and the rails 12 may be installed on both sides or one side of the bed 11. Further, in the present embodiment, two convex lines (long linear protrusions in the rail direction) are provided on the base 14 for supporting the gantry type support 13 provided under the bed of the bed 11, and the convex shape is formed. The gantry type support 13 can be moved along the rail 12 by sliding the base 14 along the rail in such a manner that each line of the rail 12 enters each of the two grooves of the rail 12. In the present embodiment, the rail 12 has a concave groove, but may have a convex line and be combined with the concave groove of the base, and the rail 12 may have a through hole provided in the base 14 of the gantry type support 13. It may be configured like a rod penetrating the hole.

Gantry type support 13: It is slidable along the rail 12 under the bed of the bed 11. In this embodiment, the support legs are of the two gate type, but the support legs may be of the single beam type. Further, two or more single beam types may be provided. Further, although the gantry type support 13 suspends the robot arm 20 (see FIG. 2A), a plurality of robot arms 20 may be suspended. In this embodiment, the base 14 is installed in contact with the rail 12, and in a horizontal plane, a rod-shaped foundation beam 15 extends through the base 14 in a direction perpendicular to the rail 12, and gantry type support is provided at both ends of the foundation beam 15. The pillar 16 of the body 13 is supported, and the upper ends of the two pillars 16 are connected by a beam 17. As described above, in this embodiment, the gantry type support 13 constitutes a gantry type support.
Robot arm 20: An N-axis robot arm 20 (see FIG. 2A), which is suspended from a gantry type support 13 and can move along a beam of the gantry type support 13. The N-axis robot arm 20 refers to a robot arm having N (N = positive integer) rotation axes. In this embodiment, since it can be moved to the X-axis and the Y-axis, if a 4-axis or 5-axis robot arm is used, it is substantially equivalent to a 6-axis robot or a 7-axis robot, and the position and orientation of the gripped object can be changed. It can be adjusted arbitrarily. The N-axis robot arm 20 grips the tip unit 30 (see FIG. 2A) in the tip arm, and the tip unit 30 is attached so that the opening angle of the tip arm 22 in the irradiation direction from the light irradiation head 31 with respect to the axis can be adjusted. Has been done. The position and direction of the tip unit 30 can be controlled by operating the robot arm 20.

Length measuring device 32: In this embodiment, it is installed side by side with the light irradiation head 31 at the tip of the tip unit 30. The distance between the person to be treated 2 and the light irradiation head 31 is measured. In addition, the position of the tip unit 30 is grasped. As the length measuring device, for example, a laser beam, an ultrasonic wave, or a camera can be used. Those using laser light measure the distance between the subject 2 and the length measuring instrument 32 from the time from the oscillation of the light to the return of the reflected light. In the case of using ultrasonic waves, the distance between the subject 2 and the length measuring instrument 32 is measured from the time from the oscillation of the ultrasonic waves to the return of the reflected waves. The distance between the person to be treated 2 and the light irradiation head 31 is calculated from the distance between the person to be treated 2 and the length measuring device 32 and the positional relationship between the light irradiation head 31 and the length measuring device 32. For those using a camera, the distance is obtained from the captured image in consideration of the magnification and orientation of the lens. The distance between the subject 2 and the light irradiation head 31 can also be calculated from images taken by the camera from two different positions.
Here, in order to protect the privacy of the person to be treated, camera photography is limited to safety confirmation during the treatment, and the image is discarded and is not saved after the treatment. However, the data acquired during the procedure will be saved (as long as there is no problem with privacy protection). For this reason, important data (body shape, etc.) for the treatment will be left as sentences and numerical values.
Pressure sensor 35 (see FIGS. 2A and 3): In this embodiment, the light irradiation head 31 and the length measuring device 32 are installed side by side at the tip of the tip unit 30. When the tip unit 30 comes into contact with the person to be treated 2, the bed 11, or the like, the pressure sensor 35 is adjusted so that the pressure becomes zero. Further, when a force acts on the pressure sensor 35, the pressure sensor 35 is automatically moved upward by a spring or the like. The position of the person to be treated 2 is the position of pressure 0, and the body shape of the person to be treated 2 is roughly grasped by connecting the positions of pressure 0.
Monitor 3: Display information related to the treatment. For example, the roughly grasped body shape of the person to be treated 2, the position and orientation of the light irradiation head 31, and the like are displayed.

Control device 40: The entire hair removal device 1 and each part are controlled to exert the function as the hair removal device 1.
The control device 40 includes the following.
Robot control unit 41: It has a robot control circuit, controls the position and rotation of the robot arm 20, and controls a motor that gives an operation to the robot arm 20.
Hair loss control unit 42: The control program is operated to control the tip unit 30 (light intensity, irradiation time length, irradiation interval, irradiation frequency, etc.) while interlocking with the movement of the robot arm 20 to perform the treatment.
Control parameter setting unit (touch panel) 43: Functions as a part of the control device 40, but is physically configured as a separate body of the control device 40. The control parameters related to the treatment of the hair removal device 1 are set. Commands and data can be input, and control parameters related to the treatment can be set. Further, the screen of the touch panel 43 also serves as a monitor 3 for displaying information related to the treatment.
Program storage unit 50: Built-in control program. The control parameters of the control program can be set from the control parameter setting unit 43.

Main board 44: Stores the power supply and cooling device. The power source mainly supplies power to the power of the robot (for example, 4 kW), irradiation of the tip unit 30 (for example, 2 kW), and cooling device (for example, 1 kW). The cooling device 45 supplies cooling water to the tip unit 30. For example, a cooling gas or a Peltier element is used for cooling the cooling water. Further, a Peltier element may be used for cooling the tip unit.
Electricity supply panel 43: Power is supplied to the robot 10 and the tip unit 30 as a part of the control device 40, but it is physically configured as a separate body of the control device 40. The electric power from the power source of the main board 44 is supplied to the electric supply board 43.
Electric cord / water pipe tube 46: A tube that draws an electric cord from a power source in the control device 40 and a water pipe from a cooling device to the tip unit 30. In FIG. 1, the control device 40 is guided to the tip unit 30 via the corners of the portal support.
In addition, the control device 40 has a movable caster 47 and is movable.

FIG. 2A shows an outline of the N-axis robot arm 20, and FIG. 2B shows an outline of the N-axis robot 10. It has five rotation axes from the S axis to the R axis, and the position and orientation of the object gripped at the tip of the arm can be freely changed.
One rail 12 is laid under the bed of the bed 11 in the longitudinal direction of the bed, and the base 14 of the gantry type support 13 can slide on the one rail 12 (in the Y direction). The robot arm 20 is suspended from the beam 17 of the gantry type support 13, and can move along the beam 17 of the gantry type support 13 (in the X direction). In this embodiment, the number of suspended robot arms 20 is singular, but it may be plural, and in the case of a plurality of robot arms, their functions may be the same or different.

The robot arm 20 is an N-axis robot arm. The N-axis robot arm is a robot arm having N (N = positive integer) rotation axes. In this embodiment, the case where the N-axis robot arm is suspended from the beam of the gantry type support or the single beam type support is dealt with. In this embodiment, it is already possible to move in the X-axis and Y-axis directions, so for example, adding a 4-rotation axis and a 5-rotation axis makes it equivalent to a 6-axis robot and a 7-axis robot, and an object gripped by the tip arm is arbitrary. It becomes possible to adjust the position and direction. The tip unit 30 is attached so that the opening angle of the tip arm 22 in the irradiation direction from the light irradiation head 31 with respect to the axis can be adjusted. As a result, the light irradiation head 31 is directed toward the person to be treated 2 by changing the angle. From the above, it can be said that the position of the tip unit 30 of the robot arm 20 can be arbitrarily adjusted, and the direction of the robot arm 20 can be adjusted within the XX plane.
Then, the tip unit 30 is attached to the tip of the second arm 22. If the angle of the irradiation direction of the light irradiation head 31 can be adjusted in any direction around the axis of the second arm 22 at the joint point between the second arm 22 and the tip unit 30, the joint point The light irradiation head 31 is directed toward the person to be treated 2 by changing the angle of the irradiation direction. Further, if the second arm 22 is rotatably attached around the axis (Z direction) of the first arm 21, the light irradiation direction can be arbitrarily adjusted. In this way, the degree of freedom of rotation can be increased. By increasing the number, the angle of the irradiation direction of the light irradiation head 31 can be arbitrarily adjusted.

In this embodiment, the length measuring device 32 is installed side by side with the light irradiation head 31 in the tip unit 30. In this embodiment, for example, a laser beam is used as the length measuring device 32. The distance between the subject 2 and the length measuring instrument 32 is measured from the time from the oscillation of the light to the return of the reflected light. The distance between the person to be treated 2 and the light irradiation head 31 is calculated from the distance between the person to be treated 2 and the length measuring device 32 and the positional relationship between the light irradiation head 31 and the length measuring device 32.
Further, in this embodiment, the pressure sensor 35 is installed at the tip of the tip unit 30 along with the light irradiation head 31 and the length measuring device 32. When the tip unit 30 comes into contact with the person to be treated 2, the bed 11, or the like, the pressure sensor 35 is adjusted so that the pressure becomes zero. Further, when a force acts on the pressure sensor 35, the pressure sensor 35 is automatically moved upward by a spring or the like.

FIG. 3 shows a configuration example of the tip unit 30 according to this embodiment. FIG. 3 is an example of a tip unit 30 in which the light irradiation window is a horizontally long rectangle and a wide range of light (irradiation medium is an infrared heater or the like) is used for the light irradiation head. A light irradiation head 31, a length measuring device 32, and a pressure sensor 35 are mounted on the tip unit 30. In this embodiment, a light irradiation head 31 that irradiates orange to near infrared light is used, but a light irradiation head 31 that irradiates a pulse laser may also be used. As the wavelength of the laser, for example, 755 nm and 810 nm, which are said to be highly effective for hair removal, are used. The wavelength of wide-area light (orange to near-infrared) is, for example, 600 to 1200 nm. A plurality of types of light emitting diodes (around 630 nm, around 660 nm, etc.) may be used in combination. Both generate heat and are cooled. For cooling, for example, a cooling device (chiller) 45 (see FIG. 1) is provided in the main body of the control device 40 and cooled with circulating water. The water temperature is adjusted to about 10 to 15 ° C. When the cooling power becomes weak, the circulating water is replaced. For the pressure sensor 35, for example, a piezoelectric sensor, a capacitance type sensor, or the like can be used.

In the example of FIG. 3, the light irradiation head 31 has a light emitting lamp (the irradiation medium is an infrared heater or the like) and a parabolic mirror 34, and the cartridge 70 is fitted into the cartridge storage portion 74 surrounding three sides. The tip unit 30 has a cooling unit 33 through which cooling water is guided. The cooling unit 33 is arranged around the cartridge storage unit 74 to cool the cartridge 70.

An electric cord / water pipe tube 46 containing cooling water and electrical wiring is connected to the tip unit 30. The light irradiation head 31 is made into a cartridge, and the cartridge 70, that is, the light irradiation head 31 may be replaced at the time of replacement. That is, the cartridge 70 is composed of the light irradiation head itself. Further, in order to prevent water leakage during replacement, for example, the cooling water is not guided to the cartridge 70, and the cooling portion 33 of the tip unit 30 is brought into contact with the cartridge accommodating portion 74. A metal having high thermal conductivity (aluminum, copper, etc.) can be used for the contact portion between the cartridge 70 and the cooling portion 33. The light irradiation head 31 has an irradiation medium 71 built in the cartridge 70, and the cartridge of the irradiation medium 71 can be replaced.

In FIG. 1, the electric cord / water pipe tube 46 is guided to the tip unit 30 via the corner of the portal support 13. A robot arm suspended from the gantry type support 13 may be newly provided, and the electric cord / water pipe tube 46 may be suspended by the robot arm and guided to the tip unit 30. The electric cord is pulled out from the electric cord / water pipe tube 46, and is connected to the irradiation medium (infrared heater) 71 via, for example, an electrode contact 49 provided on one of the horizontal plates of the cartridge 70. Electricity is also supplied to the length measuring device 32 and the pressure sensor 35, for example, via the wiring in the tip unit 30. The light irradiation head 31 is made into a cartridge, and the periphery of the cartridge storage portion 74 is used as a cooling portion 33, and is cooled by the cooling water supplied from the electric cord / water pipe tube 46. This cools the cartridge 70.

FIG. 4 is a diagram for explaining the irradiation direction of the light irradiation head 31. The figure on the left shows a case where the tip unit 30 is placed on the body of the person to be treated 2 from the lateral direction with the tip arm 22. The figure on the right shows a case where the tip unit 30 is placed on the body of the person to be treated 2 from above with the tip arm 22. The upper side shows the case where it is placed on the convex portion of the body of the treated person 2, and the lower side shows the case where it is placed on the concave portion of the body of the treated person 2. The first arm 21 adjusts the vertical direction, and the second arm 22 adjusts the opening angle with the first arm.

Then, the tip unit 30 is gently placed on the body of the person to be treated 2. Then, although it depends on the relationship between the configuration of the tip unit 30 and the body shape of the person to be treated 2, in the convex portion, the center of the surface of the tip unit 30 comes on the tangent line between the body of the tip unit 30 and the body of the person to be treated 2. The irradiation direction of the light from the light irradiation head 31 can be substantially perpendicular to the surface of the body of the subject 2. Further, since both ends of the light irradiation head 31 touch the body of the person to be treated 2 in the recess, the direction of light irradiation from the light irradiation head 31 can be substantially perpendicular to the surface of the body of the person to be treated 2. However, if the recess is small and the tip unit 30 does not fit into the recess, this does not happen and is removed. From the above, it can be said that the robot arm 20 can roughly adjust the irradiation direction of light from the light irradiation head 31 of the tip unit 30 in a direction substantially perpendicular to the surface of the body of the person to be treated 2. Further, the pressure sensor 35 is adjusted so that the pressure becomes 0 when it comes into contact with the person to be treated 2, the bed, or the like. That is, when a force acts on the pressure sensor 35, the pressure sensor 35 is automatically moved upward. The position of the person to be treated 2 is the position of pressure 0, and the body shape of the person to be treated 2 is roughly grasped by connecting the positions of pressure 0.

An example of processing at the time of abnormality will be described with reference to FIG. When an abnormality occurs, the irradiation of the light irradiation head 31 is stopped, the movement of the light irradiation head 31 is stopped, or the light irradiation head 31 is avoided upward. In this way, the safety of the person to be treated 2 is prepared.
In this embodiment, the abnormality is detected by the sound sensor 36 that detects the sound from the human voice / hair removal device 1A and the sound from the surrounding environment. The subject 2 may have a microphone as the sound sensor 36. It is the easiest and most reliable to detect by the voice of the subject 2. Voices (for example, "arms", "legs", "armpits", "knees", "thighs", etc.) are automatically recognized and reflected in the treatment position and control parameters related to the treatment. In addition, the pressure sensor 35 detects the pressure. The position of the pressure 0 is stored in the internal memory of the control device 40 so that the pressure of the tip unit 30 that touches the human body is kept at 0. At the time of treatment, the tip unit 30 is guided to the vicinity of the position of pressure 0 which is roughly grasped, and the treatment (light irradiation) is performed. If the tip unit 30 can be guided to a roughly grasped position of pressure 0 without colliding with anything, light irradiation may be performed at that position. When the collision occurs, the tip unit 30 is raised upward to a position where it does not come into contact, and irradiation is performed at that position. Further, it may be confirmed whether the pressure is 0 or not by detecting, for example, the torque related to the robot arm 20. That is, the abnormality can be detected by the torque sensor 37 that detects the torque related to the robot arm 20. Normally, torque is not applied or is minute, so if the torque is not minute, it is considered abnormal. Further, the sound is extracted from the sound detected by the sound sensor 36, and the abnormality is detected by the measured values measured by the voice recognition device 38 and the length measuring device 32 for identification. The abnormality determination unit 7 determines whether or not the detected value indicates an abnormality. When the abnormality determination unit 7 detects an abnormality, the control device 40 stops the irradiation of the light irradiation head 31 and stops the movement of the light irradiation head 31 or implements upward avoidance. As a result, the safety of the person to be treated 2 is maintained.

FIG. 6 shows an example of the application unit and the database related to the control of this embodiment. These application units are built in, for example, the control parameter setting unit 43. The database may be built in, for example, the control parameter setting unit 43 and the control device 40, or may be provided in an external storage device.
The control device 40 immediately accesses the personal data application unit 61 from the information read from the customer's smartphone when the customer visits the store, which is the patient 2, reads the body shape and weight from the personal data related to the customer, and sets the control parameters. It is provided as data for causing the unit 43 to set the control parameters related to the treatment of each N-axis robot type hair removal device 1. The control program is built in the program storage unit 50.
The control parameter setting unit (touch panel) 43 sets the control parameters related to the treatment of the N-axis robot type hair removal device 1.
Then, the control device 40 controls the robot 10 and the hair removal device 1 (including the tip unit 30) by using the control parameters set by the control parameter setting unit 43.
The electricity supply board 48 supplies electric power to the robot 1010 and the tip unit 30 as a part of the control device 40.
The control system in this embodiment has the following application units and a database.
Treatment information database 51: Personal data (body shape, weight, treatment site, treatment range, irradiation speed, light amount (heat amount)) related to each customer's treatment is recorded. So to speak, it is a medical record converted into electronic data. The treatment information database 51 may be provided in, for example, a storage medium built in the control parameter setting unit 43 and the control device 40, or may be provided in an external storage device. By converting the medical records into electronic data and unifying the data, the data can be shared and the delivery can be ensured.
Personal data application unit 61: Personal data related to each customer's treatment is recorded in the treatment information database 51. In addition, the personal data recorded in the treatment information database 51 is referred to and used for setting control parameters related to the treatment. The control parameters (irradiation position, light intensity, irradiation time length, irradiation interval, number of irradiations, etc.) are set from the touch panel 43. The touch panel 43 issues instructions for setting parameters to each part, and the robot arm 20 operates according to the instructions. As a result, the control program is connected to the robot.

Customer management application unit 62: Personal information of each customer (address, telephone number, gender, age, blood type, birthplace, treatment-related medical information, treatment-related cosmetic information, treatment-related preference information, etc.) It is recorded in the customer management database 52 and used for reference of treatment and paperwork. If the customer management application unit 62 and the customer's smartphone are connected by application software and the terms used, the format, etc. are unified, it becomes easier to capture and operate the customer management data.

Business / accounting application unit 63: Business progress / completion data and financial data are recorded in the business / accounting database 53, linked to the customer management application unit 62, and used for business / accounting processing.

Restoration to original state application unit 64: Provided with a restoration to original state processing function capable of returning to the original state at the time of an emergency stop and an emergency stop. The restoration application unit 64 records and manages the failure / maintenance data of the store hair removal device in the failure / maintenance database 54. The processing at the time of abnormality is also automated.

FIG. 7 shows an example of the operation flow of the hair removal method by the N-axis robot type hair removal device 1.
First, the preparation of the hair removal device 1 is completed (S001). Check and confirm that the hair removal device 1 can be used, and replace the cartridge 70 if necessary. Next, an interview with the person to be treated 2 (S002). We will ask if you are in good physical condition, listen to the request of the person to be treated 2, and if there is no problem, perform the treatment. Next, the data for the treatment of the person to be treated 2 is input to the treatment information database 51 from the touch panel 43 (S003). The default value for each treated person recorded in advance in the treatment information database 51 may be used. At this time, control parameters may be set instead of inputting as data. Then, it is taken into the program storage unit 50 of the control device 40 so that the control program that operates at the time of treatment can be read at the time of operation. When the preparation is completed, the person to be treated 2 is guided to the treatment room, the bed 11 is lowered, and the person to be treated waits to lie on the bed 11 (S004). Then, the bed 11 is raised to the treatment position (S005). Next, the position of the kuroko is confirmed in the database (S006), and a label is attached to the position of the kuroko (S007). This is to prevent burns because Kuroko easily absorbs heat when irradiated with light. From here, the process is automatically performed by the robot. First, the distance between the light irradiation head 31 and the person to be treated 2 is measured by the length measuring device 32 (S008). As the length measuring device, for example, a laser beam, an ultrasonic wave, or a camera can be used. Next, the body shape data of the person to be treated 2 is roughly created from the measurement data of the length measuring device 32 and displayed on the monitor 3 (S009). Further, since the position of the pressure 0 of the pressure sensor 35 is in contact with the treated person 2, it is regarded as one point of the contour of the treated person 2, and when these points are connected, the treated person 2 The body shape is roughly derived. The accuracy increases as the measurement becomes finer, but a somewhat rough measurement may be used for a general understanding. Then, from the body shape data of the person to be treated 2, the light irradiation head 31 is guided to the vicinity of the body of the person to be treated 2 to perform light irradiation.

Next, for example, while operating the light irradiation head 31 from right to left and left to right of the body, scanning is performed from top to bottom (head side to foot side) as a whole (S010). When scanning the light irradiation head 31 from the right to the left and from the left to the right of the body, scanning is performed while reconfirming the pressure 0 with the pressure sensor 35 mounted on the same tip unit 30 as the light irradiation head 31 (S011). It is preferable to do so. Then, the position of the light irradiation head 31 is displayed on the monitor 3 (S012). The purpose of displaying on the monitor 3 is to confirm the safety because no human is in the treatment room. After the light irradiation at the first irradiation position, the light irradiation head 31 is moved to the next irradiation position (S013). The position is discontinuous, and the light irradiation head 31 is turned off when the position is moved. At the irradiation position, irradiation is performed according to the data (irradiation position, direction of irradiation head, irradiation intensity, irradiation time) (S014). Since both lying on the back and lying down are performed, S008 to S014 are repeated after one is finished. After completing a series of irradiations, the robot arm 20 is returned to its original position (S015). Up to this point, all but the replacement of the body of the person to be treated 2 is performed automatically. The bed 11 is lowered (S016) and the patient 2 waits for the patient 2 to leave the bed 11. When the person to be treated 2 leaves the bed 11, the treatment data is stored in the treatment information database 51, and the treatment process is completed.

Here, the treatment information database 51 is used in order to keep a record of the treatment and to contribute to the reference of the later treatment. At this time, personal data related to each customer's treatment (body shape, weight, treatment site, treatment range, irradiation speed, light amount (heat amount) of the person to be treated) is recorded in the treatment information database 51, so that a personal data application described later The unit 61 is also used.

As described above, according to the present embodiment, it is possible to provide a robot-type hair removal device that automatically performs a treatment without human intervention.

In the second embodiment, not only the treatment but also an example in which the entire process from reception to settlement is automated and the treatment is performed using the network system will be described.
FIG. 8 shows a configuration example of the hair removal device network system according to the second embodiment. The hair removal device 1A, the robot 10, the control device 40, the touch panel 43, the store server 60, the service PC 6, the head office server 5 and the system management server 4 are connected by a network to enable remote management of affiliated stores. Here, the solid line indicates the network by the internal LAN, and the broken line indicates the network by wireless. Here, a set of devices / appliances (inside the chain line in FIG. 8 in FIG. 8) in one store is connected to the N-axis robot type hair removal device 1A, and the entire system connected by a network is connected to the N-axis robot type hair removal device network. It will be referred to as system 100.

The hair removal device 1A has a control device 40. The control device 40 has a robot control unit 41 and a hair loss control unit 42 (see FIG. 1). The robot control unit 41 controls the operation of the robot, for example, the position (x, y, z coordinates, rotation) of the tip unit 30 gripped by the robot at the tip of the arm, and the movement of the arm / joint for that purpose.
The hair removal control unit 42 controls the on / off of the light of the light irradiation head 31, the light intensity, the light interval, and the like in relation to the position of the light irradiation head 31. Also, adjust the temperature and flow rate of the cooling water.
In the tip unit 30 (see FIG. 2A), a length measuring device 32 is arranged alongside the light irradiation head 31 (see FIG. 2A). The length measuring device 32 measures the distance between the light irradiation head 31 and the person to be treated 2. As the length measuring device 32, any of a laser length measuring device, an ultrasonic length measuring device, and a camera can be used. The laser length measuring device and the ultrasonic length measuring device oscillate the laser and ultrasonic waves toward the treated person 2, and the light irradiation head 31 and the treated person 2 start from the time until they return from the surface of the treated person 2. Calculate the distance between. In the case of a camera, if you use a camera, you can calculate the absolute distance by using images taken from two different positions, but even from one position, the distance within the shot image at two positions and the camera The distance can be calculated from the magnification of.
Many stores have a manual hair removal device. In that case, a manual hair removal device (which contains the control device) is installed instead of the control device 40. The treatment data is manually input to the system from the screen of the control device or the touch panel 43 described later. In the automatic case, the light irradiation head is gripped by the robot, but in the manual case, the practitioner grips the handpiece to perform the treatment. When the treatment is completed, the handpiece is housed in, for example, a handpiece grip portion provided in the control device 40.

The N-axis robot 10 is automatically controlled by the control device 40 to automatically perform the treatment on the person to be treated 2 lying on the bed. Once the control parameters are determined, the program is stored in advance in the built-in memory (program storage unit 50) of the control device, and the position of the robot 10 and the robot arm 20 are automatically operated according to the program. Further, the light irradiation head 31 gripped by the tip of the robot arm 20 is also automatically operated according to the program.
The touch panel 43 is used by the operator (practitioner) to input each parameter of screen control, robot control, and hair removal control in advance of the treatment. The operator interviews the person to be treated 2 before the treatment, and the operator partially corrects and inputs the control parameters based on the medical record of the person to be treated 2 with reference to the contents of the interview. The input data is taken into the program of the control device 40.
The control device 40 controls the robot 10 and the hair removal device 1A (including the tip unit 30) by using the control parameters set by the control parameter setting unit 43. As a result, the input data is reflected in the movement of the robot.

The store server 60 is a server that controls and manages the control device 40 and the robot 10 of one or more hair removal devices 1 in the store. The program and log information related to the operation of the control device 40 and the robot 10 are taken in from the system management server 4, and the customer information, the part information (mainly the treatment information), and the sales information are taken in from the service PC 6, and the treatment for each individual customer from the customer information. Form information. That is, in this embodiment, the service PC 6 has customer information, and the service information database 51 is formed in the service PC 6. Then, the operator is asked to determine the actual control parameters with reference to the site information (mainly the treatment information), and the control parameter setting unit 43 sends the control parameters to the control program of the control device 40 as control parameters. Then, when the actual treatment for the customer is executed by the control device 40, the treatment information is transmitted to the service PC 6 and recorded in the treatment information database 51.
The service PC 6 stores customer information and treatment information for customers accumulated in the past as a medical record in the treatment information database 51. These medical records are notified to the store server 60 and used to have the operator determine the actual control parameters. In addition, the service PC 6 has a customer management database 52 that collects personal information of customers. In addition, the service PC 6 has a business / accounting database 53. The billing amount related to the customer's treatment is calculated, added to the sales information, and recorded in the business / accounting database 53.
The service PC 6 holds all the data in the store in the database in order to control and manage all the control devices 40 and the robot 10 in the store. On the other hand, the store server 60 may store at least the data necessary for the immediate treatment in the database. Further, the store server 60 is connected to the control device 40, the robot 10, and the touch panel 43 by LAN, the service PC 6 is wirelessly connected to the store server 60 and the head office server 5, and the store server 60 is wirelessly connected to the system management server 4. , The service PC 6 exchanges information with the store server 60, for example, in a CSV file.

The head office server 5 acquires the information stored in the treatment information database 51, the information stored in the customer management database 52, and the information stored in the business / accounting database 53 from the service PC 6 of each store, and performs the services of each store. Centrally manage information and sales information. In addition, the service information and sales information of a plurality of stores are statistically processed and used for the management of the main store and each affiliated store.
The system management server 4 manages programs and log information. We will provide programs according to the treatment situation and the model used at each store. It also improves the program of the hair removal device. In addition, failure / maintenance information of the hair removal device is recorded in the failure / maintenance database 54 and managed to be useful for maintenance in the event of a failure.

Each unit according to the present embodiment is improved as follows as compared with the first embodiment.
Personal data application unit 61: This unit is the same as that of the first embodiment, but in this embodiment, the aim is to make it artificial intelligence (AI). The personal data application unit 61 learns the treatment information database 51, automatically determines the control parameters to be set, and automatically sets the control parameters.
Since the greater the data in the treatment information database 51, the greater the effect of deep learning, it is preferable to link and use not only the data of the own store but also the data of the stores of affiliated salons. In this case, the head office server 5 is provided to connect the service PC 6 of each affiliated salon store to the store server 60 via a communication network so that the control device 40 and the robot 10 can be controlled. Then, the treatment data of the entire affiliated salon stores are centrally managed. Allows you to automatically set parameters related to the procedure. Therefore, it is preferable that the same N-axis robot 10 is used in all affiliated salon stores and the same control program is used. As a result, the control program is linked with the affiliated salon stores. By recording each treatment data in the treatment information database 51, who (customer) received the treatment with which robot in which store, who is in charge of the treatment, and past data are accumulated, and the control program is stored in each salon store. And cooperate with each customer.

Customer management application unit 62: The hair loss management system server 4 centrally manages personal data of the entire affiliated salon store. By using transaction documents in the same format, paperwork can be done efficiently. Where common processing is possible, processing at each salon store can be omitted or reduced. Purchasing and maintenance work can be done jointly at low cost. A face recognition system may be used at the reception to automatically extract medical records. New services will be possible by improving the equipment, and even when advertising and advertising, it will be possible to jointly reduce the cost. When promoting aftercare products and UV protection products to each customer, it can be used to introduce aftercare products and UV protection products by finding people with similar tastes and similar ages. As a result, the control program is linked with each salon store and each customer.

Business / Accounting Application Unit 63: Wireless and wired communication is possible at the headquarters. The hair loss management system server 4 of the headquarters and the computers of each affiliated salon store are connected via a network to systematize. The head office server 5 centrally manages the business and accounting data of all affiliated salon stores. Since the business / accounting data at each affiliated salon store is the data required by the headquarters, the efficiency of business can be improved by centrally managing it using a common format and performing statistical processing. Furthermore, by learning the business / accounting data of each affiliated salon store, it is possible to approach the optimal treatment method, work efficiency improvement, and cost reduction method. In addition, by collectively placing and receiving orders for consumables and maintenance at the headquarters, it is possible to reduce costs and strengthen cooperation between the headquarters and each affiliated salon store. In addition, online automatic ordering from each store will be possible.

Return to original state application unit 64: By collecting failure error logs at each affiliated salon store and learning failure / maintenance data, maintenance efficiency such as automation / remote control of inspection work and efficiency of parts replacement work can be improved. It is planned. Record the overfall manual in the failure / maintenance database so that many people can perform failure diagnosis / maintenance. As a result, automation of inspection work and failure diagnosis (including automatic discrimination of online errors) improves the accuracy of judgment and helps solve labor shortages. The cooperation between the headquarters and each affiliated salon store can be strengthened.

As the learning of the head office server 5 progresses, the accuracy of judgment by using AI (artificial intelligence) will increase. As a result, the hair loss management system can provide more effective services to the customer.
AI is used, for example, as follows. When the person in charge of the treatment diagnoses or interviews the person to be treated, the person in charge of the treatment grasps the hair growth condition (body part, growth range, growth density, length, color) of the person to be treated and records it in the treatment information database 51. .. These data are not necessarily objective and include subjective factors, but since they are important data for determining the hair cycle, they are recorded in the treatment information database 51. Also record the treatment interval (the number of days from the previous treatment to this treatment). Then, the person in charge of the treatment predicts the hair cycle based on the recorded hair growth status of the treated person and the treatment interval data, and also records the predicted hair cycle. The hair cycle can be determined by repeating the diagnosis several times (for example, 3 to 5 times). Also record the confirmed hair cycle. The data related to these hair cycles are important data for the control device to learn and determine the hair cycle, so record them. After the hair cycle is fixed, the predicted hair cycle may be replaced with the fixed hair cycle. In this way, the diagnostic data relating to the hair loss status of the customer in charge of the treatment is recorded in the treatment information database 51. The control parameter setting unit of the control device learns the personal data including the accumulated diagnostic data in association with the body constitution data, and estimates the control parameters and the hair loss cycle. Then, the control parameters are set. In addition, the next treatment date is calculated. In this way, although AI is used, the imaging data cannot be used for the diagnosis of the practitioner from the viewpoint of privacy protection. Therefore, the practitioner's diagnosis or interview data is used to perform the treatment by the practitioner. It is characterized in that the estimation data of the past hair cycle of the person 2 is also used as learning data. Furthermore, by accumulating data on the relationship between skin color and light (brightness, wavelength distribution), spring, summer, autumn and winter, and health condition, AI can be used to understand skin conditions, the meaning of words can be understood, and surrounding sounds can also be heard. It can be used to judge the danger and to be useful for safe and accurate treatment.

As described above, according to the present invention, it is possible to provide a robot-type hair removal device that automatically performs a treatment without human intervention.

In the third embodiment, an example in which two arm robots are suspended from the portal support 13 will be described.
FIG. 9 shows an outline of the hair removal device according to this embodiment. A first robot arm 20A (having arms 21A and 22A) and a second robot arm 20B (having arms 21B and 22B) having the same structure are suspended from the portal support 13, respectively, and the first robot arm 20A is suspended. And the second robot arm 20B each have a first light irradiation head 31A and a second light irradiation head 31B having the same structure. With this configuration, when the light irradiation head 31 of one robot arm is overheated in the treatment, it can be replaced with the cartridge of the other robot arm for the treatment, and the light irradiation head 31 of the other robot arm can be cooled. You can eliminate the waste of time waiting.

It is also possible to shorten the treatment time by operating the first robot arm 20A and the second robot arm 20B in parallel. That is, the light irradiation head 31A of the first tip unit 30A attached to the first robot arm 20A and the light irradiation head 31B of the second tip unit 30B attached to the second robot arm 20A, respectively. Arrange and move substantially symmetrically to the center line of the person to be treated 2 and operate them in substantially parallel manner, and on the center line of the person to be treated 2, a combination of the first robot arm 20A and the first light irradiator 30A or It is possible to move and operate one of the combinations of the second robot arm 20BA and the second light irradiator 30B. Since the left and right treatment information of the person to be treated 2 is not always the same, the irradiation intensity and the irradiation time may be different although the simultaneous operations are performed.
Further, it is also possible to use a wide-area light irradiation head for the first tip unit 30A and a laser light light irradiation head for the second tip unit 30B. It is possible to perform treatments that take advantage of each aptitude. It is also possible to use the first robot arm 20A and manually perform the treatment instead of the second robot arm 20B. In this case, the portion where the treatment with the robot arm 20A is insufficient can be manually supplemented.
Other configurations are the same as in the first embodiment, and it is possible to provide a robot-type hair removal device that automatically performs the treatment without human intervention, as in the first embodiment.

In this embodiment, an example in which the pulse output waveform from the light irradiation head is improved is shown. The pulse output is continuously and stably maintained.

FIG. 10 is a diagram showing an example showing a comparison between the output waveform by ultra-high-speed photoepilation according to this embodiment and the waveform by conventional photoepilation. Reference numeral P1 is an output waveform according to the conventional method, and reference numeral P2 is an output waveform due to ultra-high-speed photoepilation. The mechanism by ultra-high-speed photo-epilation is to perform the treatment so that the crystal slides on the surface of the skin, centering on the heat storage method that instantaneously shoots a weak output and accumulates energy. Therefore, the treatment time can be significantly shortened, and the burden on the skin can be suppressed, so that hair can be reliably removed without the risk of skin troubles.

As for the output pulse of the conventional hair removal device, the output of the pulse is attenuated with the passage of time. The second pulse has a lower output (eg 90%) than the first pulse, and the third pulse has a lower output. Then, if the pulse is continuously output several times, the output becomes unsuitable for use. Then, it takes time to charge the pulse to generate the pulse, which causes a time loss.

The control device 40 in the present embodiment forms a composite pulse by connecting a capacitor capable of holding a large output in the main board portion 44, a means for dividing one pulse into a plurality of small pulses, and the divided small pulses. It has a means for performing the light and a means for preventing the combined pulse from being attenuated with the passage of time, and enables stable continuous light emission. That is, it has a capacitor capable of holding a large output so that a large output can be output when generating a pulse. For example, two large-capacity electrolytic capacitors (19000 MFD / 450VDC) are installed. In other words, it retains the ability to produce sufficient output. Then, one pulse is divided into a plurality of small pulses. Furthermore, a plurality of small pulses are collected and connected to form a synthetic pulse. For example, if 5 small pulses are connected first, then 6 small pulses are connected, and then 7 small pulses are connected, even if the pulse output gradually decreases, the output is constant. It becomes possible to form a pulse of. In this way, it is possible to form a pulse having a stable output with continuous pulses.

Further, in order to prevent the combined pulse from being attenuated with the passage of time, there is a means for monitoring the charging status of the capacitor and the output of a large pulse and calculating the number of pulses to be connected. Then, the calculated number of pulses is provided to the means for forming a composite pulse by collecting and connecting a plurality of small pulses. As a result, the connected combined pulses can be generated at equal intervals to form a pulse having a stable output continuously for a long time.

According to the output measurement result by the ultra-high-speed photo-epilation (SHR method) according to this embodiment, the range of LEVEL displayed on the touch panel 43 is 20 steps from LEVEL01 to LEVEL20, and is 156V, 9. 309V and 47.5J were obtained from 6J.

In this embodiment, the light irradiation head can be smoothly moved along the human body.

FIG. 11A is a perspective view showing an example of the light irradiation head 31 of the photo-epilation device 1 according to the present embodiment. The light irradiation head 31 includes an irradiation medium (xenon tube) 71 and an optical waveguide component 72. In the cartridge type, the irradiation medium 71 and the optical waveguide component 72 are housed in the cartridge 70, fitted in the cartridge storage part, and detachably attached to the cooling water hose 46A by the connecting fastener 73.

FIG. 11B is a perspective view showing an example of an optical waveguide component 72 in the light irradiation head 31 of the hair removal device according to the present embodiment. The optical waveguide component 72 is made of, for example, synthetic quartz and is formed in a rectangular parallelepiped shape, for example. The light from the irradiation medium 71 is introduced from the end face on the irradiation medium 71 side, and is reflected at the boundary surface on the opposite side to the irradiation medium 71. It is emitted from the end face of. The six surfaces of the rectangular parallelepiped are optically polished, and the light incident from the end face on the irradiation medium 71 side is reflected on the side surface and is designed to be efficiently emitted from the end face on the opposite side to the irradiation medium 71. The irradiation medium 71 is housed on the bottom side of the cartridge 70, and then the optical waveguide component 72 is housed so as to be in contact with the cartridge storage part 74 so that the side surface is surrounded. Cooling water is supplied from the cooling water hose 46A to the periphery of the cartridge housing portion 74, and the irradiation medium 71 and the optical waveguide component 72 are cooled. The cartridge 70 and the cartridge storage portion 74 are made of, for example, a metal having high thermal conductivity in order to enhance the cooling effect.

As shown in FIG. 11B, the optical waveguide component 72 is configured in a rectangular parallelepiped shape, and the side or corner portion of the rectangular parallelepiped shape that abuts on the human body is rounded. In FIG. 11B, the two sides of the rectangular parallelepiped are configured to be rounded. The degree of roundness is, for example, 1 mmφ to 10 mmφ. The dimensions of the optical waveguide component 72 vary according to the dimensions of the irradiation medium 71, for example, 30 to 100 mm × 30 to 60 mm × 10 to 40 mm. The shape of the optical waveguide component 72 may be a substantially rectangular parallelepiped shape, for example, a trapezoidal shape close to a rectangular parallelepiped or a quadrangular pyramid.
As a result, the light irradiation head 31 can be smoothly moved along the surface of the human body, and the risk of damaging the human body is eliminated. In addition, since the sides and corners of the rectangular parallelepiped are rounded, the light spreads over a wide angle, and the light can be reliably irradiated to the dents of the human body. An electric cord is connected to the electrode of the irradiation medium 71. For example, the electric cord is passed through the bottom of the cartridge storage portion 74, the cooling water, and the exterior portion of the light irradiation head 31, and the light irradiation head 31 is passed from the vicinity of the cooling water supply port. You may lead it outside.

Although the embodiments of the present invention have been described above, the embodiments are not limited to the above examples, and it is clear that various modifications can be made without departing from the spirit of the present invention.
For example, in the above embodiment, the example in which the gantry type support is a gantry type support has been described, but a single beam type support may be used. Further, in the above embodiment, the example in which the N-axis robot is suspended from the gantry type support has been described, but the N-axis robot located around the bed may grip the tip unit to perform the treatment. Further, in the third embodiment, an example in which two robot arms are used has been described. In this case, the cooling water from one cooling device is branched and flowed to the light irradiation heads of the two robot arms, and the light irradiation heads are used. May be merged after cooling and returned to the chiller unit, using a Pertier element to cool the light irradiation head, changing the power supplied to the two robots, one robot for body hair removal, the other The robot may be used to remove hair from the face. In addition, video images and music may be used to soften the subject. Further, in the above embodiment, an example in which circulating water is used for cooling the tip unit has been described, but liquid gas may be used as the refrigerant, and liquid gas may be used to cool the skin of the person to be treated during the treatment. You may use it. In addition, the wavelength, intensity, time, distance between light irradiation points, shape, size, etc. of the light irradiation head can be appropriately changed.

The present invention is used for hair removal.

1,1A Hair removal device 2 Practitioner 3 Monitor 4 System management server 5 Head office server 6 Service PC
7 Abnormality detection unit 10 N-axis robot 11 Bed 12 Rail 13 Gate type support 14 Base 15 Foundation beam 16 Pillar 17 Beam 20, 20A, 20B Robot arm 21,21A, 21B First arm 22,22A, 22B Second Arms 30, 30A, 30B Tip unit 31, 31A, 31B Light irradiation head 32, 32A, 32B Length measuring instrument 33 Cooling part of tip unit 34 Mirror 35, 35A, 35B Pressure sensor 36 Sound sensor 37 Torque sensor 38 Voice recognition device 40 Control device 41 Robot control unit 42 Hair loss control unit 43 Control parameter setting unit (touch panel)
44 Main board 45 Cooling device 46 Electric cord / water distribution pipe tube 47 Movable caster 48 Electric supply board 49 Electrode contact 50 Program storage 51 Treatment information database 52 Customer management database 53 Business / accounting database 54 Failure / maintenance database 60 stores Server 61 Personal data application unit 62 Customer management application unit 63 Business / accounting application unit 64 Restoration application unit 70 Cartridge 71 Irradiation medium 72 Optical waveguide parts 73 Connection fastener 74 Cartridge storage 100 Hair removal device Network system

Claims (10)

A bed on which the person to be treated is placed, a rail laid in the longitudinal direction or the lateral direction of the bed, and a gantry type support or a single-beam type support that can move along the rail (both together, a gantry type support). The body), a tip unit equipped with a light irradiation head that irradiates the person to be treated with light during the treatment, and the tip unit that is suspended from the gantry type support and grips the tip unit at the tip. A robot arm that operates the position and direction of the unit, a length measuring device that measures the distance between the person to be treated and the light irradiation head, a monitor that displays information related to the treatment, and the entire hair removal device and each part. A hair removal device including a control device that controls and exerts a function as a hair removal device;
The robot arm is an N-axis robot arm, and the position of the tip unit and the irradiation direction of light from the light irradiation head can be adjusted.
The light irradiation head irradiates light having a frequency suitable for hair removal.
The control device holds a control program in a program storage unit, and the control program sets the irradiation position as the irradiation position in the vicinity of the position where the light irradiation head comes into contact with the body of the person to be treated. A program that controls the hair removal device according to an algorithm that scans the entire area of the practitioner's body except the head, which is visible from the upper surface and the side surface of the bed by moving along the practitioner's body. And
The monitor is characterized in that the position and shape of the body of the person to be treated and the approximate position of the light irradiation head created based on the measurement data of the length measuring device are schematically displayed on the screen;
N-axis robot type hair removal device. As the length measuring device, either laser light, ultrasonic waves, or a camera is used, and the tip unit is mounted side by side with the light irradiation head;
The N-axis robot type hair removal device according to claim 1. The robot arm is an N-axis robot arm, and the tip unit can adjust the opening angle of the tip arm with respect to the axis of the tip arm in the irradiation direction from the light irradiation head to the arm at the tip of the N-axis robot arm. It is characterized by being attached;
The N-axis robot type hair removal device according to claim 1 or 2. A sound sensor that detects the sound emitted by a human, the sound from the hair removal device, and the sound from the surrounding environment, a sound recognition device that extracts the sound from the sound detected by the sound sensor, and identifies the sound or words, or the robot arm. Whether or not the detection value detected by any of the torque sensor that detects the torque applied to the operator, the pressure sensor that detects the pressure applied between the person to be treated and the tip unit, the pressure sensor, the sound sensor, and the torque sensor indicates an abnormality. Equipped with an abnormality discriminating unit that discriminates
When the abnormality determining unit detects an abnormality, the control device is characterized in that the irradiation of the irradiation head is stopped, the movement of the irradiation head is stopped, or the upward avoidance is performed;
The N-axis robot type hair removal device according to any one of claims 1 to 3. The bed can be raised and lowered up and down, and is characterized in that it is lowered during the treatment and raised before and after the treatment.
The N-axis robot type hair removal device according to any one of claims 1 to 4. The irradiation light head has an irradiation medium built in a cartridge, and the cartridge of the irradiation medium can be replaced.
Electrical wiring and cooling water piping are laid in the tip unit to prevent water leakage when the cartridge is replaced;
The N-axis robot type hair removal device according to any one of claims 1 to 5. As the robot arm, a first robot arm and a second robot arm having the same structure suspended from the portal support are provided.
The first robot arm grips the first tip unit as the tip unit, and the second robot arm grips the second tip unit having the same structure as the first tip unit as the tip unit;
The N-axis device according to any one of claims 1 to 6. With a personal data application unit that records personal data related to each customer's treatment in the treatment information database and uses it to set control parameters related to the treatment:
It is equipped with a control parameter setting unit that sets control parameters related to the treatment of the hair removal device:
The personal data application unit is accessed from the information read from the customer's smartphone when the customer who is the treated person visits the store, and the physical constitution data such as the customer's body shape and weight is read from the personal data related to the customer.
The treatment information database records diagnostic data related to the hair loss status of the customer in charge of the treatment, and the control parameter setting unit learns by associating personal data including the diagnostic data accumulated in the treatment information database with the physical constitution data. Then, the hair loss cycle is estimated and the control parameters are set;
The N-axis robot type hair removal device according to any one of claims 1 to 7. The treatment information database records the hair growth status when the person in charge of the treatment diagnoses or interviews the person to be treated, the treatment interval, the hair cycle predicted by the person in charge of the treatment, and the determined hair cycle, and records the control parameters. The setting unit is characterized in calculating the set value of the control parameter and the next treatment date;
The N-axis robot type hair removal device according to claim 8. With the customer management application unit that records the personal information of each customer in the customer management database, uses it as a reference for the treatment, and uses it for paperwork:
Business progress / completion data and financial data are recorded in the business / accounting database, linked to the customer management application unit and used for business / accounting processing, and wireless or wired communication is possible to the head office server.・ With accounting application unit:
It is characterized by being provided with an original state restoration application unit having an original state restoration processing function that enables the original state restoration from an emergency stop and an emergency stop;
The N-axis robot type hair removal device according to claim 8 or 9.

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