JP6727996B2 - Flocking device - Google Patents

Description

The present invention relates to a hair transplant device.

A conventional flocking device holds a wig base for performing flocking, and pushes the longitudinal central portion of the hair fiber stretched on the surface of the wig base into the back face with a bifurcated needle, whereby the back face of the wig base is pushed. The central portion of the hair fiber in the longitudinal direction is projected in a loop shape.
Further, insert the first hair pulling needle from the surface side of the wig base into the vicinity of the position where the central portion of the hair fiber in the longitudinal direction is pushed in, capture the loop of the hair fiber, and then retract the first hair pulling needle. , Pull it to the front side.
Further, the second hair pulling needle is inserted into the loop pulled out to the surface side of the hair fiber, and the hair fiber remaining on the surface side when the central portion in the longitudinal direction is pushed into the back surface by the above-mentioned bifurcated needle. By capturing both ends and retracting the second pulling needle, both ends are inserted into the loop of the hair fiber to perform hair transplantation (see, for example, Patent Document 1).

JP 59-36710 A

The above-mentioned conventional hair transplant device forms a loop in the central portion in the longitudinal direction of the hair fiber, and only pulls the loop through the back surface of the wig base to the front surface and then inserts both ends of the hair fiber. There is a problem in that the tightening is insufficient, the loop remains largely on the surface side of the wig base, and the hair fibers are easily removed from the wig base, which leads to deterioration of the quality of the wig.

Further, the work of capturing the loop protruding on the back side of the wig base with the hair pulling needle penetrating from the front side and pulling it out to the front side has a low success rate, leading to a decrease in reliability of the hair transplant device.

An object of the present invention is to perform hair transplantation in which hair is hard to come off and a loop residue is less likely to occur. Still another object is to perform stable and reliable hair transplantation.

The invention according to claim 1 is a hair transplant device,
A base holding mechanism that holds the flocked base,
A hair holding mechanism for holding hair fibers along one surface side of the held flocked base,
A first hook needle that penetrates from the other surface side of the held hair transplant base to the one surface side is provided, and the hair fiber held by the hair holding mechanism is captured by the first hook needle to retain the hair transplant base. A first capturing mechanism that pulls in the other surface side and forms a loop of the hair fiber on the other surface side of the flocked base,
A looper mechanism that expands the loop to form a larger loop after entering the inside of the loop of the hair fiber formed by the first capturing mechanism,
A second hook needle that penetrates from the one surface side of the held flocked base to the other surface side, and a drive source that rotates the second hook needle, of the hair fibers spread by the looper mechanism. A loop is captured by the second hook needle, and after pulling out to one surface side of the hair transplant base, the loop of the hair fiber is rotated on one surface side of the hair transplant base by rotating the second hook needle. A second capture mechanism to form,
A third hook needle inserted inside the loop of the hair fiber formed by the second trapping mechanism is provided, one end of the hair fiber is trapped by the third hook needle, and the trapped hair fiber is A third trapping mechanism that pulls one end into the loop formed by the second trapping mechanism and knots the hair fibers against the flocked base,
And a control device for controlling the movement of the hair fibers on the hair transplant base.

The invention according to claim 2 is the hair transplanting device according to claim 1,
The control device is capable of adjusting the rotation angle of the second hook needle, and is capable of selecting a plurality of knotting methods for knotting the hair fibers with respect to the hair transplant base.

The invention according to claim 3 is the hair transplanting device according to claim 1 or 2,
A hair supply mechanism for supplying continuous hair fibers to the hair holding mechanism,
A hair attaching mechanism for pulling and holding the tip of the continuous hair fiber supplied from the hair supply mechanism to a holding position of the tip of the hair fiber by the hair holding mechanism.
A cutting mechanism for cutting the continuous hair fibers supplied from the hair supply mechanism from the middle.

The invention according to claim 4 is the hair transplanting device according to any one of claims 1 to 3,
The base holding mechanism holds the flocked base and allows the flocked base to rotate about an axis perpendicular to the held flocked base.

The invention according to claim 5 is the hair transplanting device according to any one of claims 1 to 4,
When the first hook needle captures the hair fiber, pulls the hair fiber held by the hair holding mechanism toward the hook portion of the first hook needle,
A hair pulling mechanism that pulls the hair fibers held by the hair holding mechanism toward the hook portion of the third hook when the third hook needle captures the hair fiber.

The invention according to claim 6 is the hair transplanting device according to claim 5,
The control device is
When the second hook catches the hair fiber, the looper mechanism is moved forward so as to press the loop of the hair fiber spread by the looper mechanism toward the hook portion of the second hook needle. It is characterized by

The invention according to claim 7 is the hair transplanting device according to any one of claims 1 to 6,
The control device is
When pulling out the loop of the hair fiber captured by the second barb to one surface side of the flocked base, the operation of expanding the loop of the hair fiber by the looper mechanism is finished.

The invention according to claim 8 is the hair transplanting device according to any one of claims 1 to 7,
The control device is
After pulling one end of the hair fiber captured by the third hook into the inside of the loop formed by the second capturing mechanism, the looper mechanism is moved backward and the looper mechanism is pulled out from the hair mechanism. It is characterized by

The invention according to claim 9 is the hair transplanting device according to any one of claims 1 to 8,
It is characterized by comprising a hair blowing mechanism for blowing the hair fibers by air toward a hook portion of at least one of the first to third hook needles.

The invention according to claim 10 is the hair transplanting device according to any one of claims 1 to 9,
A moving mechanism that positions the flocked base held by the base holding mechanism and the relative positions of the first or second hook needles,
A camera for imaging the flocked base held by the base holding mechanism,
The control device, when the flocked base is a mesh, based on the image captured by the camera, the position of the opening by the mesh of the flocked base and the piercing position of the first or second hook needle. The moving mechanism is controlled so that

The invention according to claim 11 is the hair transplanting device according to any one of claims 1 to 10,
The hair fiber is provided with a straightening mechanism for straightening the bending in the longitudinal direction of the fiber.

The invention according to claim 12 is the hair transplanting device according to any one of claims 1 to 11,
When pulling one end of the hair fiber into the loop by the third hook needle, a gripping mechanism having a gripping portion that grips the third hook needle and the hair fiber by a drive source is provided,
The gripping mechanism is characterized in that the gripping part supports the gripping part so as to be movable along a direction in which the third hook needle pulls in the hair fiber.

Since the looper mechanism opens and holds the loop of the hair fiber in the present invention, the position of the loop is set at a fixed position and can be captured with high accuracy by the second hook needle. The operation can be realized.
In addition, since the second capture mechanism can rotate the loop of hair fiber, it is possible to perform left and right half-rotation knots and one rotation knot, which was not possible in the past, and further to add more rotation knots. Is possible. Therefore, a strong nodule can be formed, and it becomes possible to perform hair transplantation in which hair fibers are hard to come off.

It is a perspective view showing the whole flocking device composition which is an embodiment of the invention. It is a block diagram showing a control system of a hair transplant device. It is a perspective view of a hair pulling mechanism. 4(A) to 4(C) are perspective views showing a hair fiber attaching operation by the hair attaching mechanism. It is a perspective view of a looper mechanism. FIG. 6A is a plan view showing an open state of the left and right loopers of the looper mechanism, and FIG. 6B is a plan view showing a closed state of the left and right loopers of the looper mechanism. It is a front view of the grasping mechanism of the third capturing mechanism. It is a flow chart which shows control of a flocking operation. FIG. 9A is a diagram of an imaged image showing the correspondence between the imaging center of the camera and the needle drop position of the second hook needle, and FIG. 9B is the image of the center of the mesh opening and the needle drop position. It is a figure of the picked-up image which shows correspondence. FIG. 10(A) is an operation explanatory view of the flocking operation seen from the front, and FIG. 10(B) is an operation explanatory view seen from the right side. FIG. 11(A) is an operation explanatory view of the hair transplanting operation continued from FIG. 10 as seen from the front, and FIG. 11(B) is an operation explanatory view as seen from the right. FIG. 12(A) is an operation explanatory view of the flocking operation subsequent to FIG. 11 as viewed from the front, and FIG. 12(B) is an operation explanatory view as viewed from the right side. FIG. 13(A) is an operation explanatory view of the flocking operation subsequent to FIG. 12 as viewed from the front, and FIG. 13(B) is an operation explanatory view as viewed from the right side. FIG. 14(A) is an operation explanatory view of the flocking operation subsequent to FIG. 13 as seen from the front, and FIG. 14(B) is an operation explanatory view as seen from the right side. FIG. 15(A) is an operation explanatory view of the flocking operation subsequent to FIG. 14 as viewed from the front, and FIG. 15(B) is an operation explanatory view as viewed from the right side. FIG. 16(A) is an operation explanatory view of the flocking operation subsequent to FIG. 15 as seen from the front, and FIG. 16(B) is an operation explanatory view as seen from the right side. FIG. 17(A) is an operation explanatory view of the hair transplanting operation subsequent to FIG. 16 seen from the front, and FIG. 17(B) is an operation explanatory view seen from the right. FIG. 18(A) is an operation explanatory view of the flocking operation subsequent to FIG. 17 as seen from the front, and FIG. 18(B) is an operation explanatory view as seen from the right side. FIG. 19(A) is an operation explanatory view of the flocking operation subsequent to FIG. 18 as viewed from the front, and FIG. 19(B) is an operation explanatory view as viewed from the right side. FIG. 20(A) is an operation explanatory view of the hair transplanting operation subsequent to FIG. 19 as seen from the front, and FIG. 20(B) is an operation explanatory view as seen from the right side. FIG. 21(A) is an operation explanatory view of the hair transplanting operation continued from FIG. 20 as seen from the front, and FIG. 21(B) is an operation explanatory view as seen from the right. FIG. 22(A) is an operation explanatory view of the flocking operation subsequent to FIG. 21 as seen from the front, and FIG. 22(B) is an operation explanatory view as seen from the right side. FIG. 23(A) is an explanatory view showing a left half-turn knot of hair fibers, and FIG. 23(B) is an explanatory view showing a right half-turn knot. FIG. 24(A) is an explanatory diagram showing a left one-turn knot of hair fibers, and FIG. 24(B) is an explanatory diagram showing a right one-turn knot. FIG. 25(A) is an operation explanatory diagram when the loop of the hair fiber is captured by the second hook needle, and FIG. 25(B) is an operation explanatory diagram when the capture error of the second hook needle due to the collapse of the loop occurs. It is operation explanatory drawing which showed the case where the loop catching of the hair fiber by the 2nd hook was performed by the hair blowing mechanism which blows air. FIG. 27(A) is a plan view of a flocked base of a regular hexagonal mesh, and FIG. 27(B) is a plan view when the direction of the flocked base of a regular hexagonal mesh is changed. It is a schematic structure figure of a hair transplant device provided with a straightening mechanism. It is the perspective view which showed the hair supply mechanism which supplies the cut|disconnected hair fiber side by side to the tray.

[Overall Configuration of Embodiment]
Hereinafter, a hair transplant device 10 according to an embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a perspective view showing the overall configuration of the hair transplant device 10, and FIG. 2 is a block diagram showing its control system.
The flocking device 10 is for flocking the hair fibers M on the flocked base B with a small amount of labor.
The hair fiber M is not limited to human hair, and is intended for all other fibers that are likened to human hair, including natural fibers and artificial fibers.
The flocked base B is not limited to a fibrous shape and includes any sheet-shaped material having a planar shape or a curved shape, but in this embodiment, a curved-shaped sheet made of a rectangular grid mesh is exemplified.

As shown in the figure, the flocking device 10 includes a base holding mechanism 20 that holds the flocked base B, a hair holding mechanism 30 that holds hair fibers along the surface of the held flocked base B, and a held flocked base. A first catching mechanism that includes a first hook needle 41 penetrating from the back surface side of B and draws a portion other than the end portion of the hair fiber M to the back surface side of the hair transplant base B by the first hook needle 41 to form a small loop. 40, a looper mechanism 70 that opens a small loop of the retracted hair fiber M to form a larger loop, and a second hook 51 that penetrates from the surface of the held hair transplant base B, and the second hook 51 is provided. Insert the loop of the hair fiber M into the loop of the hair fiber M captured by the second hooking needle 51 and the second catching mechanism 50 that pulls out the loop of the hair fiber M from the hole different from the first hooking needle 41 to the surface side of the flocking base B. And a third catching mechanism 60 for pulling one end of the hair fiber M into a loop by the third hook needle 61, and a continuous hair fiber M for supplying to the hair holding mechanism 30. A mechanism 120, a hair attachment mechanism 100 that pulls out and holds the tip end portion of the hair fiber M supplied from the hair supply mechanism 120 to the holding position of the tip end portion of the hair fiber M by the hair holding mechanism 30, and the first and third hair attachment mechanisms 100. Hair pulling mechanism 80 for pulling the hair fiber M toward the hook needles 41, 61 in order to be caught by the hook needles 41, 61, a camera 130 for picking up the hair transplant base B held by the base holding mechanism 20, and a hair transplanting of the hair fiber M. A control device 90 that controls the operation of hair transplantation on the base B, and a base 110 that supports the above-described components are provided.

[Base]
The base 110 includes a workbench 111 on which the hair transplant base B is placed, a support plate 112 standing upright in the vertical direction, a support table 113 on which the base holding mechanism 20 is placed, and a hair supply mechanism 120. And a mounting plate 114 for supporting.
A hair holding mechanism 30, a hair supply mechanism 120, and a hair pulling mechanism 80 are supported on the base 110, and a hair transplant base B is placed on the upper surface of the work table 111 and held by the base holding mechanism 20 from above. The flocking operation is performed in this state.
Further, in the work table 111, at the holding position of the flocked base B, an opening 111a for work penetrating vertically is formed, and a part of the back surface of the flocked base B in the held state is exposed downward. There is.

The support plate 112 supports the first to third capturing mechanisms 40 to 60 and the looper mechanism 70.
The support base 113 has a flat plate shape, and the base holding mechanism 20 is placed and supported by the upper end portion thereof.
In the following description, as shown in FIG. 1, two horizontal directions orthogonal to each other are the X-axis direction and the Y-axis direction, one of the X-axis directions is the “left” side and the other is the “right” side. , One of the Y-axis directions is the “front” side and the other is the “rear” side. Further, the vertical up-down direction orthogonal to the X-axis direction and the Y-axis direction is the Z-axis direction, one of which is the "upper" side and the other is the "lower" side.

[Base holding mechanism]
The base holding mechanism 20 includes a holding frame 21 that holds the flocked base B from above and below, a holding arm 22 that holds the holding frame 21 at the tip, a holding frame 21 via the holding arm 22, and the work table 111 described above. And a moving mechanism 23 for moving the X-axis to an arbitrary position along the XY plane.

The pressing frame 21 has a ring-like frame shape, and has a wide opening in the center, and the flocking base B sandwiched between the pressing frame 21 and the work table 111 is subjected to flocking work inside the opening. ..
The holding arm 22 is provided with an air cylinder 24 for holding the base that allows the pressing frame 21 to move up and down. By lowering the pressing frame 21, the flocking base B is pinched in cooperation with the workbench 111, and the pressing frame 21 is pressed. The flocked base B can be released by raising.

The moving mechanism 23 can arbitrarily move and position the holding frame 21, the workbench 111, and the holding arm 22 along the XY plane, whereby the held flocked base B and the first and second hook needles. It is possible to perform positioning with respect to the relative positions of 41 and 51.
The moving mechanism 23 includes a base X-axis motor 25 and a base Y-axis motor 26, which are drive sources for moving the holding frame 21, the workbench 111, and the holding arm 22 in each of the X-axis direction and the Y-axis direction. It is an X-Y system moving mechanism.

[Hair supply mechanism]
The hair supply mechanism 120 inserts the support portion 125 that rotatably supports the top N around which one continuous hair fiber M is wound, and the hair fiber M fed out from the top N, along a predetermined path. The first to fourth guides 121 to 124, the tension adjusting device 127 that applies tension to the hair fiber M between the first guide 121 and the second guide 122, and the second guide 122. The weight 126 suspended from the hair fiber M between the third guide 123 and the third guide 123.

The first guide 121 is arranged above the top N, and once pulls the hair fiber M upward, then folds it back and makes it face downward, thereby giving sliding friction to the hair fiber M.
A weight 126 is hung from the hair fiber M passing between the second guide 122 and the third guide 123. As a result, the hair fiber M is always pulled downward by the weight 126, so that the state in which the hair fiber M extending between the second guide 122 and the third guide 123 is stretched without sagging is maintained.
The fourth guide 124 is arranged at a lower position than the third guide 123, and the hair fiber M pulled downward by the weight 126 is directed downward so as to be folded back by the third guide 123, so as to reduce sliding friction. Granted.

The tension adjusting device 127 adjusts the spring pressure, and a pair of sandwich plates that sandwich the hair fiber M passing between the first guide 121 and the second guide, a spring that presses the pair of sandwich plates into contact with each other by spring pressure. It is equipped with a control knob for adjusting. The hair fiber M passing between the first guide 121 and the second guide is clamped by the spring pressure of the pair of clamping plates, and sliding friction is imparted when the hair fiber M passes, whereby tension is applied to the hair fiber M. It is given to M. Then, this tension can be arbitrarily adjusted by the adjusting knob.

The guides 121 to 124, the tension adjusting device 127, and the weight 126 impart appropriate sliding friction and tension to the hair fibers M, so that the occurrence of looseness of the hair fibers M is effectively reduced at the position where the hair transplanting work is performed. can do.

[Hair holding mechanism]
The hair holding mechanism 30 holds a first holding portion 31 that holds the tip end portion of the hair fiber M fed from the hair supply mechanism 120, and a portion that is closer to the hair feed mechanism 120 side than the tip end portion of the hair fiber M. And a second holding part 32.

The first and second holding portions 31 and 32 are structured to hold the hair fibers M from above and below, and hold actuators 33 and 34 such as solenoids and air cylinders that are drive sources for switching between holding and releasing. Are provided individually.
In addition, the first and second holding portions 31 and 32 are both in a front open state when the hair fibers M are released, and when the hair fibers M are set in the first and second holding portions 31 and 32, respectively. The hair fiber M can be inserted from the front side.
Further, the first and second holding portions 31 and 32 are in a state where the hair fibers M held by these are horizontally stretched near the upper part of the hair transplant base B held by the base holding mechanism 20, and The hair fibers M are arranged so as to pass through the front side of the opening 111 a of the workbench 111.
Then, during the hair transplanting operation, the hair fibers M held by the first and second holding portions 31 and 32 are pulled backward by the hair pulling mechanism 80, and the hair transplant base B and the first to third hook needles. The routes are modified so that the proper positions are passed with respect to 41, 51, and 61.

[Hair pulling mechanism]
FIG. 3 is a perspective view of the hair pulling mechanism 80. As shown in the figure, the hair pulling mechanism 80 includes a support arm 81 rotatably supported by the placing plate 114, a hook body 82 fixedly supported by a rotating end of the support arm 81, and a hook body 82. It is provided with a cutting mechanism 83 for the hair fiber M provided and an air cylinder 84 for a shifting operation that imparts a rotating operation of the support arm 81.

The support arm 81 is in the form of a long plate, the base end portion of which is pivotally supported by a support shaft 811 along the Z-axis direction, and the rotating end portion is equipped with a hook body 82.
The supporting arm 81 has its rotating end portion moved back and forth due to its rotating operation, and when it moves forward, the hair fiber M is moved to a position away from the first and third hook needles 41 and 61 to the front. When moving backward, the hair fiber M is moved to a position where it can be captured by the first and third hook needles 41 and 61.

The air cylinder 84 for the shifting operation is arranged at the rear of the support arm 81, and extends along the Z-axis direction at a position where the tip end of the plunger 841 is slightly closer to the support shaft 811 than the rotating end of the support arm 81. They are connected by a rotation shaft 842.
Further, the air cylinder 84 for the shifting operation is arranged so that the plunger 841 projects substantially forward, and there are a state where the plunger 841 projects forward and a state where the plunger 841 retracts rearward. By switching, the support arm 81 is rotated around the support shaft 811.
The relative angle between the plunger 841 and the support arm 81 relatively changes due to the forward/backward movement of the plunger 841, but as described above, the plunger 841 can be rotated about the Z axis by the rotation shaft 842. Since it is connected to the support arm 81, it is possible to allow angular fluctuation.

The hook body 82 is a long plate shape that is in a state along the Y-axis direction when the support arm 81 is oriented parallel to the X-axis direction. A side wall portion 821 is provided along the YZ plane.
A guide surface 822 is formed at the front end portion of each side wall portion 821, and the guide surface 822 is inclined downward in the rearward direction.
Further, a cutout portion 823 for holding the hair, which is recessed upward, is formed behind the guide surface 822 of each side wall portion 821.
Accordingly, when the hook body 82 moves forward due to the rotation of the support arm 81, the hair fibers M held by the hair holding mechanism 30 come into contact with the two guide surfaces 822 and move downward along the guide surfaces 822. When the hair fibers M are guided so as to be pushed down and reach each cutout portion 823, the hair fiber M jumps upward due to its own tension and is held in each cutout portion 823.

The cutting mechanism 83 includes an elevating plate 831 which is supported below the hook body 82 so as to be able to move up and down between the side wall portions 821, and a cutter 832 which is provided on the upper surface of the elevating plate 831 with its cutting edge facing upward. A hair-cutting actuator 833 including an air cylinder and a solenoid for moving up and down the lift plate 831 is provided.

The hair fiber M is fed from the hair supply mechanism 120, and unless the hair is cut in the process of performing the hair transplanting operation, the operation for binding to the hair transplant base B cannot be performed. Therefore, the hair cutting actuator 833 is controlled at an appropriate timing. The cutter 832 is lifted together with the lifting plate 831 to cut the hair fibers M held in the notches 823.

Further, since the end of the cut hair fiber M on the side of the hair supply mechanism 120 needs to be passed to the hair attachment mechanism 100 described below for the next hair transplantation, the side of the hair supply mechanism 120 of the cut hair fiber M is cut. The hair pulling mechanism 80 has a structure that can be held so that the end of the hair does not become free.
That is, when the cutter 832 moves upward, a hair holder (not shown) that is in sliding contact with the cutting edge surface of the cutter 832 on the hair supply mechanism 120 side is provided on the inner surface of the side wall portion 821 of the hook body 82 on the hair supply mechanism 120 side. Therefore, when the hair fiber M is cut, the end of the cut hair fiber M on the side of the hair supply mechanism 120 can be held between the hair holder and the cutting edge surface of the cutter 832. ..

[Hair attachment mechanism]
FIG. 4 is a perspective view showing an attaching operation of hair fibers by the hair attaching mechanism 100.
The hair attachment mechanism 100 moves through a clamp member 101 that clamps the tip end portion of the hair fiber M supplied from the hair supply mechanism 120 and the front side of the hair transplant base B held by the base holding mechanism 20. And a moving mechanism (not shown).

The clamp member 101 has a hinge around the X axis at the front end and has a structure in which the rear end side is opened to clamp the hair fiber M, and the actuator 102 for clamping operation is used as a drive source.
Since the rear end portion side of the clamp member 101 is open, the cutting mechanism 83 of the hair pulling mechanism 80 described above clamps the front end portion of the hair fiber M held after cutting the hair fiber M from the front thereof. You can When the tip of the hair fiber M is transferred, the tip of the hair fiber M is easily released by turning off the actuator 833 for cutting the hair of the cutting mechanism 83, but the actuator 833 for cutting the hair is turned on. It is also possible to pull it out with it left.

The moving mechanism moves the clamp member 101 forward along the left end of the flocked base B (state of FIG. 4A), then moves the clamp member 101 rightward through the front side of the flocked base B. (State of FIG. 4(B)), further, the clamp member 101 is moved rearward along the right end portion of the hair transplant base B (state of FIG. 4(C)), and the first holding portion of the hair holding mechanism 30. Carry the tip of the hair fiber M to 31.
At this time, the clamp member 101 moves to the rear so that the right side of the first holding portion 31 is slightly passed by the first holding portion 31, so that the first holding portion 31 that clamps from the front side is moved. In contrast, the tip of the hair fiber M can be passed.
During delivery, the holding actuator 33 of the first holding unit 31 is controlled to switch from the released state to the held state, and then the clamp operation actuator 102 is controlled to release the held state. And the setting of the hair fibers M is completed.

Specifically, the moving mechanism includes a clamp member X-axis moving motor 103 that moves the clamp member 101 along the X-axis direction, and a clamp-member Y-axis moving motor that moves the clamp member 101 along the Y-axis direction. 104 and an XY stage that supports the clamp member 101 so as to be movable in the X-axis direction and the Y-axis direction, and the clamp member 101 is moved as described above.

[Looper mechanism]
5 is a perspective view of the looper mechanism 70, and FIG. 6 is a plan view of a main part of the looper mechanism 70. As illustrated, the looper mechanism 70 includes a long plate-shaped support member 71 whose one end is fixedly supported by a support plate 112 below the work table 111, and a rotary shaft 721 at the other end of the support member 71. The rotary arm 72 is rotatably supported around the X-axis, the head 73 is provided on the upper end of the rotary arm 72, and the pair of left and right loopers 74, 75 are provided on the head 73. ..

A rear end of the support member 71 is fixedly supported by the support plate 112 in a state along the Y-axis direction, and a lower end of the rotating arm 72 is connected to a front end of the support member 71.
The upper end of the rotating arm 72 is moved back and forth by rotating about the X axis with respect to the support member 71 by the rotating shaft 721.
An output shaft of a motor 76 for advancing and retracting the looper (see FIG. 2, not shown in FIG. 5) is connected to the rotating arm 72, and a pair of loopers 74, 75 of the head 73 can be moved forward and backward. You can do it.

The pair of loopers 74, 75 has a beak shape with a pointed end and has a bilaterally symmetrical shape when viewed from above.
These loopers 74, 75 extend forward from the head 73, and their rear end portions are supported by the head 73 so as to be rotatable around the Z axis. Then, it is possible to switch between an open state (the state of FIG. 6A) in which the tips of the two are separated from each other and a closed state (the state of FIG. 6B) in which the tips of the two are close to each other. An actuator 77 for opening/closing the looper for switching the opening/closing is housed inside the head 73.
In the hair transplanting operation, the loopers 74 and 75 are in a state of individually locking the loops of the hair fibers M, and then it is necessary to pull out the loopers 74 and 75 from the respective loops. Even in the closed state, since a gap is formed at the tips of the hair fibers so that the hair fibers M can pass through, it is possible to smoothly pull out the loop.

Further, in each of the loopers 74 and 75, recessed portions 741 and 751 that are recessed inward are formed near the tip portion. The left and right loopers 74, 75 move forward in the closed state and enter the small loop of the hair fiber M, and when they are opened, the small loop is expanded while holding the hair fiber M in the recesses 741, 751. It can be in a larger loop.

[First capture mechanism]
As shown in FIG. 1, the first capture mechanism 40 is arranged below the opening 111a of the workbench 111, and has a first hook 41 arranged with its tip end facing upward and a first hook 41. A first trapping air cylinder 42 that moves the hook 41 up and down is provided.
The first catching mechanism 40 is supported by the support plate 112 via a bracket (not shown) with the first hook needle 41 extending along the Z-axis direction.

The first hook 41 has a sharp needle-like upper end (tip), and a barb-like hook 411 facing downward is formed on the front side of the outer periphery near the tip (see FIG. 11 ). ). Since the tip of the hook of the hook portion 411 faces downward, when the first hook needle 41 is raised from below the hair transplant base B to penetrate the hook portion 411 and then lowered, the hook portion 411 is moved to the upper side of the hair transplant base B. The middle part of the arranged hair fiber M (the part between the holding position of the hair pulling mechanism 80 and the holding position of the first holding part 31) is hooked on the hook part 411 and drawn into the back side of the hair transplant base B to form a small loop. Can be formed.

The first hook 41 is arranged at the center of the opening 111a of the work table 111 when viewed from above. On the other hand, the hair fibers M held in a stretched state by the first holding portion 31 and the second holding portion 32 of the hair holding mechanism 30 pass somewhat forward of the first hook 41. When the first hook 41 is raised, the hair pulling mechanism 80 pulls the hair fiber M toward the first hook 41, that is, rearward, to the front side of the outer circumference of the first hook 41. Abut. Accordingly, the hook portion 411 can more reliably capture the hair fiber M.

[Second capture mechanism]
As shown in FIG. 1, the second capturing mechanism 50 is arranged above the opening 111a of the workbench 111, and has a second hook 51 arranged with its tip end facing downward, and a second hook. A second trapping air cylinder 52 that moves the hook needle 51 up and down, and a rotation motor 53 that rotates the second hook needle 51 and the second trapping air cylinder 52 around the Z axis are provided.
The second catching mechanism 50 is supported by the support plate 112 via a bracket (not shown) with the second hook 51 extending along the Z-axis direction.

The second hook 51 has a sharp needle-like bottom end (tip), and a barb-like hook 511 facing upward is formed on the rear side of the outer periphery near the tip (FIG. 18). reference). Since the tip of the hook of the hook 511 faces upward, when the second hook 51 is lowered from above the hair-implanting base B and penetrates to the hook 511 and is then raised, the lower side of the hair-implanting base B. The loop of the hair fiber M held by the looper mechanism 70 can be hooked on the hook 511 and pulled up to the front side of the hair transplant base B to form the loop of the hair fiber M on the surface side.

The second hook 51 is arranged near the center of the opening 111a of the work table 111 when viewed from above and slightly rearward of the above-described first hook 41.
On the other hand, the hair fiber M held by the looper mechanism 70 is located somewhat behind the second hook 51, and when the second hook 51 descends, the looper mechanism 70 moves the hair fiber M. Is moved to the side of the second hook needle 51, that is, moved forward and brought into contact with the rear side of the outer circumference of the second hook needle 51. This allows the hook 511 to more reliably capture the hair fiber M.

The rotation motor 53 rotates the second hook 51 around the Z axis together with the second air cylinder 52 for catching which is supported rotatably around the Z axis via the gear mechanism. By this rotation motor 53, a twisted portion can be formed in the loop of the hair fiber M captured by the second hook 51, and one end of the hair fiber M is inserted into this loop to move the hair fiber M. A nodule that tightly binds to the flocked base B can be formed.

[Third capture mechanism]
As shown in FIG. 1, the third trapping mechanism 60 is arranged on the right side of the second trapping mechanism 50 above the opening 111a of the workbench 111, and the tip end thereof is directed obliquely downward to the left. The third hook needle 61 arranged, the third air cylinder 62 for catching which moves the third hook needle 61 forward and backward, and the third hook needle 61 forms one end of the hair fiber M by the second hook needle 51. When it is pulled into the loop, it is provided with a third hook 61 and a gripping mechanism 63 having a gripping portion 631 for gripping by contacting the hair fiber M.
The third catching mechanism 60 is supported by the support plate 112 via a bracket (not shown) with the third hook 61 facing diagonally left downward.

The third hook 61 has a sharp needle-like lower end (tip), and a barb-like hook 611 facing the opposite side is formed on the front side of the outer periphery in the vicinity of the tip. (See Figure 7). Since the tip of the hook of this hook 611 is directed obliquely upward to the right, the third hook 61 is hooked inside the loop of the hair fiber M formed by the second hook 51 above the bristle implant base B. When it is pierced up to 611, and further the hook 611 is lowered to the hair fiber M in a state along the upper surface of the hair transplant base B and then retracted, the part of the hair fiber M on the hair supply mechanism 120 side is captured, It can be inserted into the loop of the hair fiber M.

The third catching mechanism 60 is arranged so that the extension line of the center line of the third hook needle 61 crosses the extension line of the center line of the second hook needle 51 above the flocking base B.
On the other hand, the hair fiber M held in a stretched state between the second holding portion 32 and the loop passes somewhat forward of the extension line of the center line of the third hook 61. When the third hook needle 61 descends, the hair pulling mechanism 80 pulls the hair fiber M toward the third hook needle 61, that is, backward, and contacts the front side of the outer circumference of the third hook needle 61. Contact. As a result, the hook portion 611 can more reliably capture the hair fiber M.
In addition, at the timing when the third hook 61 captures the hair fiber M, the hair cutting mechanism 80 is actuated by the actuator 833 for cutting the hair to cut the hair fiber M. Capture the cut end and thread it through the loop.

The hook is a front view of the gripping mechanism 63. The gripping mechanism 63 includes a gripping portion 631 in which a pair of gripping members 632 are provided on both sides of the third hook needle 61, and a pair of gripping actuators that switch between gripping and releasing the third hook needle 61 by the pair of gripping members 632. 633, a bracket 634 that holds the grip 631, and a support frame 635 that supports the bracket 634.

The two gripping members 632 are supported by the bracket 634 so that they can move toward and away from each other. When the two gripping members 632 move toward each other, the third hook 61 can be gripped, and when the two gripping members 632 move away from each other, the third hook 61 can be released.
The gripping actuator 633 may be of any type as long as it is an actuator that moves the gripping member 632 in the contacting/separating direction. For example, a piezoelectric element provided on the back side of the gripping member 632 is used. When a drive signal is applied to the gripping actuator 633 made of a piezoelectric element, the gripping actuator 633 swells and moves the gripping member 632 toward the third hook needle 61 side to approach it, and when the drive signal is cut off, the gripping member 632 contracts. 632 can be separated from the third hook 61.

The bracket 634 has an elongated hole 634a formed along the same direction as the advancing/retreating direction of the third hook 61, and is supported slidably along the elongated hole 634a with respect to the support frame 635. ..
As a result, when the third hook needle 61 that has captured the cut end of the hair fiber M is retracted, the gripping actuator 633 is controlled to bring the two gripping members 632 into close proximity to each other so that the third gripping member 632 is gripped. The hook needle 61 and the captured hair fiber M are also gripped, and together with these, the grip portion 631 and the bracket 634 recede obliquely upward to the right along the elongated hole 634a together with the third hook needle 61. As a result, the cut end of the hair fiber M is pulled in the backward moving direction of the third hook needle 61 without coming off from the hook portion 611 of the third hook needle 61, and the loop can be tightened to form a tightly bound node. it can.
Further, when the gripped state is released, the bracket 634 returns diagonally downward left due to its own weight.

[camera]
The camera 130 is supported by the support plate 112 below the work table 111 via the support member 131 in an orientation capable of capturing an image of the flocked base B held by the base holding mechanism 20 from the opening 111a. ..
The support member 131 of the camera 130 can be fixed by changing and adjusting the direction of the line of sight of the camera 130.

[Control system of hair transplant device: control device]
As shown in FIG. 2, the control device 90 of the flocking device 10 includes a ROM (Read Only Memory) 92 in which a program for controlling the operation of flocking is stored, and a RAM (Random Access) serving as a work area for arithmetic processing. Memory) 93, a rewritable non-volatile data memory 94 as a storage unit for storing various setting data, and a CPU 91 (Central Processing Unit) that executes programs in the ROM 92.

The CPU 91 also includes a base X-axis motor 25, a base Y-axis motor 26, a rotary motor 53, a looper advancing/retreating motor 76, and a clamp member via motor drive circuits 25a, 26a, 53a, 76a, 103a, and 104a. The drive of the X-axis movement motor 103 for the motor and the Y-axis movement motor 104 for the clamp member is controlled.
Further, the CPU 91 controls the holding actuators 33 and 34, the hair cutting actuator 833, the looper opening and closing actuator 77, the clamp operation actuator 102, and the gripping operation through the drive circuits 33a, 34a, 833a, 77a, 102a, and 633a. The drive of the actuator 633 is controlled.
Further, the CPU 91 causes the solenoid valves 24a, 84a, 42a, which operate the air cylinder 24 for holding the base, the air cylinder 84 for the shifting operation, and the first to third air cylinders 42, 52, 62 for capturing, respectively. It is connected to drive circuits 24b, 84b, 42b, 52b and 62b for controlling 52a and 62a.
The CPU 91 is also connected to the camera 130 via the image processing device 132.
The third capturing mechanism 60 includes two gripping actuators 633 and two driving circuits 633a thereof, but only one of them is shown in FIG.

[Flocking operation control by controller]
The flocking operation control executed by the control device 90 according to the control program will be described based on the flowchart of FIG. 8, the explanatory view of FIG. 9, and the operational explanatory diagrams of FIGS. 10 to 22.

First, the CPU 91 of the control device 90 executes calibration (step S1). That is, as shown in FIG. 9A, the needle drop position T of the second hook 51 is imaged by the camera 130, and the needle drop position of the second hook 51 with respect to the center position C of the imaging range by the image processing device 132. Calculate and record the coordinates of T.

Next, the hair fibers M and the flocked base B are set (step S3).
First, the flocked base B is inserted between the holding frame 21 of the base holding mechanism 20 and the workbench 111, and the CPU 91 operates the air cylinder 24 for holding the base so as to hold it. ..

On the other hand, for the set of the hair fibers M, the CPU 91 controls the X-axis movement motor 103 for the clamp member and the Y-axis movement motor 104 for the clamp member to receive a predetermined reception on the left side of the hook body 82 of the hair pulling mechanism 80. The clamp member 101 is conveyed to the position. Then, the cut end portion of the hair fiber M held by the hook body 82 is clamped by operating the actuator 102 for clamping operation.
Further, the hair pulling mechanism 80 controls the actuator 833 for cutting hair to release the cut end of the hair fiber M.
Then, again, as shown in FIG. 4, the CPU 91 controls the clamp member X-axis movement motor 103 and the clamp member Y-axis movement motor 104 to move the clamp member 101 to the first holding unit 31 of the hair holding mechanism 30. Transport to the delivery position on the right of. As a result, the cut end portion of the hair fiber M held by the clamp member 101 is in a state of being inserted into the first holding portion 31 in the released state. Further, the portion of the hair fiber M near the hair supply mechanism 120 is also inserted into the second holding portion 32 which is in the released state.

In this state, the CPU 91 operates the holding actuators 33 and 34 to hold the hair fiber M by the first holding portion 31 and the second holding portion 32.
Further, the hook body 82 of the hair pulling mechanism 80 stands by at the advanced position, and when the hair fiber M is set in the first holding portion 31 and the second holding portion 32, the hook body 82 is moved from the front end portion of the hook body 82. The cutout portion 823 enters the cutout portion 823 and is held therein.

As a result, as shown in FIGS. 10(A) and 10(B), the hair fibers M are stretched horizontally near the surface of the hair transplant base B and along the surface thereof. The hair fiber M is obliquely held by the first holding portion 31 and the second holding portion 32, but in order to make the operation easy to understand, the hair fiber M is held on the X-axis in FIG. It is shown in a state parallel to the direction.

Next, the position of the flocked base B is corrected (step S5). That is, the flocked base B set on the pressing frame 21 is imaged from below by the camera 130.
The image processing device 132 performs image processing on the captured image at that time to extract the rectangular opening of the mesh of the flocked base B. Then, the opening near the needle drop position of the second hook 51 acquired in step S1 is selected, and the center position K of the opening is calculated from the captured image.
Then, as shown in FIG. 9(B), the amount of deviation between the needle drop position T of the second hook needle 51 and the center position K of the opening obtained in step S1 is calculated, and the center position K of the opening H2 becomes the first position. The position of the flocking base B is corrected by controlling the base X-axis motor 25 and the base Y-axis motor 26 so as to match the needle drop position T of the second hook 51.
The hair fibers M are implanted in the lattice portion between the opening H2 and the opening H1 located in front of the opening H2.

Then, the capturing operation of the hair fiber M by the first hook 41 is performed (step S7).
That is, as shown in FIGS. 11A and 11B, the CPU 91 actuates the first trapping air cylinder 42 to raise the first hook needle 41. As a result, the first hook needle 41 projects from the back surface side of the flocked base B into the opening H1.
Then, the air cylinder 84 for the pulling operation of the hair pulling mechanism 80 is operated, the hook body 82 is moved backward, and the hair fiber M is pulled toward the first hook portion 411 side of the first hook 41. As a result, the hair fibers M are arranged so that they can be captured by the first hook portion 411.

Further, as shown in FIGS. 12A and 12B, the CPU 91 operates the first capturing air cylinder 42 to lower the first hook needle 41 (in FIG. 12, the hook body 82 is not shown). (Not shown). As a result, the hair fiber M is drawn into the opening H1, and the first hook 41 forms a small loop of the hair fiber M on the back surface side of the hair transplant base B.
It should be noted that after the first hook 41 is lowered, the air cylinder 84 for the shifting operation is operated, and the hook body 82 is returned to the original front position.

Next, the hair fiber M is expanded by the looper mechanism 70 (step S9).
That is, as shown in FIGS. 13A and 13B, the CPU 91 actuates the looper advancing/retreating motor 76 to move the head 73 forward. As a result, the tip end of each looper 74, 75 enters the inside of the small loop of the hair fiber M, and the hair fiber M enters the recesses 741, 751 (see FIG. 6).

Further, as shown in FIGS. 14(A) and 14(B), the CPU 91 operates the looper opening/closing actuator 77 to open the loopers 74, 75. As a result, the small loop of the hair fiber M is widened to the left and right to form a larger loop.
At this time, the holding actuator 34 is controlled to release the holding state by the second holding portion 32, and the tension is not generated in the hair fiber M.

Further, as shown in FIGS. 15(A) and 15(B), the CPU 91 operates the first trapping air cylinder 42 in the ascending direction at a minute timing and then switches it to the descending direction. As a result, the first hook 41 moves slightly up and then down. Further, the head 73 of the looper mechanism 70 is advanced at the timing when the first hook 41 is slightly raised. As a result, the loop of the hair fiber M captured by the first hook 41 is disengaged from the first hook 411 and is held only by the loopers 74 and 75.

Then, the operation of capturing the hair fiber M by the second hook 51 is performed (step S11).
That is, as shown in FIGS. 16(A) and 16(B), the CPU 91 operates the motor 76 for advancing/retreating the looper to retract the head 73. As a result, the lower end of the loop of the hair fiber M moves directly below the opening H2 adjacent to the hair transplant base B.
Further, the CPU 91 operates the second air cylinder 52 for capture to lower the second hook 51. As a result, the second hook 51 projects into the opening H2 of the flocked base B. Along with this, the head 73 is moved forward, and the loop of the hair fiber M is pressed against the outer peripheral rear portion of the second hook 51.

In this state, as shown in FIGS. 17(A) and 17(B), the CPU 91 actuates the second capturing air cylinder 52 to raise the second hook 51. As a result, the second hook 511 captures the loop of the hair fiber M and pulls it out from the opening H2 to the surface side of the hair transplant base B. Further, when the second hook 51 is raised, the actuator 77 for opening and closing the looper is operated to switch the loopers 74 and 75 to the closed state.

Further, as shown in FIGS. 18(A) and 18(B), the CPU 91 controls the holding actuator 34 to return the second holding portion 32 to the holding state and restrains the hair fiber M.
Further, the rotation motor 53 is controlled to rotate the second hook 51 51 counterclockwise by 270° when viewed from above. As a result, the loop of the hair fiber M changes from the front-back direction to the left-right direction.

Next, a knot forming operation is performed by the third hook 61 (step S13).
That is, as shown in FIG. 19(A) and FIG. 19(B), the CPU 91 operates the third capturing air cylinder 62 to cause the third hook needle 61 to project. As a result, the third hook needle 61 projects into the loop of the hair fiber M captured by the second hook needle 51, and the third hook portion 611 approaches the hair transplant base B.
Then, the CPU 91 activates the air cylinder 84 for the pulling operation of the hair pulling mechanism 80, and again moves the hook body 82 backward to move the hair fiber M extending from the opening H1 to the hair feeding mechanism 120 side to the third position. The hook 61 is pulled toward the third hook 611 side.

Further, as shown in FIGS. 20(A) and 20(B), the CPU 91 actuates the third air cylinder for capturing 62 to retract the third hook needle 61. As a result, the third hook needle 61 captures the hair fiber M extending from the opening H1 toward the hair supply mechanism 120 with the third hook portion 611, and pulls it up so as to be drawn into the loop of the hair fiber M.

Then, as shown in FIGS. 21(A) and 21(B), the CPU 91 operates the looper advancing/retreating motor 76 to retract the head 73 and pull out the loopers 74, 75 from the hair fiber M. ..
Further, the second air cylinder 52 for capturing is operated at a minute timing in the descending direction and then switched to the ascending direction, and the rotating motor 53 is controlled to rotate the second hook needle 51 clockwise when viewed from above. ° Rotate. As a result, the loop of the hair fiber M is released from the second hook portion 511, and the hook needle 51 rises to a position where it does not interfere with the subsequent finishing operation.

Next, finishing is performed (step S15).
That is, as shown in FIG. 7, the CPU 91 operates the hair-cutting actuator 833 of the cutting mechanism 83 to cut the hair fiber M, and also operates the gripping actuators 633 to move backward. The third hook 61 is held by each holding member 632. As a result, the third hook needle 61 and the captured hair fiber M are gripped, the grip portion 631 and the bracket 634 move backward together with the third hook needle 61, and the cut end of the hair fiber M passes through the loop. As shown in FIGS. 22(A) and 22(B), the knot can be firmly tightened.

As described above, the hair transplanting operation for one hair fiber M is completed. When performing the next flocking, by controlling the base X-axis motor 25 or the base Y-axis motor 26 of the base holding mechanism 20, the flocking base B is moved leftward or rightward or backward by one opening, The above steps S1 to S15 are repeated. As a result, it is possible to continuously implant hair.

[Technical effects of the embodiment]
The above-mentioned hair transplant device 10 is held by a base holding mechanism 20 that holds the hair transplant base B, and a hair holding mechanism 30 that holds the hair fibers M along the surface (one surface) of the held hair transplant base B. A first hook 41 is provided that penetrates from the back surface (other surface) side of the flocked base B, and the first hook needle 41 draws a portion other than the end portion of the hair fiber M to the back surface side of the flocked base B. The mechanism 40, the looper mechanism 70 that opens the non-end portion of the retracted hair fiber M to form a loop, and the second hook 51 that penetrates from the surface of the retained flocked base B are provided. A second catching mechanism 50 that pulls out the loop of the hair fiber M from the hole different from the first hook needle 41 to the surface side of the hair transplant base B by the hook needle 51, and the loop of the hair fiber M caught by the second hook needle 51. And a third catching mechanism 60 for pulling one end of the hair fiber into a loop by the third hook needle 61 and an operation control of the hair fiber M to be transplanted on the hair-implanting base B. The second capturing mechanism 50 includes a rotation motor 53 as a drive source for rotating the second hook 51.
As a result, the looper mechanism 70 opens and holds the loop of the hair fiber M, so that the position of the loop is set at a fixed position, and the loop can be captured with high accuracy by the second hook 51, resulting in more reliable and reliable operation. It is possible to realize a high flocking operation.
In addition, since the second capturing mechanism 50 can rotate the loop of the hair fiber M, a left and right half-turn knot or a one-turn knot, which has not been possible in the past, and a turn knot with more rotations are added. It can be done automatically. Therefore, it is possible to form a strong knot and to perform hair transplantation in which the hair fiber M is less likely to come off.

Further, the hair transplanting device 10 uses the hair supply mechanism 120 that supplies the continuous hair fibers M to the hair holding mechanism 30 and the end portion of the continuous hair fibers M that is supplied from the hair supply mechanism 120 to the hair by the hair holding mechanism 30. A hair attachment mechanism 100 that pulls out and holds the hair M to the first holding portion 31, which is a holding position of the tip end portion of the fiber M, and a cutting mechanism 83 that cuts the continuous hair fiber M supplied from the hair supply mechanism 120 halfway. Since it is provided, the hair fibers M can be automatically supplied and set, and the hair fibers M can be cut into a predetermined length, so that continuous hair transplantation can be performed automatically and the work load is dramatically increased. Therefore, it is possible to quickly and highly efficiently implant hair.

Further, since the hair transplant device 10 includes the hair pulling mechanism 80 that pulls the hair fiber M toward the first and third hook needles 41 and 61, the hair fiber M capturing operation by these hook needles 41 and 61 is further improved. It is possible to surely perform it, and it is possible to improve reliability.
Regarding the second hook 51, the looper mechanism 70 functions as a mechanism for preventing the fall of the hair fiber M by performing an operation of bringing the hair fiber M closer. Therefore, the capturing operation of the hair fiber M by the second hook 51 can be performed more reliably, and the reliability can be improved.

Further, the control device 90 terminates the operation of expanding the loop of the hair fiber M by the looper mechanism 70 when pulling out the loop of the hair fiber M captured by the second hook 51 to one surface side of the hair transplant base B. As a result, the loop of the hair fiber M is slackened, and the second hook that captures the hair fiber M can smoothly rise without resistance.

Further, the control device 90 pulls one end of the hair fiber M captured by the third hook 61 into the inside of the loop formed by the second capturing mechanism 50, and then moves the looper mechanism 70 backward to move the looper mechanism 70. Since the control of pulling out 70 from the hair mechanism is performed, when the hair fiber M is knotted to the hair transplant base, the loopers 74 and 75 can be retracted to a position where they do not interfere with the hair fiber M, and no mistakes occur in the hair transplant operation. As described above, stable operation can be performed, and the reliability of the device can be improved.

Further, a moving mechanism 23 that positions the flocked base B held by the base holding mechanism 20 and the relative positions of the first and second hooks 41 and 51, and a flocked base B held by the base holding mechanism 20. When the flocked base B has a mesh shape, the control device 90 includes a camera 130 for picking up an image of the position of the opening H2 by the mesh of the flocked base B and the second hook needle 51 based on the image captured by the camera 130. The moving mechanism 23 is controlled so as to match the piercing position of the.
For this reason, it is possible to perform good hair transplantation on the opening 2 more accurately through the second hook 51, and to realize more reliable hair transplantation.
The opening may be aligned with the piercing position of the first hook needle 41. In addition, when the relative positional relationship between the first hook needle 41 and the second hook needle 51 is known, by aligning one of the hook needles with the opening, both the hook needles are adjacent to each other. It is possible to adjust to.

The third catching mechanism 60 holds the third hook needle 61 and the hair fiber M by the gripping actuator 633 as a driving source when pulling one end of the hair fiber M into the loop by the third hook needle 61. A gripping mechanism 63 having a gripping portion 631 for holding the gripping portion 631 is movably supported in the drawing movement direction of the third hook needle 61 with respect to the hair fiber M. When the third hook needle 61 grips the hair fiber M and retracts together with the bracket 634 by gripping the grip member 632 as the hook needle 61 retreats, the hair fiber M can be strongly pulled and a nodule can be formed. It is possible to tighten firmly. Therefore, it is possible to perform high-quality hair transplantation in which the hair fibers M are less likely to come off.

[Another example of knotting method]
In the above-described embodiment, as shown in FIG. 23(A), a case where the hair fibers M are planted on the hair-implanting base B by a left half-rotation knot as a knotting method is illustrated, but the rotation angle of the second hook 51 is arbitrary. It is also possible to provide a setting input means for setting to the control device 90 side by side, and the control device 90 can adjust the turning angle of the second hook 51 according to the setting.
As a result, as shown in FIG. 23(B), the hair fibers M may be transplanted to the hair transplant base B by a right half rotation knot as a knotting method.
In that case, after pulling up the second hook 51 that has captured the loop of the hair fiber M in step S11 (see FIG. 18), the second hook 51 is rotated clockwise by 270° when viewed from above, When the hair fiber M is captured and pulled up by the third hook portion 611 to form a nodule in S13, the loop of the hair fiber M is removed from the second hook portion 511 so that the second hook needle 51 is viewed from above. The rotation motor 53 may be controlled so as to rotate counterclockwise by 45°.

Further, as shown in FIG. 24(A), the hair fibers M may be planted on the planted base B by a left one-turn knot as a knotting method. In that case, after pulling up the second hook 51 that has captured the loop of the hair fiber M in step S11 (see FIG. 18), the second hook 51 is rotated counterclockwise by 450° when viewed from above, When the hair fiber M is captured and pulled up by the third hook portion 611 to form a nodule in S13, the loop of the hair fiber M is removed from the second hook portion 511 so that the second hook needle 51 is viewed from above. The rotation motor 53 may be controlled so as to rotate counterclockwise by 45°.
Alternatively, as shown in FIG. 24(B), the hair fibers M may be transplanted to the hair transplant base B by a right one-turn knot as a knotting method. In that case, after pulling up the second hook 51 that has captured the loop of the hair fiber M in step S11 (see FIG. 18), the second hook 51 is rotated clockwise by 450° when viewed from above, When the hair fiber M is captured and pulled up by the third hook portion 611 to form a nodule in S13, the loop of the hair fiber M is removed from the second hook portion 511 so that the second hook needle 51 is viewed from above. The rotation motor 53 may be controlled to rotate clockwise by 135°.
Further, in step 11, the second hook 51 may be rotated more leftward or rightward to form a knot. In that case, the rotation angle may be set to be increased in units of 180°.
As described above, by making it possible to adjust the rotation angle of the second hook 51 according to the setting, it is possible to select a plurality of types of knotting methods.

[Mechanism to prevent fall of captured hair]
The first and third hooks 41 and 61 pull the hair fibers M toward the first and third hooks 411 and 611 by the hair pulling mechanism 80 to more reliably perform the capturing operation.
In addition, the second hook 51 moves the looper mechanism 70 to move the hair fiber M to the side of the second hook 511 to more reliably perform the capturing operation.
However, all of these are limited to those that perform an approaching movement when capturing the hair fiber M, but as shown in FIG. 25, the hair fiber M is captured by each of the hook needles 41, 51, 61. It may come off after being given.

Therefore, as shown in FIG. 26, the hair blowing mechanism 80B may be provided at the position after the hair fiber M is captured. The hair blowing mechanism 80B is an example in which a nozzle that blows air toward the second hook portion 511 of the second hook 51 is provided. As described above, when air is blown, restrictions such as the effect of the hair transplant base B being obstructed are not likely to occur depending on the location where the hair fibers M are captured, and the hook needles 41 at any position of the hair fibers M. , 51, 61 side.

Further, as shown in FIG. 26, a sleeve 512 having an inner diameter larger than that of the second hook needle 51 may be provided. By moving the sleeve 512 up and down by an air cylinder or the like (not shown), it is possible to prevent the hair fiber M from coming off the second hook portion 511 by covering the second hook portion 511.
Although the second hook 51 is illustrated in FIG. 26, a hair blowing mechanism that blows air in the same manner may be provided for the first hook 41 and the third hook 61. Further, similar sleeves may be formed for the first hook needle 41 and the third hook needle 61.

[Other examples of moving mechanism]
As the flocked base B, a mesh-shaped one having a rectangular opening is exemplified, but it goes without saying that the shape of the opening is not limited to a rectangle and may be another polygon.
For example, as shown in FIG. 27(A), it is also possible to implant hair onto the implant base B having a mesh with an opening having a regular hexagonal shape.
However, in the lattice surrounding the opening, a lattice parallel to the alignment direction (Y-axis direction) of the first hook needle 41 and the second hook needle 51 has a hair fiber structure because of the structure of the hair transplant device 10. M cannot be knotted and cannot be flocked (the same applies when the opening is rectangular).

Therefore, the moving mechanism 23 of the base holding mechanism 20 holds the flocked base B in a planar shape and rotates the flocked base B around an axis (around the Z axis) that is perpendicular to the plane that holds the flocked base B. It may be possible.
For example, the moving mechanism 23 may be changed to an R-? moving mechanism instead of the XY moving mechanism. As a result, by changing the θ angle of the pressing frame 21 by rotating, as shown in FIG. 27B, the first hook needle 41 and the second hook needle 51 are parallel to the direction of arrangement (Y-axis direction). The lattice can be changed to non-parallel orientation. Therefore, the hair fiber M can be knotted to any of the lattices. As a result, it is possible to perform hair transplantation even when all the lattices are oriented. Therefore, it is possible to perform denser hair transplantation.
Note that the moving mechanism 23 is not limited to the R-θ system, and a rotating mechanism that rotates the entire XY moving mechanism 23 around the Z axis may be added to the moving mechanism 23.

[Correcting mechanism]
FIG. 28 is a schematic configuration diagram of the hair transplant device 10 to which the straightening mechanism 140 is added.
As shown in the figure, a correction mechanism 140 for correcting the bending or twisting of the hair fiber M in the fiber longitudinal direction may be provided between the hair supply mechanism 120 and the hair holding mechanism 30 of the hair transplant device 10.
When the hair fiber M wound around the top N or the like is supplied like the hair supply mechanism 120, the hair fiber M may have a habit such as bending or twisting, and the catching operation by each of the hook needles 41, 51, 61. It is feared that the hair fiber M may be detached or the like may be affected in maintaining the captured state.
When the correction mechanism 140 is provided in the above arrangement, the hair fibers M can be prevented from curving such as bending and twisting, and the catching operation by each of the hook needles 41, 51 and 61 can be favorably performed, and the catching operation can be performed. It is possible to maintain a good condition.

The straightening mechanism 140 is preferably a means for heating in a straight section of the hair fiber M. For example, as shown in FIG. 28, a heating device 141 such as a dryer that blows warm air on the hair fibers M passing through the straight section or the hair fibers M passing through the straight section is heated by a contact heat source. It is desirable to provide a heating device 142 such as an iron. The dryer-type heating device 141 and the iron-type heating device 142 may be provided with only one of them.

[Hair supply mechanism]
The hair supply mechanism 120 described above continuously supplies the hair fibers M, but the present invention is not limited to this. For example, as shown in FIG. 29, a tray 150 in which a plurality of hair fibers M previously cut into a length suitable for a nodule are individually arranged in grooves so that it is not necessary to cut the hair during the hair transplanting operation is shown. You may use it. In this case, it is desirable to manually perform the setting of the hair fibers M in the first and second holding portions 31 and 32 of the hair holding mechanism 30.

[Other]
Although the mesh is shown as the flocked base B, it is not limited to this as long as it is a sheet-shaped one.
A fibrous flocked base or a flocked base such as a resin sheet may be used. These do not have openings, but if the first hook needle 41 and the second hook needle 51 are inserted in different positions and they form different holes, the hair fibers M between those holes. Can form nodules.

10 Hair Transplanting Device 20 Base Holding Mechanism 23 Moving Mechanism 30 Hair Holding Mechanism 31 First Holding Section 32 Second Holding Sections 33, 34 Holding Actuator 40 First Capturing Mechanism 41 First Hook Needle 42 First Capturing Air Cylinder (drive source)
50 Second Capture Mechanism 51 Second Hook Needle 512 Sleeve 52 Second Air Cylinder for Capture (Drive Source)
53 rotation motor 60 third capture mechanism 61 third hook needle 62 third capture air cylinder (driving source)
63 gripping mechanism 631 gripping part 632 gripping member 633 gripping actuator (driving source)
70 Looper mechanism 73 Heads 74, 75 Looper 76 Motor for advancing and retracting looper 77 Actuator for opening/closing looper 80 Hair pulling mechanism 80B Hair blowing mechanism 82 Hook body 83 Cutting mechanism 833 Actuator for cutting hair 84 Air cylinder 90 for pulling action Control Device 100 Hair attachment mechanism 120 Hair supply mechanism 130 Camera 140 Straightening mechanism B Hair transplant base M Hair fiber

Claims (12)

A base holding mechanism that holds the flocked base,
A hair holding mechanism for holding hair fibers along one surface side of the held flocked base,
A first hook needle that penetrates from the other surface side of the held hair transplant base to the one surface side is provided, and the hair fiber held by the hair holding mechanism is captured by the first hook needle to retain the hair transplant base. A first capturing mechanism that pulls in the other surface side and forms a loop of the hair fiber on the other surface side of the flocked base,
A looper mechanism that expands the loop to form a larger loop after entering the inside of the loop of the hair fiber formed by the first capturing mechanism,
A second hook needle that penetrates from the one surface side of the held flocked base to the other surface side, and a drive source that rotates the second hook needle, of the hair fibers spread by the looper mechanism. A loop is captured by the second hook needle, and after pulling out to one surface side of the hair transplant base, the loop of the hair fiber is rotated on one surface side of the hair transplant base by rotating the second hook needle. A second capture mechanism to form,
A third hook needle inserted inside the loop of the hair fiber formed by the second trapping mechanism is provided, one end of the hair fiber is trapped by the third hook needle, and the trapped hair fiber is A third trapping mechanism that pulls one end into the loop formed by the second trapping mechanism and knots the hair fibers against the flocked base,
A flocking device comprising: a control device that controls the movement of flocking of the hair fibers onto the flocked base. The control device is capable of adjusting the rotation angle of the second hook needle, and is capable of selecting a plurality of types of knotting methods for knotting the hair fibers with respect to the hair transplant base. The hair transplant device according to claim 1. A hair supply mechanism for supplying continuous hair fibers to the hair holding mechanism,
A hair attaching mechanism for pulling and holding the tip of the continuous hair fiber supplied from the hair supply mechanism to a holding position of the tip of the hair fiber by the hair holding mechanism.
The hair transplanting device according to claim 1 or 2, further comprising: a cutting mechanism that cuts the continuous hair fibers supplied from the hair supplying mechanism from the middle. The base holding mechanism holds the flocked base and allows the flocked base to rotate about an axis perpendicular to the held flocked base. The hair-implanting device according to item 1. When the first hook needle captures the hair fiber, pulls the hair fiber held by the hair holding mechanism toward the hook portion of the first hook needle,
When the third hook needle captures the hair fiber, a hair pulling mechanism that pulls the hair fiber held by the hair holding mechanism toward the hook portion of the third hook needle is provided. Item 5. The hair transplant device according to any one of items 1 to 4. The control device is
When the second hook catches the hair fiber, the looper mechanism is moved forward so as to press the loop of the hair fiber spread by the looper mechanism toward the hook portion of the second hook needle. The hair-implanting device according to any one of claims 1 to 5, characterized in that: The control device is
The operation of expanding the loop of the hair fiber by the looper mechanism is ended when the loop of the hair fiber captured by the second hook is pulled out to one surface side of the flocked base. 7. The hair transplant device according to any one of 6 to 6. The control device is
After pulling one end of the hair fiber captured by the third hook into the inside of the loop formed by the second capturing mechanism, the looper mechanism is moved backward and the looper mechanism is pulled out from the hair mechanism. The hair-implanting device according to any one of claims 1 to 7, characterized in that 9. A hair blowing mechanism that blows the hair fibers with air toward a hook portion of any one or more of the first to third hook needles, is provided with any one of claims 1 to 8. The flocking device according to the item. A moving mechanism that positions the flocked base held by the base holding mechanism and the relative positions of the first or second hook needles,
A camera for imaging the flocked base held by the base holding mechanism,
The control device, when the flocked base is a mesh, based on the image captured by the camera, the position of the opening by the mesh of the flocked base and the piercing position of the first or second hook needle. The hair transplant device according to any one of claims 1 to 9, wherein the moving mechanism is controlled so as to match them. The hair transplant device according to any one of claims 1 to 10, further comprising a straightening mechanism that straightens the bending of the hair fibers in the longitudinal direction of the fibers. When pulling one end of the hair fiber captured by the third hook into the loop formed by the second capturing mechanism, a gripping portion that grips the third hook needle and the captured hair fiber is provided. Equipped with a gripping mechanism having
12. The gripping mechanism supports the gripping portion so as to be movable along a retracting movement direction of the third hook needle with respect to the hair fiber. Flocking device.

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