KR20170056058A - stand assembly for supporting hair implanter - Google Patents

Abstract

The present invention relates to a stand assembly for supporting a hair implanter comprising: a main body which includes a device or a power source needed for operation of the hair implanter; a location adjustment arm which is joined to the main body to be able to be rotated and be capable of location adjustment based on the main body by a plurality of joints to move from the main body to an implantation portion for implanting a hair follicle unit; and a multi-axis support unit which is joined to an end portion of the location adjustment arm, has a gimbal structure or a spherical linkage structure, has directions of the joints matched to the center of gravity of the hair implanter, is joined, to be able to rotate, to the hair implanter, and adjusts an arrangement angle of the hair implanter with respect to the implantation portion.

Description

[0001] The present invention relates to a stand assembly for supporting a hair implant,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stand assembly for supporting a hair implant apparatus, and more particularly, to a stand assembly for supporting a hair implant apparatus, which is applied to a hair implantation procedure and mechanically supports and attenuates a load of the hair implant apparatus and repulsive force in use.

In general, hair transplantation using a strip method, which is mainly performed in Korea, involves an anesthetic process, a strip incision process, a sewing process, an extraction process of a hair follicular unit, and a hair follicle process using hair transplant equipment .

The follicular unit extraction procedure includes stripping and follicular unit extraction (FUE).

The stripping method is a dissection method. According to the strip sampling method, the operator extracts a long strip of scalp from the occiput of the patient, and after the strip is extracted, the dock is pierced. The practitioner or assistant separates the follicular unit by unit from the extracted strip.

FUE is a non-incisional approach. According to FUE, the practitioner uses a thin puncher to directly extract the follicular unit from the scalp.

There are two types of flocking process: hair transplantation using manual mosquito and hair transplant using tweezers. A slit is an English word for "slit" or "slit".

Particularly, the slit in the flossing process refers to a narrow hole previously formed on the implantation site by a special device such as a needle or a chisel or a pin with a width of 0.8-1.2 mm before insertion of the follicular unit into the implantation site, It may mean the pre-making procedure itself.

According to the method of hair transplantation using tweezers, the operator preliminarily slits the implant site and pushes the follicular unit into the slit while holding the follicular unit directly by using the tweezers.

In a hair transplantation method using a hair transplantation device such as a hand-held mosquito or a self-contained mosquito, a separate slit does not need to be made on the scalp of the patient. That is, the practitioner plantes the follicular unit at the implantation site in such a manner that the implant directly strikes the implantation site with the needle of the hair implanting apparatus.

A hair implanting device under development includes a plurality of needles each having a follicular unit, a cartridge having a plurality of needles loaded therein, a cartridge mounted thereon, and a needle of the cartridge by a plunger mechanism And a transplant tool that implants a follicular unit while piercing the implant site.

However, according to the conventional manual hair implanting apparatus or the automatic hair implanting apparatus under development, the user directly handles the implantation tool by hand. The implant tool is implanted in the implant site with the tool being manipulated by the user while being held in the user's hand and with the appropriate implant tool angle and spacing between the needle and implant site maintained .

However, hair transplantation using a conventional hair grafting device is a very repetitive, time-consuming, and tedious procedure that can be sustained for many hours (e.g., half a day).

Particularly, when the implanting tool of the automatic hair implanting apparatus is operated by using either the plunger mechanism, the actuator, or the cylinder, a repulsive force according to the operation is generated so that the angle and spacing of the implanting tool of the hair implanting apparatus can not be precisely maintained .

For example, in a conventional automatic grafting tool, static repulsive force generated when a needle penetrates or inserts into an implantation site such as a scalp and dynamic repulsive force generated when an internal part of the implantation tool advances or retreats.

In addition, the conventional automatic grafting tool is bulky and heavy in weight as compared with the manual type mosquito. A practitioner or a user is very hard to grasp and use a conventional implantation tool for a long time. In order to support the above-mentioned repulsive force, the practitioner must exert a momentary force similar to repulsive force.

The repulsive force and the load generated in the conventional automatic implantation tool hinder precise hair transplantation while damaging the transplantation site or surrounding tissues and overloading the physician's physical fatigue.

However, up to now, there is no way to provide a free movement while supporting an automatic hair implanting device of a transplanting tool type, and to eliminate the repulsive force.

SUMMARY OF THE INVENTION An object of the present invention is to provide a multistage four-link mechanism having a multi-axis support such as a gimbal or a spherical linkage at the end of a multi- The hair transplantation device is mounted on the final end spherical link of the multiaxial support so that the center of gravity of the hair transplantation device is aligned with the center of gravity of the multiple implants of the hair implant device, The present invention provides a stand assembly for supporting a hair implant apparatus that can easily switch between a position and a direction.

Another object of the present invention is to provide a stand assembly for supporting a hair-implanting device capable of mechanically removing a repulsive force generated during a flocking operation using an automatic hair-implanting device.

According to an aspect of the present invention, there is provided a stand assembly for supporting a hair implanting apparatus comprising: a main body having a device or a power source necessary for operation of the hair implanting apparatus; A position adjusting arm coupled to the body so as to be rotated or positioned based on the body by a plurality of joints so as to be moved from the body to an implantation site for implanting the follicular unit; And a gimbal or spherical linkage structure coupled to the end of the positioning arm and having a plurality of joint axis directions aligned with the center of gravity of the hair implant device, And a multiaxial support that is connected to the transplantation site to adjust the placement angle of the hair implant device relative to the implant site.

The main body has a plurality of wheels on the bottom surface of the main body.

The position adjusting arm includes a rotation support shaft provided on an upper surface of the main body, a boss rotatably coupled to the rotation support shaft, a first connection plate integrally protruding from one side of the boss, A first link pair having a pair of first joint pins disposed on the plate, a first link pair rotatably connected to the first pair of joint pins and spaced apart from and parallel to each other, A first link mechanism having a second joint pin pair connected to an end of the plate, a second link plate having the pair of second joint pins disposed at one end of the plate and the pair of third joint pins disposed at the other end of the plate, A second link pair rotatably connected to the pair of joint pins and spaced apart from and parallel to each other, a pair of fourth joint pins connected to ends of the second link pair are disposed at one end of the plate, Work And a second link mechanism having a third connecting plate disposed on a side surface thereof.

Wherein the multi-axial support portion includes a first gimbal link extending from one end portion rotatably coupled to the fifth joint pin of the second link mechanism and having a sixth joint pin disposed at the other end thereof, And a second gimbal link extending from one end portion of the seventh joint pin rotatably coupled to the seventh joint pin and having a seventh joint pin disposed at the other end thereof and a hair implanting device is rotatably coupled to an end of the seventh joint pin, The hair grafting device is disposed inside a link space contacting the inner curved surface of the second gimbals link.

The multiaxial support may further include a third gimbal link rotatably coupled between the first gimbal link and the second gimbal link.

Wherein the position adjusting arm is provided between one side and the other side of each connecting portion in which the main body, the rotating portion, the first link mechanism, the second link mechanism, the multi-axis supporting portion, and the hair- And a gravity compensation unit that is mounted and performs counter balancing.

Wherein the gravity compensating unit includes a damper disposed at the connection site and a spring coupled to the damper, and the gravity compensating unit is configured to transmit the gravity to the rotation unit, the first link mechanism, the second link mechanism, The elastic force and the damping force are generated so as to prevent any one or more of the postures from collapsing and to maintain the posture.

The gravity compensation unit includes a first gravity compensation unit connected between the main body and the rotation unit, and a second gravity compensation unit coupled between the upper joint pin of the first pair of joint pins and the lower link of the first pair of links. A third gravity compensation unit coupled between the upper joint pin of the third pair of joint pins and the lower link of the second pair of links, and a third gravity compensator coupled between the third link plate and the first gimbals link A fourth gravity compensation unit, a fifth gravity compensation unit connected between the first gimbals link and the second gimbals link, and a sixth gravity compensating unit connected between the second gimbals link and the hair grafting unit, .

The gravity compensator may include a seventh gravity compensator coupled between the first gimbals link and the third gimbals link instead of the fifth gravity compensator coupled between the first gimbals link and the second gimbals link, And an eighth gravity compensation unit connected between the third gimbal link and the second gimbal link.

The gravity compensating unit may be connected to a wire wound on a pulley having an elliptical cross section or a noncircular cross section at the other end of the gravity compensating unit, one end of the gravity compensating unit is connected to the lower link of the link pair, , One side of the upper link of the first link pair, one side of the upper link of the second link pair, one side of the rotating part, or one side of the second connecting plate.

According to another aspect of the present invention, there is provided a stand assembly for supporting a hair implanting apparatus, comprising: a main body on which an apparatus or a power source necessary for operation of a hair implanting apparatus is mounted; A position adjusting arm coupled to the body so as to be rotated or positioned based on the body by a plurality of joints so as to be moved from the body to an implantation site for implanting the follicular unit; A gimbal or spherical linkage structure coupled to an end of the position adjustment arm and having a plurality of joint axis directions aligned with a center of gravity of the hair implant device, A multiaxial support unit connected to the transplantation unit to adjust an arrangement angle of the hair transplantation apparatus with respect to the transplantation site; And a mass transfer part installed inside the hair implanting device for storing and discharging potential energy by elasticity of a spring and the mass transfer part is a part for transferring the mass of the hair implanting device, , The stored position energy is converted into kinetic energy or released to cancel out the repulsive force.

Wherein the mass transferring portion is a mass transferring portion disposed in any one of the interior of the seventh joint pin to which the multi-shaft supporting portion and the hair implanting device are connected, the inside of the hair implanting device, the exterior of the seventh joint pin, A connection shaft portion connected to the bottom surface of the mass body and extending from the upper end portion to the inner space portion of the hair implanting device via the upper passage of the hair implanting device, A vertical moving shaft having a sliding connection portion formed at a lower end of the connecting shaft portion; an elastic body disposed between the bottom surface of the mass body and the upper surface of the hair transplanting apparatus and fitted in the vertical moving shaft, And a slidably coupled portion disposed in the inner space portion and coupled to the sliding connection portion of the vertical movement shaft, An input link portion having one end connected to the crankshaft and the other end connected to the motor shaft; a repulsion control motor disposed in the internal space portion for rotating the motor shaft; And a trigger device for pushing the latch toward the upper passage in response to a timing at which the needle is inserted into the implantation site.

Since the stand assembly for supporting a hair implant apparatus according to the present invention is a device of a balance arm type having three degrees of freedom or more capable of being supported while changing the positioning of the hair implant apparatus, the stand assembly is relatively heavy and bulky It is possible to provide a free movement while supporting a large automatic hair implanting apparatus.

The stand assembly for supporting a hair implanting apparatus according to the present invention further comprises a gravity compensating unit mounted on each connecting portion to which the main body, the first link mechanism, the second link mechanism, the multi-axis supporting unit, The posture of the stand assembly including the multi-axial support can be easily and conveniently moved or fixed.

The stand assembly for supporting a hair implanting device according to the present invention is provided with a mass transfer part inside the hair implanting device so as to store the position energy inside the hair implanting device and release it as kinetic energy. Here, the mass transfer portion converts or transfers the stored position energy into kinetic energy as the mass moves so as to be supported by the elastic body, based on the acting direction of the repulsive force generated when the needles of the hair implanting apparatus are inserted into the scalp, It is possible to precisely prevent damage to the graft site or its surrounding tissues while allowing precise hair grafting, and to reduce the physical fatigue of the practitioner.

1 is a perspective view illustrating a configuration of a stand assembly for supporting a hair implant apparatus according to an embodiment of the present invention;
FIGS. 2 to 4 are perspective views illustrating a change in attitude according to the angle adjustment of the stand assembly shown in FIG. 1; FIG.
Fig. 5 is an enlarged view for explaining the installation structure of the non-circular pulley for the joint-specific gravity compensator shown in Fig. 1. Fig.
Fig. 6 is an enlarged view for explaining another mounting structure of a non-circular pulley as an application example of Fig. 5;
FIG. 7 is an enlarged view for explaining an application example of the multi-axial support shown in FIG. 1;
FIG. 8 is an enlarged view for explaining a configuration of a mass transfer part installed inside the hair implanting apparatus shown in FIG. 1; FIG.
9 to 12 are front views for explaining the operation of the mass transfer unit shown in Fig.

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. And is provided to fully convey the scope of the invention to those skilled in the art, and the present invention is defined by the claims.

It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. The word " comprises "and / or" comprising "as used herein refers to the presence or addition of one or more other devices or devices to the mentioned apparatus, apparatus, components, steps, operations and / . Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a perspective view for explaining a configuration of a stand assembly for supporting a hair implanting apparatus according to an embodiment of the present invention, and FIGS. 2 to 4 show a change in attitude according to an angle adjustment of the stand assembly shown in FIG. They are perspective views.

Referring to FIG. 1, the present embodiment includes a main body 100, a positioning arm 200, and a multiaxial support unit 300 for rotatably or movably supporting the hair implanting apparatus 10.

The hair implanting apparatus 10 may be an end effector or tool configured to be used with the main body 100 and may be configured to be detachable via a clamping device not shown in the multi- .

Since the hair implanting apparatus 10 is relatively heavy and bulky compared to a simple, lightweight and small-sized hand-held mosquito, the hair grafting apparatus 10 itself has a weight less than that of the positioning arm 200 and the multi- (payload).

The external force or load applied to the hair implanting apparatus 10 may be gravity.

The main body 100 mounts an apparatus or a power source necessary for the operation of the hair implanting apparatus 10 in the internal space of the housing of the main body 100.

The device required for the operation of the hair implanting device 10 may be a motor or a needle feeder used to implant the follicular unit loaded with the follicular unit into the implant site in a conventional automated mosquito. The control unit, which will be described later, may be mounted in a space inside the housing of the main body 100 for controlling the components to be controlled such as a switching device, various kinds of motors (e.g., repulsive force control motor, servo motor, etc.) May be mounted in the hair implanting apparatus 10, and may be connected to or electrically connected to the component to be controlled through a wire.

 Also, the power source of the main body 100 may be an external AC power source, a battery or the like, but the apparatus or the power source may be different depending on the configuration of the automated type mosquito.

The hair grafting device 10 is configured to repeatedly perform an operation of stapling a grafting needle from a cartridge (not shown) to a graft site such as a scalp.

The static or dynamic repulsive force generated by the operation of the hair grafting apparatus 10 can be transmitted to the main body 100 through the multiaxial support unit 300 and the position adjustment arm 200. However, Or may be offset or attenuated by friction and spring elastic forces.

Each of the gravity compensation units 400 may be provided in the corresponding joint and may include an electronic brake or the like which can fix or relax the joint by a button or a pedal input of a user (not shown).

The main body 100 has a plurality of wheels 110 on the bottom surface of the main body 100 or the bottom surface of the main body 100. The wheel 110 may be any one of a rotational movement means selected from a simple wheel configuration, a group of roller devices provided with a stopper or a leveler.

The position adjusting arm 200 is coupled to the main body 100 such that it can be rotated or adjusted based on the main body 100 by a plurality of joints so as to be moved from the main body 100 to the implantation site for implanting the follicular unit. .

For example, the position adjusting arm 200 may be installed on the upper surface or the upper corner of the housing of the main body 100.

The joints of the position adjusting arm 200 or the multi-shaft supporting portion may refer to a pin coupling portion corresponding to a plurality of links or joint pins to be described in detail below.

The multiaxial support unit 300 is coupled to the end of the position adjustment arm 200 and has a gimbal or spherical linkage structure.

The gimbal or spherical link mechanism structure may be a rotatable support frame structure that allows rotation about a forward or aft axis or a left and right axis to place equipment or equipment, such as hair implant device 10, in space.

In this multiaxial support unit 300, a plurality of joint axial directions L coincide with the center of gravity G of the hair implanting apparatus 10. [ In addition, the multi-axis supporting unit 300 is rotatably connected to the hair implanting apparatus 10 to control the angle of placement of the hair implanting apparatus 10 with respect to the implantation site.

That is, the arrangement angle or direction of the hair implanting apparatus 10 can be switched by the multi-axis supporting unit 300, and the position of the hair implanting apparatus 10 can be changed by the position adjusting arm 200. [

The present embodiment or the multiaxial support unit 300 is provided with the hair transplantation apparatus 10 and the hair transplantation apparatus 10 according to the embodiment of the present invention. The apparatus and orientation of the hair implanting device 10 can be switched by a relatively small or relatively small force as compared to the required force that will not support the center of gravity G .

The position adjustment arm 200 includes a rotation support shaft 210, a rotation unit 220, a first link mechanism 230, and a second link mechanism 250.

In FIGS. 2 to 4, for the sake of clarity of explanation, illustration of components related to various gravity compensation units is omitted.

2, the rotation support shaft 210 is installed on the upper surface of the housing of the main body 100, that is, on the upper surface of the main body 100, and protrudes upward.

The rotation support shaft 210 is a rotation center shaft of the rotation unit 220 and can be a support base for the position adjustment arm 200 including the rotation unit 220, have.

The rotation part 220 is rotatably coupled to the rotation support shaft 210 and has a boss 221 made of a plastic material or a metal material including an alloy or a non-alloy, which is manufactured in the form of a hollow body.

The rotation unit 220 may be a joint rotating in the horizontal direction.

The rotation part 220 has a first connection plate 222 integrally protruded from one side of the boss 221. The first connection plate 222 may be a thick plate type structure or a block type structure having a relatively large area in comparison with the thickness. The first connection plate 222 is formed of the same material as the boss 221 and is integrally formed by welding or by casting. The first connecting plate 222 is formed with a plurality of pin fitting holes or screw holes so that the pair of first joint pins 223 and the pair of upper joint pins 223, 224).

That is, the rotation unit 220 includes the first pair of joint pins 223 and 224 coupled to each other using the holes and disposed in the first connection plate 222. As used herein, and in the following description, the term "pair" is understood to refer to two members as mentioned above, and the meaning of being connected in relation to a pair means that the corresponding and connecting elements are respectively coupled with 1: 1 .

The first link mechanism 230 efficiently supports the entire payload including the weight of the hair implanting apparatus together with the gravity compensating unit to be described in detail with reference to FIG. 1 as a four-bar link mechanism or a parallelogram link mechanism, Structure.

To this end, the first link mechanism 230 includes a first pair of links 231 and 232, which are rotatably connected to the first pair of joint pins 223 and 224, respectively, do.

The first link pairs 231 and 232 are composed of an upper link 231 and a lower link 232 which are formed to have the same length as shown in the figure, The upper link 231 and the lower link 232 of the first link pair 231 and 232 can be manufactured to have different lengths as shown in the figure and in this case the input torque and the output torque can be made different .

The first link mechanism 230 includes a second pair of joint pins 233 and 234 connected to the ends of the first pair of links 231 and 232.

The first link mechanism 230 includes a second connecting plate 237 having a pair of second joint pins 233 and 234 disposed at one end of the plate and a pair of third joint pins 235 and 236 disposed at the other end of the plate, Respectively.

3, the second link mechanism 250 may be a four-bar linkage mechanism having the same structure as the first link mechanism 230. [

The second link mechanism 250 includes a second pair of links 251 and 252 rotatably connected to the third pair of joint pins 235 and 236, respectively, and spaced apart from each other and arranged in parallel.

The second link mechanism 250 is configured such that the fourth pair of joint pins 253 and 254 connected to the ends of the second pair of links 251 and 252 are disposed at one end of the plate and the fifth joint pin 255 is connected to the end of the plate And a third connecting plate 256 disposed on the side surface.

4, the multiaxial support unit 300 is extended from one end portion of the second link mechanism 250, which is rotatably coupled to the fifth joint pin 255, and a sixth joint pin 311 is provided at the other end portion And a first gimbal link 310 that is disposed.

The shapes of the gimbals links described in this embodiment may be respectively formed in a curved shape or an angled shape or a bent shape.

The first gimbals link 310 and the second gimbals link 320 are manufactured by bending or bending a plate member having a relatively narrow width and a relatively long length in an arc shape or a sector shape.

The first gimbal link 310 and the second gimbal link 320 are formed of a metal material or an engineering plastic material so as to exhibit a stable bearing force corresponding to a payload or its own weight. The first gimbal link 310 and the second gimbal link 320 may have pin engagement holes at both ends thereof, respectively.

The multiaxial support unit 300 includes a second gimbal link 320 having a seventh joint pin 321 extending in a curved shape from one end thereof rotatably coupled to the sixth joint pin 311, . The seventh joint pin 321 may be a hollow shaft member acting as a joint, a rotary shaft, a hinge, a pivot, or the like.

The hair implanting apparatus 10 is rotatably coupled to the end of the seventh joint pin 321 of the second gimbals link 320 and is inserted into the link space contacting the inner curved surface of the second gimbals link 320 .

Since the first gimbal link 310 or the second gimbal link 320 is disposed outside of the hair implanting device 10, the hair implanting device 10 includes a first gimbals link 310 or a second gimbals link 320 ). ≪ / RTI >

The arcuate length or size of the first gimbal link 310 or the second gimbal link 320 can be made larger than that of a typical adult.

2 to 4, it can be seen that the center G of the hair implanting apparatus 10 is aligned with the axial direction L of the multi-axis supporting portion 300 even if the angle of arrangement of the hair implanting apparatus 10 is changed. .

Referring to FIG. 1, the position adjusting arm 200 includes a plurality of gravity compensation units 400 as described above. The gravity compensation unit 400 may play a role of counter balancing.

The gravity compensating unit 400 includes a main body 10, a rotation unit 220, a first link mechanism 230, a second link mechanism 250, a multiaxial support unit 300, and a hair implanting apparatus 10, And can be mounted between one side and the other side of each connection part to be connected.

The gravity compensation unit 400 includes a damper disposed at the connection portion and a spring coupled to the damper. The basic combination of the damper and the spring for the gravity compensation unit 400 is the same as that of the gas spring or the expansion / contraction support device for supporting a heavy object, and thus can be omitted in the description of this embodiment.

The gravity compensating unit 400 may be configured to rotate by gravity either one of the rotation unit 220, the first link mechanism 230, the second link mechanism 250, the multiaxial support unit 300, and the hair implant apparatus 10, Elastic force and damping force can be generated so as to prevent collapse and maintain the posture.

When the stand assembly including the rotation unit 220 and the like is to withstand the force due to the external force, the gravity compensation unit 400 may play a role of maintaining the temporarily fixed state. For example, as the canceling force that strikes the repulsive force when the needles of the hair grafting device 10 pass through the scalp or the like is generated in the gravity compensation unit 400, the posture of the stand assembly can be stably fixed.

The gravity compensation unit 400 may be any one of the first gravity compensation unit 410 to the sixth gravity compensation unit 460.

The first gravity compensation unit 410 may be connected between the main body 100 and the rotation unit 220. For example, the end of the damper cylinder body of the first gravity compensation unit 410 is formed in a pivot joint type and can be coupled to the pivot joint portion of the main body 100.

The end of the moving shaft coupled to the damper cylinder body of the first gravity compensating unit 410 is also formed in a pivot joint type so that the pivot joint portion of the front side of the first connecting plate 222 of the rotating portion 220 Lt; / RTI >

That is, in the first gravity compensation unit 410, when one pivot joint is a point and the other pivot joint is a different point, the spring may generate a gravity compensation effect through point-to-point connection.

The second gravity compensating unit 420 to the sixth gravity compensating unit 460 may be coupled or connected to the corresponding mounting positions using the pivot joint joining method.

The pivot joint joining portion may be provided on the following various joint pins.

Further, the second gravity compensator 420 is connected between the upper joint pin 223 of the first pair of joint pins and the lower link 232 of the first pair of links.

The third gravity compensation unit 430 is connected between the upper joint pin 235 of the third pair of joint pins and the lower link 252 of the second pair of links.

The fourth gravity compensation unit 440 is connected between the third connection plate 256 and the first gimbals link 310.

The fifth gravity compensation unit 450 is connected between the first gimbal link 310 and the second gimbal link 320. [

The sixth gravity compensating unit 460 is connected between the second gimbals link 320 and the hair implanting apparatus 10.

Such a plurality of gravity compensation units 400 may complement the imperfections of the gravity compensation mechanism of the position adjusting arm 200 that can be operated as joints in the vertical plane direction of the position adjusting arm 200 .

The plurality of gravity compensation units 400 may be a geometric mechanism or an electronically controlled device such as a linear motor in which the entire length of the gravity compensation unit 400 is extended or contracted according to a control signal using a pedal or a button.

FIG. 5 is an enlarged view for explaining an installation structure of a non-circular pulley for joint-specific gravity compensating unit shown in FIG. 1, and FIG. 6 is an enlarged view for explaining another mounting structure of a non- .

5 or 6, the gravity compensators 400a and 400b further include pulleys 401, 402, 403, and 404 (pulleys) having an elliptical cross section or a non-circular cross section to form an improved gravity compensation mechanism .

As described above, although the spring 405 can expect a gravity compensation effect through point-to-point connection, it may not achieve an ideal gravity compensation effect.

In other words, there are sections where gravity compensation works well and sections that do not work well.

For example, when the angle of the first link mechanism 230 of the position adjusting arm 200 receiving the payload is about 45 degrees, the elastic force of the spring of the second gravity compensator 420 Or the elastic modulus can be fixed to a fixed value.

In this case, however, the first link mechanism 230 may be sagged down at an angle of 30 degrees, or may be raised at an angle of 60 degrees.

Therefore, in Fig. 5 or 6, non-circular pulleys 401, 402, 403 and 404 are used to solve this problem.

For example, referring to FIG. 5 or 6, the gravity compensation units 400a and 400b capable of gravity compensation can be configured such that one end of the gravity compensation units 400a and 400b is connected to the lower link of the link pair, The other end of each of the first and second yokes 400a and 400b is connected to a wire 405b wound on a pulley 401, 402, 403, or 404 having an elliptical cross section or a non-circular cross section.

The ends 405a of the wires 405b are engaged with the fixing grooves 407 of the pulleys 401, 402, 403, and 404, respectively.

The wire 405b refers to a strip or a linear member having elasticity and is wound and unwound on the outer surface of the pulley so that the supporting position of the wire 405b for supporting the gravity compensation units 400a and 400b, To change the shape of the profile of the outer surface of the pulley.

Here, the pulleys 401, 402, 403 and 404 are connected to one side of the upper link of the first link pair 230, one side of the upper link of the second link pair, one side of the rotation part 220, Or the like.

5 may be fixed around the upper joint pin 223 of the first pair of joint pins which is one side of the upper link of the first link pair 230 or may be fixed to the pulleys of the right side pulley 401 are fixed around the upper joint pin 235 of the third pair of joint pins which is one side of the upper link of the second link pair.

6 may be fixed to one side of the rotation part 220 or the right side pulley 403 may be fixed to one side of the second connection plate 237. [

5, the position of the second gravity compensator 420 on the left side of FIG. 5 may be changed so that one side of the second gravity compensator is located on one side (e.g., the center or left side of the link) of the upper link of the first link pair And the other side of the second gravity compensating part is connected to one side of the wire, the other side of the wire is wound on the non-circular pulley again, and the non-circular pulley is wound on one side of the lower link of the first link pair Or the second joint plate around the lower joint pin of the second joint pin pair, that is, the lower joint pin is located.

5, the position of the right gravity compensating part 400a is changed so that one side of the right gravity compensating part is located on one side (e.g., the center part or the left side or the upper side of the link) of the upper link of the second link pair, The other side of the right gravity compensating part is connected to one side of the wire and the other end of the wire is wound on the non-circular pulley, and the non-circular pulley is fixed to one side of the lower link of the second link pair (Lower) side or the periphery of the lower joint pin of the fourth pair of joint pins, i.e., the third connecting plate.

Similarly, the fixed positions of the left second gravity compensating unit 420 and the right gravity compensating unit 400b of FIG. 6 may be changed as described above. That is, one side of the left second gravity compensating unit in Fig. 6 is fixed to one side (e.g., the center or left side of the link) of the upper link of the first link pair, the other side of the left second gravity compensating unit is connected to one side of the wire, The other side of the wire is wound on the non-circular pulley, and the non-circular pulley can be fixed to one side of the second connection plate. The position of the right gravity compensation unit in Fig. 6 may also be changed to be similar or the same as the above description.

As a result of the simulation, the angle of the first link mechanism 230 of the position adjusting arm 200 receiving the payload based on the ground is set to any one of predetermined angular intervals (for example, 30 to 60 degrees) Even when the angle is obtained, gravity compensation can be realized at the angle. That is, since the wire 405b is unwound or wound on the non-circular pulley 401, the elastic modulus of the second gravity compensator 420 can be varied.

Further, a motor-operated cam (not shown) can be further used. The cam may be a means for tightening or loosening the spring 405 as it rotates in contact with and in a direction perpendicular to the direction in which the spring 405 extends.

The elastic force or elasticity coefficient of the spring 405 can be varied by using such a cam, and can be appropriately determined through the simulation of the amount of rotation of the cam.

Each of the pulleys 401, 402, 403, and 404 shown in FIGS. 5 and 6 has an advantage of achieving ideal gravity compensation in various angular sections while inducing movement of the position adjustment arm 200 more smoothly. The pulleys 401, 402, 403, and 404 may be applied to all other gravity compensation units.

7 is an enlarged view for explaining an application example of the multi-axial support shown in Fig.

Referring to FIG. 7, the multi-axial support 300a further includes a third gimbals link 330 rotatably coupled between the first gimbals link 310 and the second gimbals link 320. As shown in FIG.

The seventh gravity compensator 470 may include a first gravity compensator coupled between the first gimbals link 310 and the third gimbals link 330 instead of the fifth gravity compensator coupled between the first gimbals link and the second gimbals link. As shown in FIG.

The eighth gravity compensation unit 480 is connected between the third gimbals link 330 and the second gimbals link 320.

The mass transfer unit 500 may be installed in any one of the methods of connecting, mounting, and attaching the hair implanting apparatus 10 such that a force transfer relation to the hair implanting apparatus 10 is established. That is, through the design change, the mass of the mass transfer unit 500 is transferred to the inside of the hair implanting apparatus 10, the inside of the seventh joint pin 321, the outside of the seventh joint pin 321, Or the like.

However, for ease of explanation, the mass transfer unit 500 can be described based on the fact that the mass transfer unit 500 is installed inside the hair implanting apparatus 10.

The mass transfer unit 500 converts or stores the stored potential energy into kinetic energy based on the acting direction of the repulsive force generated when the needle of the hair implant apparatus 10 is inserted into the implantation site, do.

The principle in which the mass transfer part 500 stores the position energy and converts or stores the stored position energy into kinetic energy will be described in detail with reference to FIGS. 8 to 12. FIG.

At least six parameters are required to express the attitude of the object on the three-dimensional object (for example, the hair implanting apparatus 10 or the end effector). That is, six degrees of freedom may be required for attitude of an object. Three of the six degrees of freedom can represent the position of the object, and the other three can express the posture (angle) of the object.

Therefore, in order to freely change the posture (for example, the placement angle) of the hair implanting device 10 in the present embodiment, the multi-axial supporting portion 300a must be formed of at least three joints.

However, when the multi-axial support portion 300a is formed of only three joints, it has a singularity in a specific posture, and instantaneous desired motion can not be obtained.

To solve this problem, the multiaxial support unit 300a further includes a third gimbal link 330, which has an increased number of joints in comparison with the number of joints of the multiaxial support unit 300 of FIG.

The multi-axis supporting portion 300a has a redundancy structure by the third gimbal link 330. [ Here, the multiplex structure may compensate for the failure of the third gimbals link 330 even if a failure occurs in adjusting the disposition angle by the first gimbals link 310 or the second gimbals link 320 in the multi-axis support unit 300a This can be a mechanism that operates to be That is, the multiaxial support portion 300a is formed of four or more joints and can eliminate singularity such as link lock (gimbal lock, for example) in posture or angle control.

Particularly, even if the hair implanting apparatus 10 has the same posture, the posture of the multi-axial supporting portion 300a can be changed variously. In order to stabilize the posture of the multiaxial support unit 300a, the fourth gravity compensating unit 440a, the sixth gravity compensating unit 460, the seventh gravity compensating unit 470, the eighth gravity compensating unit 480, Is used.

The fourth gravity compensating unit 440a of the multi-axis supporting unit 300a may have a larger capacity or a different capacity than the other gravity compensating units 460, 470 and 480. [

For example, the fourth gravity compensation unit 440a associated with the first one of the four multi-axis support units 300a includes a damper and a spring having a relatively large capacity, and the gravity compensation units 460, 470, 480 may include a damper and a spring having a relatively small capacity.

In this case, the movement of the first gimbals link 310 associated with the first joint is limited as compared to the movement of the third gimbals link 330, the second gimbals link 320, and the hair implant device 10 associated with the other joint, The third gimbal link 330, the second gimbal link 320, and the hair implant apparatus 10 associated with the remaining three joints are mainly moving and the first gimbal link 310 related to the first joint is moved around the singularity . Joints that give relatively greater constraints (eg, damping, etc.) than the rest of the joints can be other than the first joint (s).

FIG. 8 is an enlarged view for explaining the configuration of the mass transfer portion installed inside the hair implanting apparatus shown in FIG. 1, and FIGS. 9 to 12 are front views for explaining the operation of the mass transfer portion shown in FIG. admit.

The mass transfer part 500 includes a mass 510 disposed inside the seventh joint pin 321 to which the multifunctional support and the hair implanting device 10 are connected and a vertical moving shaft 520).

The vertically moving shaft 520 connects the upper end to the bottom surface of the mass body 510 and extends from the upper end portion to the inner space portion 12 of the hair implanting apparatus 10 via the upper passage 11 of the hair implanting apparatus 10 An elongated connecting shaft portion 521 and an engaging portion 522 protruding from the side surface of the connecting shaft portion 521 in the up and down direction and having an elastic force with reference to the lower side of the connecting shaft portion 521, And a sliding connection portion 523 formed at the lower end.

The sliding connection portion 523 has connection pin portions protruding from both ends of the lower end portion of the connection shaft portion 521.

The mass transfer unit 500 is disposed between the bottom surface of the mass body 510 and the upper surface of the hair implanting apparatus 10 with reference to the inside of the seventh joint pin 321, Or an elastic body 530 for discharging. For example, the elastic body 530 may be a coil spring.

Due to the release or stretching of the compressed elastic body 530, kinetic energy is generated as the mass 510 is fired, such as when the mass 510 moves or jumps.

That is, when the mass 510 is fired, the force acting on the hair grafting device 10 is opposite to the fired mass 510, so that the direction of repulsion by grafting and the direction of firing of the mass 510 should be the same. For example, when the hair-implanting device 10 is vertically lowered, the direction of the force applied by the scalp to the needle or hair-implanting device 10 is upward, and the mass 510 is fired upward .

The elastic body 530 is inserted into the connecting shaft portion 521 of the vertical moving shaft 520 corresponding to the upper portion of the latch 522.

The mass transfer part 500 includes a crankshaft 540 disposed in the inner space part 12 and having a slot 541 formed therein to be engaged with the sliding connection part 523 of the vertically moving shaft 520.

The crankshaft 540 may be formed to be small enough to be inserted into the upper passageway 11 of the hair implanting apparatus 10 or may be formed in the upper passageway 11 of the hair implanting apparatus 10, Can be designed within a range that does not interfere with the part (12).

The mass transfer part 500 is connected to the crankshaft 540 at one end and the other end is connected to the motor shaft 561 so as to rotate one end of the crankshaft 540 corresponding to the opposite side of the vertically moving shaft 520, And an input link unit 550 connected to the input link unit 550.

Here, the input link portion 550 is rotated by the rotation of the motor shaft 561. [ The rotation of the input link portion 550 is converted into a linear reciprocating motion through the crankshaft 540.

As a variant, although not shown, the mass transfer part 500 may be installed or attached to the exterior of the seventh joint pin 321, the interior of the hair implanting device 10 and the exterior of the hair implanting device 10 .

At this time, when the crankshaft 540 moves downward during the linear reciprocating motion, the sliding connection portion 523 of the vertical moving shaft 520 contacts the upper end portion of the long hole 541, thereby pulling the vertical moving shaft 520.

However, when the crankshaft 540 is moved upward during the linear reciprocating motion, since the sliding connection portion 523 of the vertical moving shaft 520 slides along the slot 541, the vertical moving shaft 520 can not be pushed (See FIG. 11, for example).

The mass transfer part 500 is disposed in the internal space part 12 and the motor housing is fixed to the structure of the internal space part and includes a repulsion force control motor 560 for rotating the motor shaft 561. The repulsive force control motor 560 may be a gear motor and the motor shaft 561 may be an output shaft of a gearbox integrally coupled to the repulsive force control motor 560. [

The mass transfer unit 500 has a push rod 571 that pushes the latch 522 toward the upper passage 11 in response to the timing at which the needle of the hair implanting apparatus 10 is inserted into the transplantation site or the scalp And a switching device 570.

The switching device 570 is configured to advance the push rod 571 in accordance with an input control signal to push the latch 522 toward the upper passage 11 and then return to the original position. The switching device 570 and the push rod 571 are releasing means of the latch 522.

The switching device 570 is installed on the ceiling of the inner space portion 12 at the periphery of the starting entrance (for example, the passage bottom edge surface) of the upper passage 11. The push rod 571 is coupled to the switching device 570 to be horizontally moved between the switching device 570 and the latch 522.

The switching device 570 further includes a driving device and a signal processing unit (not shown) for advancing or retracting the push rod 571 according to a control signal of the control unit.

More specifically, the switching device 570 is connected to the control unit of the hair implanting apparatus 10 to check the timing at which the needles of the hair implanting apparatus 10 are inserted into the implantation site, (Not shown), and a driving device for advancing the push rod 571 by an operation control signal output by the control section in accordance with the timing check of the sensor section, and then returning the push rod 571 to its original position Motor.

9 to 12, when the reaction force control motor 560 is driven (for example, rotated), the mass body 510 is rotated by the mechanical power transmission of the input link portion, the crankshaft, And is pulled toward the implantation apparatus 10, and at the same time, the elastic body 530 is compressed to be in a state as shown in FIG.

The mass 510 is pulled to the specified position and then the latch 522 protrudes out of the bottom of the upper passageway 11 of the hair implanting device 10 so that the end of the latch 522 is pushed out of the upper passageway 11 Locking, i.e., locking, of the mass 510 is accomplished as it is caught on the surface of the ceiling of the inner space portion 12 to the periphery of the starter entrance (e.g., passage bottom edge).

That is, since the mass body 510 is moved while being supported by the elastic force, the mass energy is stored in the mass part 500 by the elastic body 530 and the mass body 510.

11 and 12, the instant that the needle 30 of the hair implant device 10 passes through the scalp S, the switching device 570 advances the push rod and the end of the push rod is pushed by the pawl 522 , The pawl 522 is pushed toward the upper passageway (11).

At that moment, the compressed elastic body 530 is released as if it is stretched to its original state by elastic force or elastic repulsive force, so that the mass body 510 springs upward.

That is, when the mass 510 protrudes upward, it means that the stored position energy is converted or released into kinetic energy.

The ejected kinetic energy of the mass 510 cancels the repulsive force caused by penetration of the scalp due to the needle 30. This action can be repeated during the process of preparing for insertion or insertion of other needles sequentially.

On the other hand, when a mass of a high weight (not shown) having a weight greater than the weight of the hair implanting apparatus 10 is used, the needle 30 protruding to the bottom of the hair implanting apparatus 10 is brought into close contact with the scalp S Can be used. In this state, the mass is pulled and the switching device 570 can advance the push rod and push the latch 522 toward the upper passageway 11.

At this time, the mass body 510 also protrudes upward. However, since the mass 510 is larger than the weight of the hair implanting apparatus 10, the hair implanting apparatus 10 is finely moved downward, As shown in FIG.

The method of compressing the elastic body 530 described above to store the position energy may be pneumatic, not by rotation of the repulsive force control motor 560 attached to the mass transfer portion 500 as a mechanism. For example, the valve is opened at a necessary point through a tube (not shown) connected to the upper portion of the seventh joint pin 321 to allow compressed air provided from an external compressed air device to enter, And the elastic body 530 is compressed by this force so that the position energy can be stored. Further, the components involved in the operation described with reference to Fig. 8 may be replaced by tubes, valves, which can eject fluid (e.g., compressed air) backward.

The foregoing description is merely illustrative of the technical idea of the present invention and various changes and modifications may be made without departing from the essential characteristics of the present invention. Therefore, the embodiments described in the present invention are not intended to limit the scope of the present invention, but are intended to be illustrative, and the scope of the present invention is not limited by these embodiments. It is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents, which fall within the scope of the present invention as claimed.

10: hair implanting device 30: needle
100: Main body 200: Positioning arm
300: multi-axial support part 400: gravity compensation part
500: mass transfer equilibrium 510: mass

Claims (12)

A body on which an apparatus or a power source necessary for operation of the hair implanting apparatus is mounted;
A position adjusting arm coupled to the body so as to be rotated or positioned based on the body by a plurality of joints so as to be moved from the body to an implantation site for implanting the follicular unit; And
A gimbal or spherical linkage structure coupled to an end of the position adjustment arm and having a plurality of joint axis directions aligned with a center of gravity of the hair implant device, And a multiaxial support portion connected to the transplantation portion to adjust an arrangement angle of the hair implanting device with respect to the implantation portion
A stand assembly for supporting a hair implant device.
The method according to claim 1,
The main body includes a plurality of wheels on the bottom surface of the main body
A stand assembly for supporting a hair implant device.
The method according to claim 1,
The position adjustment arm includes:
A rotation support shaft provided on an upper surface of the main body,
A boss rotatably coupled to the rotation support shaft, a first connection plate protruding integrally from one side of the boss, a rotation unit having a first pair of joint pins disposed on the first connection plate,
A first link pair rotatably connected to the first pair of joint pins and spaced apart from and parallel to each other, a second pair of joint pins connected to the ends of the first pair of links, A first link mechanism having a second connecting plate disposed at one end of the pair of plates and the third pair of joint pins disposed at the other end of the plate,
A pair of fourth joint pins connected rotatably to the pair of third joint pins and spaced apart from each other and arranged parallel to each other, and a fourth pair of joint pins connected to the ends of the second pair of links are disposed at one end of the plate, And a second link mechanism having a third link plate disposed on one side of the plate
A stand assembly for supporting a hair implant device.
The method of claim 3,
The multi-
A first gimbal link extending from one end of the second link mechanism rotatably coupled to the fifth joint pin and having a sixth joint pin disposed at the other end thereof,
And a second gimbal link extending from one end portion rotatably coupled to the sixth joint pin and having a seventh joint pin disposed at the other end thereof,
A hair implanting device is rotatably coupled to an end of the seventh joint pin and the hair implanting device is disposed inside a link space contacting the inner curved surface of the second gimbals link
A stand assembly for supporting a hair implant device.
5. The method of claim 4,
The multi-
And a third gimbal link rotatably coupled between the first gimbal link and the second gimbal link
A stand assembly for supporting a hair implant device.
5. The method of claim 4,
The position adjustment arm includes:
The main body, the rotating portion, the first link mechanism, the second link mechanism, the multi-axis supporting portion, and the hair grafting device are mounted between one side and the other side of each connecting portion rotatably connected to each other to perform counter balancing And a gravity compensation unit
A stand assembly for supporting a hair implant device.
The method according to claim 6,
Wherein the gravity compensation unit comprises:
A damper disposed at the connection portion,
A spring coupled to the damper,
The elastic force and the damping force are controlled so as to prevent the attitude of one or more of the rotating portion, the first link mechanism, the second link mechanism, the multi-axis supporting portion, and the hair- Causing
A stand assembly for supporting a hair implant device.
8. The method of claim 7,
Wherein the gravity compensation unit comprises:
A first gravity compensation unit connected between the main body and the rotation unit,
A second gravity compensation unit connected between the upper joint pin of the first pair of joint pins and the lower link of the first pair of links,
A third gravity compensation unit connected between the upper joint pin of the third pair of joint pins and the lower link of the second pair of links,
A fourth gravity compensation unit connected between the third connection plate and the first gimbals link,
A fifth gravity compensation unit connected between the first gimbal link and the second gimbal link,
And a sixth gravity compensation unit connected between the second gimbals link and the hair grafting device
A stand assembly for supporting a hair implant device.
6. The method of claim 5,
Wherein the gravity compensation unit comprises:
A seventh gravity compensation unit connected between the first gimbal link and the third gimbal link instead of the fifth weight compensating unit connected between the first gimbal link and the second gimbal link,
And an eighth gravity compensation unit connected between the third gimbals link and the second gimbals link
A stand assembly for supporting a hair implant device.
8. The method of claim 7,
Wherein the gravity compensation unit comprises:
Wherein one end of the gravity compensation unit is connected to the lower link of the link pair and the other end of the gravity compensation unit is connected to a wire wound on a pulley having an elliptical cross section or a non-
The pulleys are fixed to one of the one side of the upper link of the first link pair, one side of the upper link of the second link pair, one side of the rotating part, or one side of the second connecting plate
A stand assembly for supporting a hair implant device.
A body on which an apparatus or a power source necessary for operation of the hair implanting apparatus is mounted;
A position adjusting arm coupled to the body so as to be rotated or positioned based on the body by a plurality of joints so as to be moved from the body to an implantation site for implanting the follicular unit;
A gimbal or spherical linkage structure coupled to an end of the position adjustment arm and having a plurality of joint axis directions aligned with a center of gravity of the hair implant device, A multiaxial support unit connected to the transplantation unit to adjust an arrangement angle of the hair transplantation apparatus with respect to the transplantation site; And
A mass transfer part installed inside the hair implanting device and storing and discharging potential energy by elasticity of a spring,
The mass transferring portion converts or transfers the stored position energy into kinetic energy on the basis of the acting direction of the repulsive force generated when the needle of the hair implanting device is inserted into the implantation portion to cancel the repulsive force
A stand assembly for supporting a hair implant device.
12. The method of claim 11,
Wherein the mass transfer section comprises:
A mass disposed on the inside of the seventh joint pin, the inside of the hair implanting apparatus, the outside of the seventh joint pin, and the outside of the hair implanting apparatus, to which the multi-axis supporting unit and the hair implanting apparatus are connected,
A connecting shaft portion extending from the upper end portion to the inner space portion of the hair grafting device via the upper passage connecting the upper end to the bottom surface of the mass body and projecting in the upward and downward directions from the side surface of the connecting shaft portion, A vertically moving shaft having a sliding connection portion formed at a lower end of the connecting shaft portion,
An elastic body disposed between the bottom surface of the mass body and the upper surface of the hair grafting device,
A crankshaft disposed in the inner space portion and having a long hole formed in the sliding connection portion of the vertical moving shaft,
An input link portion having one end connected to the crankshaft and the other end connected to the motor shaft,
A repulsive force control motor disposed in the inner space portion for rotating the motor shaft,
And a trigger device for pushing the latch against the upper passageway in response to the timing of insertion of the needle of the hair grafting device into the implantation site
A stand assembly for supporting a hair implant device.

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