CN113543669B - Hair planting device - Google Patents

Abstract

The hair planting device comprises: a base holding mechanism (20) for holding a base material (J); a supply unit (80, 90) for holding hair (M) for hair planting on one surface side of the held base material; a coupling mechanism for knotting the hair for hair planting supplied from the supply part with respect to the base material by the crochet hook (41, 51, 61); a moving mechanism (25) for relatively moving the held base material and the crochet hook; and a first position control unit (101) that controls the movement mechanism (25) and performs hair implantation based on hair implantation pattern data that defines hair implantation positions at a plurality of standard positions with respect to the plurality of eye holes of the base material.

Description

Hair planting device

Technical Field

The present invention relates to hair planting devices.

Background

In a conventional hair-planting device, a mesh-shaped base material for hair planting is held, and knots of hair for hair planting are formed in each mesh hole of the base material using a plurality of crochets, so that hair planting is performed (for example, see patent literature 1).

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

Disclosure of Invention

In the conventional hair-planting apparatus, it is necessary to set the hair-planting positions with respect to the base material, respectively, and productivity is low.

The purpose of the present invention is to efficiently perform a hair-planting operation.

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

a base holding mechanism for holding a base material;

a supply unit for holding hair for hair planting on one surface side of the held base material;

a coupling mechanism for knotting the hair for hair planting supplied from the supply unit with respect to the base material by a crochet hook;

a moving mechanism that relatively moves the held base material and the hook; and

and a first position control unit that controls the movement mechanism and performs hair implantation based on hair implantation pattern data defining hair implantation positions at a plurality of standard positions with respect to the plurality of eye holes of the base material.

(2) The invention relates to the hair planting device described in (1),

the apparatus may further include an imaging unit that images the base material held by the base holding mechanism.

(3) The invention relates to the hair planting device described in (2),

the first position control unit may identify a plurality of actual positions of the plurality of eye holes based on the captured image of the base material obtained by the capturing unit, and may associate the standard position of the hair-planting pattern data with the actual position, and perform hair-planting at the actual position.

(4) The invention relates to the hair planting device according to (3),

the first position control unit may be configured to correlate the actual position to the standard position based on a placement condition indicating a positional relationship of the standard position with respect to the actual position acquired from the captured image of the base material.

(5) The invention relates to the hair planting device according to (4),

each mesh hole may be a regular hexagon,

the first position control section may be configured to control,

in a plurality of centers of gravity of the plurality of eye holes identified based on the captured image of the base material, a center of gravity of a first eye hole closest to a predetermined origin position is set as a start point,

the correlation of the actual position to the standard position is performed by determining the center of gravity of a second mesh hole adjacent to the first mesh hole and the center of gravity of a third mesh hole adjacent to the second mesh hole using, as a placement condition, the centers of gravity of the mesh holes adjacent to each other in an angular range of 60 ° with the center of gravity as the center of gravity.

(6) The invention relates to the hair planting device according to (5),

the first position control unit may perform the correlation of the actual position to the standard position by repeating a process of determining the center of gravity of one mesh hole and then determining the center of gravity of another mesh hole adjacent to the one mesh hole.

(7) The invention relates to the hair-planting device according to any one of (2) to (6),

the method may include: a position input unit that inputs a second hair-planting position from the captured image of the base material obtained by the imaging unit; and

and a second position control unit that controls the moving mechanism and performs hair implantation based on the inputted second hair implantation position.

(8) The invention relates to the hair planting device according to (7),

may be the second position control section,

a plurality of actual positions of the plurality of eye holes are identified based on the captured images,

and performing hair implantation at a position determined based on the inputted second hair implantation position and the identified actual position.

(9) The invention relates to the hair-planting device according to any one of (1) to (6),

the hair implantation pattern data may define the hair implantation position with respect to the standard position within a range of unit divisions in which the one surface of the base material is uniformly divided into a plurality of units.

(10) The invention relates to the hair-planting device according to (7) or (8),

the hair implantation pattern data may define the hair implantation position with respect to the standard position within a range of unit divisions in which the one surface of the base material is uniformly divided into a plurality of units.

(11) The invention relates to the hair planting device according to any one of (7), (8) and (10),

the second hair implantation position with respect to the standard position may be defined in a range of unit division of the one surface of the base material into a plurality of units uniformly.

ADVANTAGEOUS EFFECTS OF INVENTION

The present invention has a first position control unit that controls a moving mechanism and performs hair implantation based on hair implantation pattern data that defines hair implantation positions with respect to standard positions of a plurality of eye holes of a base material, and thus can reduce the work load of setting the hair implantation positions and perform hair implantation operation efficiently.

Drawings

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

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

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

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

Fig. 5 is a front view of the first supply portion after the position adjustment of the first gripping mechanism.

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

Fig. 7 (a) to 7 (D) are operation explanatory views showing the supply operation of the hair-setting hair by the second holding mechanism.

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

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

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

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

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

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

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

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

Fig. 16 (a) is a front view and fig. 16 (B) is a side view of an example of other tip shapes of the second crochet.

Fig. 17 (a) shows a state in which the second hook with rounded distal end catches hair for hair planting to form a loop, and fig. 17 (B) shows a state in which the second hook with sharp distal end catches hair for hair planting to form a loop.

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

Fig. 19 is a front view showing the operation of the third catching mechanism after fig. 18.

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

Fig. 21 is a front view showing the operation of the third catching mechanism after fig. 20.

Fig. 22 is a front view showing the operation of the third catching mechanism after fig. 21.

Fig. 23 (a) and 23 (B) are plan views showing the range of performing hair implantation with respect to the base material.

Fig. 24 (a) and 24 (B) are side views showing the range of performing hair implantation with respect to the base material.

Fig. 25 is a conceptual diagram showing a standard image of the standard position of the mesh hole specified by the hair-planting pattern data.

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

Fig. 27 is an explanatory diagram showing a process of associating the standard position of the eye hole with the standard position of the eye hole after fig. 26.

Fig. 28 is an explanatory diagram showing a process of associating the standard position of the eye hole with the standard position of the eye hole after fig. 27.

Fig. 29 is an explanatory diagram showing a process of associating the standard position of the eye hole with the standard position of the eye hole after fig. 28.

Fig. 30 is an explanatory diagram showing a process of associating the standard position of the eye hole with the standard position of the eye hole after fig. 29.

Fig. 31 is an explanatory diagram showing an input method of the hair implantation position.

Fig. 32 is an explanatory diagram showing an input method of the hair implantation position.

Fig. 33 is an explanatory view of the planar direction of the plant control.

Fig. 34 (a) is an operation explanatory view of the implantation control, and is a front view of the implantation position, and fig. 34 (B) is an operation explanatory view of the implantation control, and is a side view of the implantation position.

Fig. 35 (a) is an operation explanatory view of the implantation control, and is a front view of the implantation position, and fig. 35 (B) is an operation explanatory view of the implantation control, and is a side view of the implantation position.

Fig. 36 (a) is an operation explanatory view of the implantation control, and is a front view of the implantation position, and fig. 36 (B) is an operation explanatory view of the implantation control, and is a side view of the implantation position.

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

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

Fig. 39 (a) is an operation explanatory view of the implantation control, and is a front view of the implantation position, and fig. 39 (B) is an operation explanatory view of the implantation control, and is a side view of the implantation position.

Fig. 40 (a) is an operation explanatory view of the implantation control, and is a front view of the implantation position, and fig. 40 (B) is an operation explanatory view of the implantation control, and is a side view of the implantation position.

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

Fig. 42 (a) is an operation explanatory view of the implantation control, and is a front view of the implantation position, and fig. 42 (B) is an operation explanatory view of the implantation control, and is a side view of the implantation position.

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

Fig. 44 (a) is an operation explanatory view of the implantation control, and is a front view of the implantation position, and fig. 44 (B) is an operation explanatory view of the implantation control, and is a side view of the implantation position.

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

Fig. 46 is a flowchart of the plant start control.

Fig. 47 (a) is an explanatory view showing one-turn left knotting of the hair fiber, and fig. 47 (B) is an explanatory view showing one-turn right knotting of the hair fiber.

Detailed Description

[ overall structure of embodiment ]

Hereinafter, the hair-planting device 10 according to the embodiment of the present invention will be described in detail with reference to the accompanying drawings.

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

The hair-planting device 10 is used to smoothly plant the hair M for hair planting to the base material J while reducing the work load.

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

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

The shape of the eye apertures may not be hexagonal.

As shown, the hair planting device 10 has a base holding mechanism 20, a moving mechanism 25, a first catching mechanism 40, a second catching mechanism 50, a third catching mechanism 60, a looper mechanism 70, a first supply section 80, and a second supply section 90. More specifically, the hair planting device 10 includes a base holding mechanism 20 for holding the base material J and a first hook 41 penetrating from the back surface side of the held base material J. The hair-planting device 10 further has: a first catching means 40 for forming a loop by pulling a portion of the hair for hair planting M, which is not an end portion, into the back surface side of the base material J through the first hook 41; a looper mechanism 70 that opens the loop of the formed hair-setting hair M to form a larger loop; and a second crochet hook 51 penetrating from the surface of the held base material J. The hair-planting device 10 further has: a second catching mechanism 50 for pulling out the wire loop of the hair for hair planting M from the other hole different from the first crochet 41 to the surface side of the base material J through the second crochet 51; and a third crochet hook 61 inserted into the wire loop of the hair M for hair planting caught by the second crochet hook 51. The hair-planting device 10 further has: a third catching means 60 for pulling a part of the hair M for hair implantation into the wire loop through the third crochet hook 61; a first supply unit 80 for holding hair M for hair transplantation on the surface (one surface) side of the held base material J; a second supply unit 90 for delivering the hair-growing hair M to the first supply unit 80; and a moving mechanism 25 for relatively moving the held base material J with respect to the bearded needles 41, 51, 61. The hair-planting device 10 further has: a camera 11 as an imaging unit for imaging the substrate J held by the substrate holding mechanism 20; a pedal 14 for executing the holding operation of the base material J by the base holding mechanism 20; a control device 100 for controlling the operation of the hair implantation of the hair M for hair implantation into the base material J; and a base 12 for supporting the above structures.

The first to third catching means 40, 50, 60 and the looper means 70 constitute a coupling means for tying the hair M for hair planting with respect to the base material J.

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

[ substrate holding mechanism ]

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

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

The lower frame 21 has an opening 211 at the top of the lower frame 21, and the holding frame 22 also has an opening 221 corresponding to the opening 211. The implantation process is performed inside the openings 211 and 221 with respect to the base material J sandwiched between the lower frame 21 and the holding frame 22.

The holding frame 22 is supported in a liftable manner by a holding cylinder 23 for holding the base material J. The base material J is held by the cooperative action with the lower frame 21 if the holding frame 22 is lowered, and the base material J is released if the holding frame 22 is raised.

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

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

In contrast, when the slip-resistant material 24 is a material having a high coefficient of friction and a high contractibility, such as a loop material of a hook-and-loop fastener, the slip-resistant material 24 contracts in each portion with respect to the base material J having a non-uniform thickness. The entire surface of the anti-slip material 24 is in contact with the base material J, and the holding frame 22 can effectively hold the base material J.

There is an advantage in that the wire loop material is not easily entangled with the other matrix material J on which the hair implantation of the hair M has been performed.

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

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

The pedal 14 can be depressed in three stages from the neutral position, and sensors for detecting the neutral position and the depressed state in three stages are incorporated therein, and detection signals of the sensors are input to the control device 100.

The control device 100 recognizes the stepping state of the pedal 14. In response to the stepping of each of the first to third steps, the control device 100 lowers the holding frame 22 toward the lower frame 21 so that the pressurizing force increases stepwise. When the pedal 14 is returned to the neutral position, the control device 100 moves the holding frame 22 upward, and the base material J is released.

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

[ moving mechanism ]

The moving mechanism 25 includes: an X-axis table 26 and a Y-axis table 27 capable of independently moving the lower frame 21 and the holding frame 22 in the X-axis direction and the Y-axis direction; and an X-axis motor 28 for the base and a Y-axis motor 29 for the base, which serve as driving sources for moving the lower frame 21 and the holding frame 22 in the X-axis direction and the Y-axis direction, respectively.

Thus, the moving mechanism 25 can move and position the base material J held by the lower frame 21 and the holding frame 22 at an arbitrary position on the X-Y plane. In the present embodiment, the moving mechanism 25 moves the base material J relatively to the bearded needles 41, 51, 61, but may move the bearded needles 41, 51, 61 relatively to the base material J.

[ first supply portion ]

If the hair-setting hair M for hair-setting is set from the outside (for example, a manual work of an operator or a supply device not shown) at a predetermined initial position, the second supply unit 90 conveys the hair-setting hair M to the junction position.

The first supply unit 80 receives the hair M for hair planting from the second supply unit 90 at the delivery position, and conveys the hair M for hair planting to the hair planting position above the lower frame 21 and the holding frame 22 of the substrate holding mechanism 20.

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

The first supply unit 80 includes: a first grasping mechanism 81 and a second grasping mechanism 82 that grasp both end portions of the hair M for hair planting, respectively; a support plate 83 that supports the first and second holding mechanisms 81 and 82 and moves from the initial position to the delivery position; a movable portion 84 (not shown in fig. 4 and 5) that conveys the first and second holding mechanisms 81 and 82 in the Y-axis direction; and an interval adjustment cylinder 85 as a variable actuator that changes the interval between the first grasping mechanism 81 and the second grasping mechanism 82.

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

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

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

The outer circumferences of both the sliding plates 812, 813 warp throughout the entire circumference of the sliding plates 812, 813.

The support shaft 815 is erected in the Z-axis direction, and the coil spring 814, the slide plate 812, and the slide plate 813 are arranged in this order from above and supported.

The two sliding plates 812, 813 are held in a state of being pressed around the central portions of the sliding plates 812, 813 by the spring pressure of the coil spring 814 in a state in which the warp directions of the outer peripheral portions of the sliding plates are reversed.

An external thread is formed on the outer periphery of the upper end portion of the support shaft 815. The adjusting body 816 is nut-shaped and is screwed with an external thread at the upper end of the support shaft 815.

The adjusting body 816 is screwed to the support shaft 815 and rotates, whereby the amount of expansion and contraction of the coil spring 814 is changed, and the holding pressure of the two sliding plates 812, 813 can be adjusted.

The two sliding plates 812, 813 sandwich and hold the hair M for hair planting between the sliding plates 812, 813. The gripping pressure of the two sliding plates 812, 813 is preferably adjusted to such a degree that the hair for hair planting M slides and can be pulled out if pulled with a tension in a range where the hair for hair planting M does not extend or is not broken by pulling.

The two sliding plates 812, 813 are preferably made of metal plates or resin plates having sliding properties so as to slide with respect to the hair-setting hair M.

Since both the sliding plates 812 and 813 are provided with the outer surfaces Zhou Qiaoqu, the hair setting hair M can be easily pushed into each other from the outer peripheral sides of the sliding plates 812 and 813.

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

The support plate 83 holds a space adjustment cylinder 85 near the left end portion of the support plate 83. The interval adjustment cylinder 85 is provided with a plunger having a forward and backward direction toward the X-axis direction, and a tip end portion of the plunger is coupled to the first grasping mechanism 81. Thereby, the interval adjustment cylinder 85 can perform the movement operation in the X-axis direction with respect to the first gripping mechanism 81.

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

By switching the position of the first holding mechanism 81, the interval between the first holding mechanism 81 and the second holding mechanism 82 is narrowed, and thereby the hair M for hair planting held by the first holding mechanism 81 and the second holding mechanism 82 can be changed from the non-relaxed state shown in fig. 4 to the relaxed state shown in fig. 5.

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

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

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

Both the holding members 822 and 823 are formed in a flat plate shape elongated in the Y-axis direction, are arranged in a vertical direction, and are supported in a state where the lower surface of the holding member 822 and the upper surface of the holding member 823 face each other.

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

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

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

The distal end portion of the lower surface of the upper gripping member 822 and the distal end portion of the upper surface of the lower gripping member 823 are both subjected to the anti-slip treatment, and unlike the case of the first gripping mechanism 81, the hair M for hair transplantation gripped by the second gripping mechanism 82 is not easily pulled out.

Fig. 7 (a) to 7 (D) are operation explanatory diagrams showing the supply operation of the hair-setting hair M by the second holding mechanism 82.

The second grasping mechanism 82 is configured to grasp and receive the hair M for hair planting supported in the erect state by the second supply section 90, and therefore, it is preferable that both the upper grasping member 822 and the lower grasping member 823 are moved up and down with respect to the hair M for hair planting to grasp the hair M for hair planting from above and below.

The second grasping mechanism 82 moves forward by the movable portion 84, and supplies hair M for hair planting to the upper sides of the lower frame 21 and the holding frame 22, so that interference with the structures of the lower frame 21, the holding frame 22, and the surrounding portions thereof needs to be avoided during the forward movement.

Accordingly, as shown in fig. 7 (a) and 7 (B), the second holding mechanism 82 holds the hair-growing hair M from above and below with the upper holding member 822 in the upper position, the lower holding member 823 in the lower position, the upper holding member 822 in the lower position, and the lower holding member 823 in the upper position.

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

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

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

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

[ second supply portion ]

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

As shown in the figure, the second supply unit 90 includes: a third grasping mechanism 91 and a fourth grasping mechanism 92 for grasping both ends of the hair M; a support plate 93 that supports them; a movable unit 94 that conveys the third gripping mechanism 91 and the fourth gripping mechanism 92 in the X-axis direction; and a tension applying mechanism 95 for applying tension to the hair M for hair planting by expanding the interval between the third holding mechanism 91 and the fourth holding mechanism 92 at the delivery position.

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

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

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

The base 911 is block-shaped, and has a top surface on which the lower gripping member 913 is fixedly supported, and an upper gripping member 912 provided to be superposed thereon is supported so as to be capable of being lifted.

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

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

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

The base 921 has a block shape, and the upper surface thereof fixedly supports the lower gripping member 923, and the upper gripping member 922 provided to be superposed thereon is supported to be liftable.

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

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

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

The support plate 941 is a flat plate having a long shape in the X-axis direction, and has a rail 942 provided on its upper surface.

The slide rails 942 are provided in parallel with each other in the X-axis direction, and enable the base 911 to slide by a slider, not shown, provided on the base 911 side.

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

The movable portion 94 sets one end (left end) of the movable range of the third holding mechanism 91 and the fourth holding mechanism 92 to the initial position and the other end (right end) to the delivery position.

In the delivery position, the first and second holding mechanisms 81 and 82 of the first supply section 80 waiting at the rear move between the third and fourth holding mechanisms 91 and 92 with respect to the third and fourth holding mechanisms 91 and 92. The hair-planting hair M supported by the third and fourth holding mechanisms 91 and 92 is held by the first and second holding mechanisms 81 and 82, and delivered.

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

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

The support column 951 supports the base 911 of the third grasping mechanism 91 so as to be movable in the X-axis direction, and one end (left end) of the pressurizing spring 952 is coupled to the support plate 93 and the other end (right end) is coupled to the base 911.

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

The abutment member 953 protrudes in a direction (for example, forward) deviated from the travel route of the base 911, and the stopper 954 is provided on the support plate 941 at a position (for example, forward) deviated from the travel route of the base 911.

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

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

Thus, even when the hair M for hair planting held between the third holding mechanism 91 and the fourth holding mechanism 92 is loosened, the hair M for hair planting can be stretched in a state in which the hair M for hair planting is not loosened.

When the interval between the third grasping mechanism 91 and the fourth grasping mechanism 92 is enlarged, it is preferable that the grasping members 912, 913, 922, 923 of either or both of the third grasping mechanism 91 and the fourth grasping mechanism 92 grasp with a grasping pressure of a degree that allows sliding with respect to the hair M for hair planting, or that surfaces of the grasping members 912, 913, 922, 923 grasp are made of a material having sliding properties so that the hair M for hair planting is not broken.

[ looper mechanism ]

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

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

The moving mechanism 72 includes a sliding mechanism and an advance and retreat motor 721 as an actuator of the linear motion system. The slide mechanism is composed of a slide guide and a slide rail, and can slide the head 73 in the Y-axis direction.

The advance and retreat motor 721 applies a thrust force in the Y-axis direction to the head 73 by a known linear motion mechanism, that is, a belt mechanism, for example. As the advance and retreat motor 721, a direct-acting motor can be used.

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

These loopers 74, 75 extend forward from the head 73, and the respective rear ends are supported by the head 73 so as to be rotatable about the Z axis. The opening/closing actuator 77 for a loop breaker, which is capable of switching between an open state (state of fig. 12 (a)) in which the distal ends thereof are separated from each other and a closed state (state of fig. 12 (B)) in which the distal ends thereof are close to each other, is housed in the head 73.

In the hair setting operation, the loopers 74 and 75 are each independently in a state in which the wire loops of the hair setting hair M are locked, and then the loopers 74 and 75 need to be pulled out from the respective wire loops, but even when the loopers 74 and 75 are in the closed state, gaps of such an extent that the hair setting hair M can pass are formed at the distal ends of each other, and hence the wire loops can be smoothly pulled out.

Each loopers 74, 75 has concave portions 741, 751 recessed inward near the distal end. The left and right loopers 74, 75 can be moved forward in a closed state to protrude into the small wire loop of the hair-setting hair M, and are opened, whereby the small wire loop is opened while holding the hair-setting hair M in the recesses 741, 751, and the small wire loop is opened to be a larger wire loop.

[ second capturing mechanism ]

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

As shown in fig. 1, 13 and 14, the second catching mechanism 50 includes: a second crochet hook 51 disposed above the openings 211 and 221 of the lower frame 21 and the holding frame 22, and having a distal end portion disposed downward; a second catch motor 52 for advancing and retreating the second crochet hook 51; a support block 53 that supports the second crochet hook 51; a support bracket 54 for supporting the support block 53 to be vertically movable in the Z-axis direction; and a rotation motor 55 (refer to fig. 2) that rotates the second crochet hook 51 around the Z axis.

As shown in fig. 15, the second crochet hook 51 is disposed with the tip portion directed downward in the Z-axis direction. The second crochet needle 51 has a sharp needle-like distal end, and has a notch at a distal end portion of the outer periphery near the distal end, and a hook 511 of an upward barb shape is formed inside the notch. Since the hook 511 is configured such that the tip end portion of the hook is directed upward, if the second crochet needle 51 is lowered from above the base material J and the hook 511 is penetrated and then raised, the loop of the hair M for hair planting held by the loop breaker mechanism 70 on the lower side of the base material J is caught by the hook 511 and lifted to the surface side of the base material J, and the loop of the hair M for hair planting can be formed on the surface side.

The second crochet hook 51 has deep-cut relief grooves 512 formed on both sides of the hook 511 on the inner side of the slit. When the hair M for hair planting is caught by the hook 511 and lifted up, the groove 512 retreats to the inside of the groove 512, whereby the hair M for hair planting can be restrained from expanding to both sides (the direction orthogonal to the Z axis) of the second crochet hook 51. The second hook 51 can be easily pulled out from the base material J through the groove 512, but in the case where the base material J is a material having numerous holes such as a mesh, the groove 512 is not necessary.

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

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

Fig. 17 (a) shows a state in which the second crochet 51 with rounded distal ends catches the hair M for hair planting to form a loop, and fig. 17 (B) shows a state in which the second crochet 51 with sharp distal ends catches the hair M for hair planting to form a loop.

At the time of hair implantation, a work of inserting a third crochet 61 described later into a wire loop formed by capturing hair M for hair implantation by the second crochet 51 is performed.

As shown in fig. 17 (a), in the case of the second crochet needle 51 having the rounded distal end, a wide region R can be secured inside the loop of the hair-setting hair M, and the third crochet needle 61 can be easily inserted, so that the hair setting industry can be performed more stably. The damage to the base material J at the sharp distal end can be reduced and suppressed.

In the case of the second bearded needle 51 having the rounded distal end, the groove 512 may not be provided in the case where the base material J is a material having numerous holes such as a mesh.

The second crochet hook 51 is not limited to the case of the distal end circle, and may have a flat shape having a smooth surface perpendicular to the longitudinal direction of the second crochet hook 51, and a wide region R may be secured inside the loop of the hair M for hair planting.

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

In contrast, the hair for hair planting M held by the looper mechanism 70 is located between the first crochet 41 and the second crochet 51, that is, slightly forward of the second crochet 51, and when the second crochet 51 descends, the looper mechanism 70 moves the hair for hair planting M to the second crochet 51 side, that is, rearward, and contacts the front side of the outer periphery of the second crochet 51. This allows the hook 511 to more reliably catch the hair M for hair transplantation.

The support block 53 rotatably supports the second crochet needle 51 about the Z axis and is coupled so as to perform a lifting operation integrally with the second crochet needle 51 in the Z axis direction.

The support block 53 is supported by a support bracket 54 via a slide guide portion not shown in the drawings so as to be capable of being lifted.

The support bracket 54 is fixedly supported on the base 12.

The second crochet hook 51 is in the retracted position shown in fig. 13, and protrudes to the position shown in fig. 14.

A protective cover 57 is provided at a position near and opposite to the front end portion of the second crochet hook 51 at a front (lower) side in the entering direction than the front end portion of the second crochet hook 51 at the retracted position at the lower end portion of the support bracket 54.

The protective cover 57 is flat and perpendicular to the longitudinal direction of the second crochet needle 51, and a through hole 571 into which the second crochet needle 51 can be loosely inserted is provided in the center portion of the protective cover 57. When the second crochet needle 51 is used, the through hole 571 is not in the way of the second crochet needle 51.

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

The protective cover 57 is not necessarily formed in a flat plate shape, and may be formed so long as the second crochet needle 51 can pass therethrough and the tip end portion of the second crochet needle 51 in the retracted position is prevented from contacting a person or an object. For example, the second hook 51 may be formed by surrounding the periphery of the passing region with a rod-like or tubular frame, or may be formed by a cylindrical frame.

The second catch motor 52 is supported by the base 12, and imparts a lifting motion to the support block 53 via a linear motion transmission mechanism, not shown, such as a ball screw mechanism or a belt mechanism. As the second catch motor 52, a direct-acting motor may be used.

The second crochet hook 51 has a spline groove, not shown, formed in an upper portion of the second crochet hook 51, and a spline nut 56 is provided near an upper end portion. The spline nut 56 receives a rotational force from the rotation motor 55 via a belt mechanism not shown. This allows the second crochet hook 51 to perform a lifting operation and a rotation, and allows the loop of the hair M captured by the second crochet hook 51 to form a twisted portion.

[ first capturing mechanism ]

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

As shown in fig. 1, the first catching mechanism 40 includes: a first crochet hook 41 disposed below the openings 211 and 221 of the lower frame 21 and the holding frame 22, and having a distal end portion disposed upward; a first catch motor 42 (see fig. 2) that is a driving source for vertically moving the first hook 41; a support block 43 that supports the first crochet hook 41; and a support bracket 44 that supports the support block 43 in a vertically movable manner in the Z-axis direction.

The first crochet 41 is disposed with its tip portion facing upward in the Z-axis direction. The first crochet 41 is needle-shaped with a sharp distal end, and has a hook portion (not shown) formed in a downward reverse hook shape on the rear side of the outer periphery in the vicinity of the distal end. Since the hook portion is a portion having a hook tip facing downward, if the first hook needle 41 is lifted from below the base material J and lowered after the hook portion is penetrated, the intermediate portion of the hair M for hair planting held by the first supply portion 80 is caught by the hook portion 411 on the upper side of the base material J and pulled into the rear surface side of the base material J, whereby a loop can be formed.

The first crochet 41 has the same structure as the second crochet 51 described above. The first crochet 41 may be rounded or formed flat at the front end.

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

The first catch motor 42 is supported by the base 12, and imparts a lifting operation to the first hook 41 via a linear motion transmission mechanism, not shown, such as a ball screw mechanism or a belt mechanism. The first catch motor 42 may be a direct-acting motor.

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

The first crochet 41 is disposed in the center of the opening 211 of the lower frame 21 when viewed from above in a state where the hook portion is directed to the rear side. When the first crochet 41 is lifted, the first supply unit 80 makes the hair for hair planting M contact with the rear side of the outer periphery of the first crochet 41 from the rear of the first crochet 41. Thus, the hook 411 can more reliably catch the hair M for hair transplantation.

[ third catching means ]

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

The third capturing mechanism 60 is shown as having: a third latch 61 disposed obliquely right above the openings 211 and 221 of the lower frame 21 and the holding frame 22, and having a distal end portion disposed obliquely left below; a hair holding section 62 for holding a part of the hair M for hair planting caught by the third crochet hook 61 together with the third crochet hook 61; a first advancing/retreating mechanism 63 that advances/retreats the third crochet hook 61 and the hair gripping portion 62 with respect to the base material J held by the base holding mechanism 20; a second advancing/retreating mechanism 64 that advances/retreats the hair holding section 62 with respect to the third crochet hook 61, and switches between a holding position that holds a part of the hair M for hair planting together with the third crochet hook 61 and a retreating position that retreats the hair holding section 62 from the third crochet hook 61; and a support plate 65 that supports the whole of these components.

The third crochet hook 61 is disposed toward the openings 211 and 221 of the lower frame 21 and the holding frame 22 positioned obliquely downward to the left. The third crochet hook 61 is needle-shaped with a sharp distal end, and a hook 611 is formed on the distal side of the outer periphery near the distal end, and faces the opposite side of the distal end. Since the hook 611 is inclined upward toward the right at the distal end portion of the hook, if the third crochet needle 61 is inserted into the loop of the hair M for hair planting formed by the second crochet needle 51 above the base material J until the hook 611 is reached, and the hook 611 is retracted after being lowered to the hair M for hair planting near the upper surface of the base material J, a part of the hair M for hair planting can be caught and inserted into the loop.

The third catching means 60 is disposed so that the extended line of the center line of the third crochet hook 61 crosses or is slightly shifted rearward from the extended line of the center line of the second crochet hook 51 above the base material J.

The hair holding portion 62 has: a clip member 621 that, together with the third crochet hook 61, clips the hair M for hair planting captured by the hook 611 of the third crochet hook 61; a chuck clamping cylinder 622 (see fig. 2) for switching between clamping and releasing of the chuck member 621; and a regulator 623 that regulates the pressure of the air pressure supplied to the collet chuck cylinder 622.

The chuck member 621 is a pair of gripping portions capable of contact or separation movement, grips the third crochet hook 61 by a approaching operation, and releases the third crochet hook 61 by a separating operation.

The chuck member 621 is supported by the second advancing and retreating mechanism 64, and is positionable at a position where the hook 611 of the third crochet hook 61 is gripped in the gripping position described above, and is positioned at the root side of the third crochet hook 61 in the retracted position.

The collet chuck cylinder 622 applies a closing operation and a separating operation to the chuck part 621.

The regulator 623 is capable of manually adjusting the air pressure supplied to the collet chuck cylinder 622 by an adjusting screw, and thereby functions as an adjusting portion for arbitrarily adjusting the clamping pressure of the third hook 61 and the hair setting hair M generated by the collet member 621.

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

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

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

The second advancing and retreating mechanism 64 has: a chuck advance and retreat cylinder 641 serving as a drive source for advance and retreat movement of the chuck member 621 of the hair holding section 62; a support plate 642 that supports the chuck member 621; and a slide guide 643 that slidably supports the support plate 642 with respect to the movable block 632 in the longitudinal direction of the third crochet hook 61.

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

The chuck advance and retreat cylinder 641 is fixedly supported by the movable block 632 such that the advance and retreat direction of the plunger of the chuck advance and retreat cylinder 641 is parallel to the longitudinal direction of the third shackle 61, and the tip end portion of the plunger is coupled to the support plate 642.

The chuck advance/retreat cylinder 641 moves the chuck member 621 to a gripping position where the hook 611 of the third hook 61 can be gripped when the plunger of the chuck advance/retreat cylinder 641 is advanced, and moves the chuck member 621 to a retracted position on the rear end side of the third hook 61 when the plunger of the chuck advance/retreat cylinder 641 is retreated.

The third catching means 60 having the above-described structure can draw a part of the hair M into the loop of the hair M formed with respect to the base material J, and fasten the loop by applying tension.

This operation will be described in order with reference to fig. 18 to 22.

First, as shown in fig. 18, the clip member 621 is in the retracted position in the released state, and the movable block 632 is also waiting at the initial position where the tip end portion of the third hook 61 does not touch the hair M for hair planting.

As shown in fig. 19, when the movable block 632 is moved forward by the drive of the third catching motor 631, the distal end portion of the third crochet hook 61 passes through the inner side of the loop of the hair setting hair M, and the hook 611 catches a part of the hair setting hair M at the distal end of the loop.

As shown in fig. 20, if the third hook 61 catches a part of the hair M for hair planting, the movable block 632 is moved backward by driving the third catch motor 631. Thereby, a part of the hair for hair transplantation M is pulled in through the wire loop.

After a part of the hair M for hair planting is pulled into the wire loop, the chuck member 621 is moved to the gripping position by the chuck advance/retreat cylinder 641 at a predetermined timing. The chuck member 621 is switched to the clamped state by the chuck clamping cylinder 622.

As a result, as shown in fig. 21, in a state where a part of the hair M for hair planting is fixed to the hook portion of the third crochet hook 61, the movable block 632 is pulled along with the retreating movement, and the loop of the hair M for hair planting is fastened and made small.

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

Accordingly, the tension for fastening the loop of the hair for hair implantation M is not transmitted to the loop side, and only a part of the free end side of the hair for hair implantation M is pulled by the third crochet hook 61, and passes completely through the loop. Thus, the hair setting operation of tying the hair for hair setting M to the base material J is completed.

As shown in fig. 20, the distance of the backward movement operation of the third catch motor 631 from the time when the chuck holding cylinder 622 is switched to the holding state to the released state can be arbitrarily set from the operation panel 15 described later.

That is, the operation panel 15 functions as a "setting unit" for setting the amount of the third crochet hook 61 to be retracted by the first advancing/retreating mechanism 63 from the time when the hair clamping portion 62 switches a part of the hair M for hair planting to the clamped state with respect to the third crochet hook 61 to the time when the hair clamping portion is switched to the released state.

The operation panel 15 adjusts the retreating movement operation distance, and thereby can adjust the force for fastening the wire loop of the hair-setting hair M. That is, if the backward movement operation distance is long, the tightening force becomes large.

The control device 100 functions as a "tightening control unit" that controls the hair holding portion 62 and the first advancing and retreating mechanism 63 based on the set amount of retreating movement to adjust the tightening force of the wire loop of the hair M for hair planting.

Thus, the control device 100 can arbitrarily adjust the fastening force when the hair-setting hair M is tied to the base material J.

The third catching mechanism 60 is also provided with a protective cover, not shown, in the same manner as the first and second catching mechanisms 40, 50. In the case of the third catching mechanism 60, the protection cover having the through hole into which the third hook 61 is loosely inserted is supported by the support plate 65 at a position near the front side of the chuck member 621 (near the front side in the entering direction of the chuck member 621 in fig. 20) where the movable block 632 is positioned at the most forward position and is in the entering state.

[ Camera ]

The camera 11 can take an image of the base material J held by the base holding mechanism 20 from below through the openings 211 and 221 of the lower frame 21 and the holding frame 22 at the lower side of the lower frame 21.

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

[ control System of Hair planting device: control device ]

As shown in fig. 2, the control device 100 of the hair planting device 10 includes: ROM (Read Only Memory) 102 a program for controlling the operation of hair implantation; RAM (Random Access Memory) 103, which is a work area for arithmetic processing; a nonvolatile data memory 104 which is erasable and writable as a storage means and stores various setting data and the like; and a CPU 101 (Central Processing Unit) that executes programs in the ROM 102.

The CPU 101 controls driving of the X-axis motor 28 for the base, the Y-axis motor 29 for the base, the first catch motor 42, the second catch motor 52, the rotation motor 55, the third catch motor 631, the advance and retreat motor 721, the movable motor 841, and the movable motor 943 via the motor driving circuits 28a, 29a, 42a, 52a, 55a, 631a, 721a, 841a, 943 a.

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

The CPU 101 is connected to driving circuits 23b, 622b, 641b, 824b, 825b, 85b, 914b, 924b, and 924b for controlling solenoid valves 23a, 622a, 641a, 824a, 85a, 914a, and 924a for operating the holding cylinder 23, the collet chuck cylinder 622, the collet advance and retreat cylinder 641, the first gripping cylinder 824, the second gripping cylinder 825, the interval adjustment cylinder 85, the third gripping cylinder 914, and the fourth gripping cylinder 924, respectively.

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

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

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

[ processing as the first position control section ]

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

First, the CPU 101 of the control device 100 functions as a first position control unit that controls the movement mechanism 25 by cooperating with the image processing device 16, and performs hair implantation based on hair implantation pattern data defining hair implantation positions of a plurality of standard positions of a plurality of eye holes with respect to the base material J.

The hair planting pattern data is stored in the data memory 104.

The hair setting pattern data defines a hair setting position with respect to a plurality of standard positions of a plurality of eye holes of the base material J as a reference. The standard positions of the plurality of mesh holes are positions of the plurality of mesh holes in a plane on the premise that regular hexagons having no distortion throughout the mesh holes are laid at uniform intervals, taking the surface of the base material J as a plane.

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

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

Therefore, the hair-planting pattern data defines the hair-planting position with respect to the standard position of the plurality of eye holes in the range of unit division in which the surface (one surface) of the base material J is uniformly divided into a plurality of units.

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

Accordingly, as shown in fig. 23 (B), the surface of the base material J having a curved shape as a whole is finely divided into a single range approaching the plane, and the height difference h of each division is reduced as shown in fig. 24 (B), so that the setting of the position of the plane adapted to the hair planting position specified in the hair planting pattern data for the surface of the actual base material J becomes easy.

As described above, the hair-planting positions of the standard positions with respect to the plurality of eye holes are defined in the hair-planting pattern data within the range of the unit division with respect to the stenosis, and the hair-planting operation is performed for each unit division with respect to the stenosis, whereby the hair can be satisfactorily planted with respect to the curved base material J.

Fig. 25 is a conceptual diagram showing a standard image of the standard position of the mesh hole specified by the hair-planting pattern data. As shown in the drawing, in the hair-planting pattern data, a plurality of hair-planting positions are set in the order of performing hair-planting at each position on a plane where regular hexagons having no distortion throughout the mesh holes are laid at uniform intervals. Reference character K in the figure shows the aforementioned unit division. 72 mesh holes exist in the unit division K, and the mesh holes are numbered in the order of arrangement. That is, in the unit division K, an origin point, not shown, is set near the lower right corner in the drawing, and a "1" is set in the mesh hole at the position including the origin point. The mesh holes in the zigzag rows alternately repeated in the downward left and upward left directions are sequentially given subsequent numbers starting from the mesh hole of "1", the upper row is sequentially given subsequent numbers, and the numbers up to "72" are finally given.

The "good" within the unit division K shows the hair planting position. The hair implantation position is necessarily the boundary position of two mesh holes adjacent to each other, and thus can be determined by the numbers of the two mesh holes adjacent to each other. The hair planting positions are also provided with the hair planting sequence.

The camera 11 performs shooting in a slightly wider range, which is approximately the same as the unit division K.

The base material J is often made of a material having high stretchability and deformability, and is easily stretched and distorted when the base holding mechanism 20 is installed. Therefore, the photographed image obtained when the base material J is actually photographed is more likely to be stretched or deformed than the image indicating the standard position of the mesh hole. Since it is difficult to accurately align the directions at the time of setting the base material J, inclination may occur.

Accordingly, the actual positions of the deformed or inclined mesh holes are associated with the standard positions of the mesh holes set in the hair-planting pattern data, and the mesh holes at the actual positions are given the numbers 1 to 72.

When the processing is executed as the first position control unit, the CPU 101 recognizes the actual positions of the mesh holes from the captured image of the base material J obtained by the camera 11, and sequentially adds numbers in the same order as the order of arrangement of the mesh holes at the standard positions, so that the mesh holes at the actual positions having the same numbers correspond to the mesh holes at the standard positions. And determining the hair implantation position in the photographed image according to the net eye hole of the actual position corresponding to the two numbers for determining the hair implantation position, and performing hair implantation at the actual position of the net eye hole.

In order to accurately develop the hair-planting position, it is necessary to appropriately associate mesh holes at a plurality of actual positions in the captured image with mesh holes of standard values. Fig. 26 to 30 are explanatory views showing a procedure for identifying the positions of the mesh holes from the captured image. As in fig. 25, the actual imaging range is wide in 72 mesh holes and has a width that enables imaging, but only a part of the imaging range is illustrated in fig. 26 to 30.

First, as shown in fig. 26, the mesh holes are searched for by a matching process or the like for the captured image of the base material J, and the position of the center of gravity is calculated for the obtained mesh holes individually. The center of gravity referred to herein is the center of gravity on the graph, i.e., the center of mass when the masses are uniformly distributed on the graph. The black dots of fig. 26 show the center of gravity obtained.

When the processing is executed as the first position control unit, the CPU 101 correlates the actual positions of the eye holes identified by the imaging with the standard positions based on the arrangement condition indicating the positional relationship of the standard positions of the plurality of eye holes.

The arrangement condition indicating the positional relationship of the standard positions of the plurality of mesh holes includes, for example, a geometrical positional relationship generated with respect to the positions of the centers of gravity of each other in the case of arranging the mesh holes of the regular hexagon.

First, as shown in fig. 27, the CPU 101 identifies a mesh hole including an origin o set in advance in the imaging range as a mesh hole of "1". Next, with reference to fig. 27 to 30, the center of gravity of the mesh hole with the determined number is not indicated by a black dot, but by a white dot with the determined number.

In the case of the regular hexagonal mesh Kong Puman, six mesh holes are adjacent to one mesh hole.

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

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

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

As shown in fig. 28 and 29, the search for the mesh hole in the angle range of 60 ° on the lower left side and the search for the mesh hole in the angle range of 60 ° on the upper left side are alternately repeated, and the numbers of the mesh holes in the corresponding number of the zigzag-shaped lateral row are determined. In other words, the CPU101 repeatedly performs the process of obtaining the center of gravity of one mesh hole and then obtaining the center of gravity of another mesh hole adjacent to the one mesh hole, thereby correlating the actual position with the standard position.

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

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

Since the mesh holes "1" to "72" of the specified actual position correspond to the mesh holes "1" to "72" of the standard position of the hair-planting pattern data, the numbers of the two mesh holes for specifying the hair-planting position set in the hair-planting pattern data can be applied to specify the hair-planting position in the captured image.

For example, when the boundary between the "1" eye and the "11" eye in the hair-planting pattern data is set as the hair-planting position, the CPU 101 sets the midpoint of one side of the hexagon that is the boundary between the "1" eye and the "11" eye as the hair-planting position, and conveys the base material J by the moving mechanism 25 so that the hair-planting position is positioned at the work position determined by the first to third catching mechanisms 40, 50, 60 and the loop breaker mechanism 70, and performs hair planting of the hair M for hair-planting.

[ processing as the second position control section ]

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

In the case of performing the processing as the second position control unit, the CPU101 may perform the hair placement faithfully with respect to the determined position by moving the position of the pointer from the operation panel 15, for example, but may perform the input of the second hair placement position by the following method. In addition, the second hair implantation position of the second position control part may be the same as the hair implantation position of the first position control part.

Fig. 31 and 32 are explanatory views showing a method of inputting the second hair implantation position.

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

As shown in fig. 31, the operation panel 15 can select the positions corresponding to any one of the sides a to F for the respective eye holes for which the center of gravity is to be found, and the CPU101 can perform the planting operation for the positions specified by the selected eye hole and the selected side a to F.

By selecting two mesh holes, a boundary side can be selected.

Alternatively, as shown in fig. 32, when the pointer p is operated from the operation panel 15 for the mesh hole in which the position of the center of gravity g is found and the position around the center of gravity g is located, the CPU 101 may perform the implantation operation for the outer edge portion of the mesh hole existing on the extension line of the position in which the pointer p is located with respect to the center of gravity g.

[ control of each catching mechanism at the time of needle retraction ]

The control performed by the CPU 101 of the control device 100 at the time of retracting the crochet hook is described with respect to the first to third capturing mechanisms 40, 50, 60.

In addition to the latch needle performing the entering operation for the implantation industry, the CPU 101 moves the latch needles 41, 51, 61 of the respective capturing mechanisms 40, 50, 60 backward and waits until the retracted position. The retracted position at this time is set to be a first retracted position in which the needle is retracted to a position rearward of the protective cover and a second retracted position in which the needle is not accommodated in the protective cover (a state in which the tip ends of the bearded needles 41, 51, 61 are separated from the base material J provided but enter forward of the protective cover).

The CPU 101 executes operation control of the respective catch motors 42, 52, 631 such that the hooked needle is retracted to the second retracted position during the hair-planting operation or during an intermittent time when the hair-planting operation and the hair-planting operation are continued, and the hooked needle is retracted to the first retracted position when the hair-planting operation is not performed and the next hair-planting operation is not scheduled.

The CPU 101 of the control device 100 is connected to a power supply device, not shown, and constantly monitors switching from an on state to an off state of the main power supply. When the switch to the off state is detected, the residual charge of the capacitor mounted in the control device 100 and the power supply device is used as the power supply, and the operation control of the respective catch motors 42, 52, 631 is performed so that the crochets 41, 51, 61 of the first to third catch mechanisms 40, 50, 60 are moved backward to the first retracted position.

[ control of the implantation initiation by the control device ]

Fig. 33 to 45 (B) illustrate operation diagrams of the control device 100 of the hair planting device 10 configured as described above, in which the CPU 101 performs control of the hair planting operation according to a control program.

A flowchart showing the overall flow of the implantation control performed by the control apparatus 100 according to the control program is shown in fig. 46.

As shown in fig. 46, in the hair planting device 10, first, a base material J is set on the lower frame 21 of the base holding mechanism 20 by the operator, and the holding frame 22 is lowered by the operation of the pedal 14 to hold the base material J (step S1).

When the operator sets the first end and the second end of the hair M for hair planting in the third holding mechanism 91 and the fourth holding mechanism 92 at the initial positions (step S3), and inputs the start of the hair planting operation from the operation panel 15 or the pedal 14 to the second supply unit 90, the camera 11 photographs the base material J held by the base holding mechanism 20 from below (step S5).

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

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

When the processing as the second position control unit is selected by the operation panel 15, the input of the hair planting position for the captured image by the operation panel 15 is received, and the hair planting position is specified.

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

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

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

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

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

When the hair implantation is completed for all the hair implantation positions, the hair implantation operation control ends.

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

[ details of the hair-planting action ]

Next, the implantation in step S11 will be described in detail. The operations in the following description are also performed based on the control of all the CPUs 101.

As shown in fig. 33, the CPU 101 performs imaging of the needle falling position T of the second crochet needle 51 by the camera 11 in advance, calculates the coordinates of the needle falling position T of the second crochet needle 51 with respect to the center position C of the imaging range of the image processing apparatus 16, performs calibration of recording, and obtains the correspondence between the position coordinates in the imaged image and the needle falling position of the second crochet needle 51.

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

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

The CPU 101 advances the first and second grasping mechanisms 81 and 82 of the first supply section 80 toward the first crochet 41, and pulls the hair M for hair planting toward the hook section 411 side of the first crochet 41. Thus, the hair-setting hair M is disposed so as to be caught by the hook 411.

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

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

Next, the hair-setting hair M is enlarged by the looper mechanism 70.

As shown in fig. 37 (a) and 37 (B), the CPU 101 operates the looper advance and retreat motor 721 to move the head 73 forward. Thus, the distal ends of the loop openers 74 and 75 in the closed state intrude into the inside of the loop of the hair-setting hair M, and the hair-setting hair M enters the concave portions 741 and 751 (see fig. 12).

Further, as shown in fig. 38 (a) and 38 (B), the CPU 101 operates the looper opening/closing actuator 77 to open the loopers 74 and 75. Thereby, the small loop of the hair-setting hair M is enlarged in the left and right directions to form a larger loop.

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

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

As shown in fig. 40 (a) and 40 (B), the CPU 101 switches the downward direction after operating the first catch motor 42 in the upward direction at a minute timing. Thereby, the first crochet hook 41 descends after ascending slightly. At the timing when the first crochet 41 slightly rises, the CPU 101 retracts the head 73 of the looper mechanism 70. Thereby, the loop of the hair setting hair M caught by the first crochet 41 is separated from the hook 411, is held only by the loopers 74 and 75, and is pressed by the hook 511 of the second crochet 51.

As shown in fig. 41 (a) and 41 (B), the CPU 101 controls the interval adjustment cylinder 85 so that the first holding mechanism 81 is temporarily separated from the second holding mechanism 82 and then moves closer to the second holding mechanism 82 again to loosen the hair M for hair planting. Then, the second catch motor 52 is operated to raise the second crochet hook 51. Thereby, the hook 511 pulls out the wire loop of the hair-setting hair M from the mesh hole H2 toward the surface side of the base material J.

As shown in fig. 42 (a) and 42 (B), the CPU 101 controls the rotation motor 55 to rotate the second crochet needle 51 counterclockwise by 270 ° when viewed from above. Thereby, the wire loops of the hair-setting hair M are oriented in the left-right direction from the front-rear direction.

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

As shown in fig. 43 (a) and 43 (B), the CPU 101 operates the third catch motor 631 to project the third hook 61. Thereby, the third crochet 61 projects into the loop of the hair M for hair planting caught by the second crochet 51, and the hook portion 611 of the third crochet 61 is brought close to the base material J. At this time, the first and second grasping mechanisms 81 and 82 are retracted, and the hair-planting hair M is pressed against the hook 611 of the third crochet hook 61.

As shown in fig. 44 (a) and 44 (B), the CPU 101 controls the interval adjustment cylinder 85 to separate the first grasping mechanism 81 from the second grasping mechanism 82, and operates the second grasping motor 52 to raise the second hook 51 to the wire loop producing position, thereby increasing the tension of the hair growing hair M.

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

As shown in fig. 45 (a) and 45 (B), the CPU 101 controls the interval adjustment cylinder 85, and after the first holding mechanism 81 is brought closer to the second holding mechanism 82 to loosen the hair M for hair planting, the motor 721 for advancing and retreating the loopers is operated, the head 73 is retreated, and the loopers 74 and 75 are pulled out of the hair M for hair planting.

The CPU 101 switches the upward direction after operating the second catch motor 52 in the downward direction at a slight timing, and controls the turning motor 55 to rotate the second crochet needle 51 clockwise by 180 ° when viewed from above. Thereby, the loop of the hair-setting hair M is separated from the hook 511, and the crochet needle 51 is lifted to a position where it does not interfere with the finishing operation thereafter.

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

The CPU 101 further moves the third hook 61 backward by operating the third catch motor 631, and simultaneously moves the first and second grasping mechanisms 81 and 82 backward to fasten the loop of the hair-setting hair M (see fig. 21).

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

Further, the chuck holding cylinder 622 switches the chuck member 621 to the released state, and raises the third hook 61 to the retracted position. Thus, the portion of the free end of the hair M for hair implantation is completely passed through the wire loop, and the action of tying the hair M for hair implantation in the base material J is completed (see fig. 22).

As described above, one hair is planted with the planting start of the hair M.

[ technical Effect of the embodiment ]

The hair setting device 10 has a structure in which the first grasping mechanism 81 of the first supply section 80 has two slide plates 812, 813 for slidably grasping the hair M for hair setting, a coil spring 814, and an adjusting body 816, and therefore, during the hair setting operation, the hair setting device slides before applying excessive tension to the hair M for hair setting, and can protect the hair M for hair setting and realize good hair setting with appropriate tension.

Unlike the case of holding the hair M for hair planting by pinching, the necessity of finely switching between pinching and releasing during the hair planting operation is reduced, and the present embodiment can realize smooth hair planting operation.

The first supply unit 80 includes an interval adjustment cylinder 85 as a variable actuator for varying the interval between the first grasping mechanism 81 and the second grasping mechanism 82, so that the present embodiment can satisfactorily perform tension adjustment by the hair setting hair M and can perform slackening operation with a margin.

Since the first supply unit 80 includes the movable unit 84 that moves the first grasping mechanism 81 and the second grasping mechanism 82 in the front-rear direction, the present embodiment can press or release the hair for hair transplantation M with respect to each of the bearded needles 41 to 61, and can adjust the tension of the hair for hair transplantation M.

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

The second supply unit 90 has a tension applying mechanism 95, and the tension applying mechanism 95 applies tension to the hair M for hair planting by expanding the interval between the third gripping mechanism 91 and the fourth gripping mechanism 92 at the delivery position of the hair for hair planting to the first supply unit 80, so that the hair M for hair planting can be delivered to the first supply unit 80 in a state of being tensioned without being loosened, and a good hair planting operation can be achieved.

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

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

As a result, the present embodiment can achieve the fastening of the wire loop on the base material J of the hair-setting hair M, and can retract the hair holding portion 62 when the fastening is not performed, and can move the third crochet hook 61 over a wide range.

The third catching mechanism 60 has an adjuster 623 as an adjusting unit, and therefore can freely adjust the clamping pressure of the hair M for hair planting with respect to the third crochet hook 61.

In the present embodiment, during the operation of the third catching mechanism 60, the amount of the retraction movement of the third crochet hook 61 by the first advancing and retreating mechanism 63 from the time when the hair clamping portion 62 switches a part of the hair M for hair planting to the clamped state to the released state with respect to the third crochet hook 61 can be set by the operation panel 15 serving as the setting portion. Since the CPU 101 of the control device 100 controls the hair gripping portion 62 and the first advancing/retreating mechanism 63 based on the set amount of retreating movement, the present embodiment can arbitrarily adjust the fastening force of the wire loop of the hair M for hair planting, and can appropriately plant hair according to the type and nature of the hair M for hair planting.

In the hair planting device 10, when the distal ends of the respective hooked needles 41 to 61 are formed flat or rounded, the hooking of the distal ends to the surroundings can be reduced and suppressed, and the damage of the hooked needles due to the hooking of the distal ends can be reduced and suppressed.

In the case where the loop is formed by hooking the hair-setting hair M with the hook needle, the loop can be ensured to be wide.

Since each of the catching mechanisms 40 to 60 has the protective cover for accommodating the latch needles 41 to 61 at the time of retraction, the hooking of the distal end portion to the surroundings can be reduced and suppressed, and the damage of the latch needles due to the hooking of the distal end portion can be reduced and suppressed.

Since the CPU 101 of the control device 100 performs control to retract each latch needle to the protection cover if the main power supply is turned off, the hooking of the tip end portion of the latch needle when the device is not in use and the damage caused by the hooking can be effectively reduced.

The CPU 101 of the control device 100 performs control to retract the hooked needle to the second retracted position where the hooked needle is not stored in the protective cover during the hair planting operation or when the hair planting operation is continued, and to retract the hooked needle to the first retracted position where the hooked needle is stored in the protective cover when the hair planting operation is not started and when the next hair planting operation is not scheduled, so that the hooking of the tip end portion of the hooked needle can be effectively reduced, and the hooked needle can be promptly brought into a usable state when the work is necessary.

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

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

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

The CPU 101 of the control device 100 performs, as a control by the first position control unit, association of the actual position to the standard position based on the arrangement condition indicating the positional relationship of the standard positions of the plurality of eye holes with respect to the actual position of the eye hole acquired from the captured image of the base material J.

Accordingly, the present embodiment can further reduce the influence of the extension and inclination of the base material J, the deformation of the base material J, and the like, according to the arrangement conditions, and can further accurately reflect the standard positions of the plurality of eye holes of the hair-planting pattern data with respect to the base material J, thereby enabling a good hair-planting operation.

The CPU 101 of the control device 100 obtains the center of gravity of the second eye hole adjacent to the first eye hole, among the plurality of centers of gravity of the plurality of eye holes identified based on the captured image of the base material J, from the center of gravity of the first eye hole closest to the predetermined origin position, and uses the center of gravity of the adjacent eye holes, which are present in the angular range of 60 ° each centered on the center of gravity set as the origin, as a placement condition, obtains the center of gravity of the third eye hole adjacent to the second eye hole, and similarly, further obtains the center of gravity of the third eye hole adjacent to the second eye hole, and performs correlation of the actual position to the standard position by repeating this process.

As described above, in the present embodiment, since the arrangement conditions are flexible, even if the extension and inclination of the base material J, the deformation of the base material J, and the like occur greatly, the center of gravity of each eye hole can be determined, and the influence can be suppressed, and the standard positions of the plurality of eye holes reflecting the hair-planting pattern data with respect to the base material J can be more accurately reflected, and a good hair-planting operation can be performed.

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

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

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

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

The CPU 101 of the control device 100 receives a pedal operation, and can hold the base material J at three stages of release, weak pressing, and strong pressing with respect to the holding frame 22 of the base holding mechanism 20. Therefore, in the present embodiment, when the base material J is set in the base holding mechanism 20, the position of the base material J can be easily adjusted, and the base material J can be easily arranged at an appropriate position.

In the present embodiment, since the stretchable anti-slip material 24 such as a hook and loop fastener is provided on the lower surface of the holding frame 22 of the substrate holding mechanism 20, even in the case of the substrate J having a locally different thickness, the substrate J can be held well in accordance with the thickness of each portion.

[ others ]

In the above-described embodiment, as shown in fig. 47 (a), the case where the hair for hair implantation M is planted in the base material J by half-rotation knotting on the left side is illustrated as a knotting method, but as shown in fig. 47 (B), the hair for hair implantation M may be planted in the base material J by half-rotation knotting on the right side as a knotting method.

The mesh is shown as the base material J, but the base material J is not limited to this, as long as it is sheet-shaped.

For example, the substrate may be a fibrous substrate, a resin sheet-like substrate, or the like. They have no eyelets, but if the first and second bearded needles 41 and 51 are inserted to other positions while they form other holes, knots of the hair M for hair planting can be formed between the holes.

The present application requests priority based on japanese patent application No. 2019-031176, filed on 25 th month 2 of 2019, and the entire contents described in the above japanese patent application are incorporated herein by reference.

Claims (8)

1. A hair planting device, comprising:

a base holding mechanism for holding a base material;

a supply unit for holding hair for hair planting on one surface side of the held base material;

a coupling mechanism for knotting the hair for hair planting supplied from the supply unit with respect to the base material by a crochet hook;

a moving mechanism that relatively moves the held base material and the hook;

a first position control unit that controls the moving mechanism and performs hair implantation based on hair implantation pattern data defining hair implantation positions at a plurality of standard positions with respect to a plurality of eye holes of the base material; and

an imaging unit that images the base material held by the base holding mechanism,

the first position control unit recognizes a plurality of actual positions of the plurality of eye holes based on the captured image of the base material obtained by the capturing unit, associates the standard position of the hair-planting pattern data with the actual position, performs hair-planting at the actual position,

the first position control unit correlates the actual position to the standard position based on a placement condition indicating a positional relationship of the standard position with respect to the actual position acquired from the captured image of the base material,

Each mesh hole is in a regular hexagon shape,

the first position control section may be configured to control,

in a plurality of centers of gravity of the plurality of eye holes identified based on the captured image of the base material, a center of gravity of a first eye hole closest to a predetermined origin position is set as a start point,

the correlation of the actual position to the standard position is performed by determining the center of gravity of a second mesh hole adjacent to the first mesh hole and the center of gravity of a third mesh hole adjacent to the second mesh hole using, as a placement condition, the centers of gravity of the mesh holes adjacent to each other in an angular range of 60 ° with the center of gravity as the center of gravity.

2. The hair-planting device of claim 1, wherein,

the first position control unit performs the correlation of the actual position to the standard position by repeating a process of determining the center of gravity of one of the mesh holes and then determining the center of gravity of the other mesh hole adjacent to the one mesh hole.

3. The hair-planting device according to claim 1 or 2, wherein,

the device comprises:

a position input unit that inputs a second hair-planting position from the captured image of the base material obtained by the imaging unit; and

And a second position control unit that controls the moving mechanism and performs hair implantation based on the inputted second hair implantation position.

4. The hair-planting device of claim 3, wherein,

the second position control section is configured to control the position of the first position control section,

a plurality of actual positions of the plurality of eye holes are identified based on the captured images,

and performing hair implantation at a position determined based on the inputted second hair implantation position and the identified actual position.

5. The hair-planting device according to claim 1 or 2, wherein,

the hair-planting pattern data defines the hair-planting position with respect to the standard position within a range of unit divisions in which the one surface of the base material is uniformly divided into a plurality of units.

6. The hair-planting device of claim 3, wherein,

the hair-planting pattern data defines the hair-planting position with respect to the standard position within a range of unit divisions in which the one surface of the base material is uniformly divided into a plurality of units.

7. The hair-planting device of claim 3, wherein,

the hair-planting pattern data defines the second hair-planting position with respect to the standard position within a range of unit divisions in which the one surface of the base material is uniformly divided into a plurality of units.

8. A hair planting device, comprising:

a base holding mechanism for holding a base material;

a supply unit for holding hair for hair planting on one surface side of the held base material;

a coupling mechanism for knotting the hair for hair planting supplied from the supply unit with respect to the base material by a crochet hook;

a moving mechanism that relatively moves the held base material and the hook;

a first position control unit that controls the movement mechanism, and performs hair placement based on hair placement pattern data that defines a hair placement position with respect to a standard position that indicates a position of a plurality of mesh holes in a plane on the premise that the same shape in which all of the plurality of mesh holes are not distorted is laid at uniform intervals, the surface of the base material being regarded as a plane; and

an imaging unit that images the base material held by the base holding mechanism,

the first position control unit recognizes an actual position of the eye holes based on the captured image of the base material obtained by the capturing unit, associates standard positions of the plurality of eye holes of the hair-planting pattern data with the actual position, performs hair-planting at the actual position of the eye holes,

The hair-planting pattern data defines a hair-planting position with respect to a standard position of the plurality of eye holes in a range of unit division in which one surface of the base material is uniformly divided into a plurality of units.