A nail art system for arbitrary surface recognition

Abstract

The present invention discloses an arbitrary curved surface recognition nail art system, comprising: a three-dimensional information acquisition mechanism for acquiring three-dimensional information of nails; a driving mechanism for driving a nail art mechanism carrying a nail art object to move; a main control board for acquiring curvature information of nails according to the three-dimensional information and performing curved surface recognition according to the curvature information and the position information of the nails, planning the spraying path of each nail art area to be painted, and converting the spraying path of each nail art area to be painted into an X-axis motion vector of the nail art mechanism in the X-axis direction, a Y-axis motion vector in the Y-axis direction, a Z-axis motion vector in the Z-axis direction, and a rotation vector of the nail art area to be painted, so as to realize that the nail art mechanism performs curved surface nail art on the nails in the nail art area along the nail art direction perpendicular to the tangent direction of the nail art area with a predetermined range of distance values, so that the nails form more than one nail art layer. The present invention has high nail art efficiency, high pattern resolution, high clarity, and no ink drift.

Description

Technical Field

[0001] The present invention relates to the field of nail art technology, and in particular to an arbitrary curved surface recognition nail art system. Background Art

[0002] With the increasing popularity of the nail art industry, nail art has become a fashionable behavior pursued by young ladies, and it has also formed a huge market prospect. At present, in machine nail art operations, when using flat inkjet printing technology to draw nail curved surface patterns, there will be pattern distortion, reduced pattern resolution, poor pattern clarity, and ink drifting. The effect of machine drawing is much worse than that of manual nail art by a manicurist. However, the efficiency of manual nail art by a manicurist is relatively low, and the nail art effect is directly related to the personal technical level of the manicurist. For the same nail art pattern, the effects drawn by different manicurists are very different. Therefore, those skilled in the art are in urgent need of providing a nail art technology with high nail art efficiency, high pattern resolution, high clarity, and no ink drifting. Summary of the invention

[0003] In order to provide a nail art technology with high nail art efficiency, high pattern resolution, high clarity and no ink drift, the present invention provides an arbitrary curved surface recognition nail art system.

[0004] The technical solution provided by the present invention is as follows:

[0005] An arbitrary curved surface recognition nail art system comprises: a three-dimensional information acquisition mechanism for acquiring three-dimensional information of a nail;

[0006] A driving mechanism for driving a nail art mechanism carrying nail art objects to move;

[0007] A main control board is used to obtain the curvature information of the nail according to the three-dimensional information, plan the spraying path of each area of ​​the nail to be nailed according to the curvature information and the position information of the nail, and convert the spraying path of each area to be nailed into an X-axis motion vector of the nail mechanism in the X-axis direction, a Y-axis motion vector in the Y-axis direction, a Z-axis motion vector in the Z-axis direction, and a rotation vector of the area to be nailed, so as to enable the nail mechanism to perform curved surface nail art on the nails in the nail art area along a nail art direction perpendicular to the tangent direction of the area to be nailed at a distance value within a predetermined range, so that the nails form more than one nail art layer.

[0008] In the above technical scheme, the nail art mechanism decorates the area to be nailed with the nail art object in a predetermined range of distance values ​​along a direction perpendicular to the area to be nailed, so that the nail art mechanism rotates around each nail to adapt to the curvature of the nail and the distance between the nail and the nail is stably within the preset range value, so that each area to be nailed in the nail realizes the vertical drawing of the surface tangent, avoiding the distortion and distortion of the pattern, low pattern resolution, poor pattern clarity, ink drift, skewed and unreliable adhesion of the decoration, poor user experience and other undesirable phenomena, thereby ensuring that the pattern has a more spatial three-dimensional sense and is real, high resolution, high clarity, and no ink drift phenomenon, and the nail art object is decorated on the area to be nailed in a direction perpendicular to the nail, ensuring the accuracy and verticality of the placement of the nail art object, ensuring the three-dimensional sense, beauty and firmness of the installation of the decoration, thereby ensuring the nail art effect and user experience; more preferably, the present invention is intelligent nail art, which can be performed according to the actual condition of each nail, and the nail art is more scientific and reasonable, not only with high nail art efficiency, but also with excellent nail art effect and consistency of nail art effect.

[0009] Further, the driving mechanism includes an X-axis driving mechanism for driving the manicure mechanism to move according to the X-axis motion vector, a Y-axis driving mechanism for driving the manicure mechanism to move according to the Y-axis motion vector, a Z-axis driving mechanism for driving the manicure mechanism to move according to the Z-axis motion vector, and a rotation mechanism for driving the manicure mechanism to rotate around the nail according to the rotation vector; at least one of the X-axis driving mechanism, the Y-axis driving mechanism and the Z-axis driving mechanism is a synchronous transmission component, and the synchronous transmission component includes a guide rail, a driving wheel, a passive wheel and a motor 1, the driving wheel and the passive wheel are installed in sequence along the same direction, and the synchronous parts are respectively connected to the driving wheel and the passive wheel. The driving wheel and the passive wheel are tensionedly connected, and the motor 1 drives the driving wheel to rotate; the Z-axis driving mechanism is installed on the X-axis driving mechanism to realize that the X-axis driving mechanism drives the Z-axis driving mechanism to reciprocate along the X-axis direction, the Y-axis driving mechanism is installed on the Z-axis driving mechanism to realize that the Z-axis driving mechanism drives the Y-axis driving mechanism to reciprocate along the Z-axis direction, and the nail mechanism is installed on the Y-axis driving mechanism to realize that the Y-axis driving mechanism drives the nail mechanism to reciprocate along the Y-axis direction, thereby realizing that the nail mechanism reciprocates in the X-axis direction, the Y-axis direction and the Z-axis direction respectively; the motor 1 is connected to the main control board.

[0010] In the above technical solution, the linearity of the movement direction is ensured by the guide rail, and the driving of the nail mechanism is achieved by the synchronizer, so that the operation is more precise, stable and firm.

[0011] Further, the X-axis driving mechanism, the Y-axis driving mechanism and the Z-axis driving mechanism are all the synchronous transmission components;

[0012] The X-axis driving mechanism comprises an X-axis guide rail, an X-axis driving wheel, an X-axis driven wheel, an X-axis synchronous member and an X-axis motor extending in the X-axis direction; the X-axis driving wheel and the X-axis driven wheel are arranged in sequence in the X-axis direction, the X-axis synchronous member is respectively connected to the X-axis driving wheel and the X-axis driven wheel in a tensioned manner, and the X-axis motor drives the X-axis driving wheel to rotate;

[0013] The Y-axis driving mechanism comprises a Y-axis guide rail extending along the Y-axis direction, a Y-axis driving wheel, a Y-axis driven wheel, a Y-axis synchronous component and a Y-axis motor; the Y-axis driving wheel and the Y-axis driven wheel are arranged in sequence along the Y-axis direction, the Y-axis synchronous component is respectively tensionedly connected with the Y-axis driving wheel and the Y-axis driven wheel, and the Y-axis motor drives the Y-axis driving wheel to rotate;

[0014] The Z-axis driving mechanism comprises a Z-axis guide rail extending along the Z-axis direction, a Z-axis driving wheel, a Z-axis driven wheel, a Z-axis synchronous member and a Z-axis motor; the Z-axis driving wheel and the Z-axis driven wheel are arranged in sequence along the Z-axis direction, the Z-axis synchronous member is respectively tensionedly connected with the Z-axis driving wheel and the Z-axis driven wheel, and the Z-axis motor drives the Z-axis driving wheel to rotate;

[0015] The Z-axis guide rail is slidably connected to the X-axis guide rail, and the Z-axis guide rail is connected to the X-axis synchronous member; the Y-axis guide rail is slidably connected to the Z-axis guide rail, and the Y-axis guide rail is connected to the Z-axis synchronous member; the nail art mechanism is connected to the Y-axis synchronous member; the nail art mechanism is slidably connected to the Y-axis guide rail; the X-axis motor, the Y-axis motor and the Z-axis motor are all connected to the main control board;

[0016] The two groups of X-axis drive mechanisms are arranged on both sides of the nail along the Y-axis direction to form a left X-axis drive mechanism and a right X-axis drive mechanism. The X-axis drive mechanism is installed with the Z-axis drive mechanism, so that the Z-axis drive mechanism installed on the left X-axis drive mechanism is the left Z-axis drive mechanism, and the Z-axis drive mechanism installed on the right X-axis drive mechanism is the right Z-axis drive mechanism;

[0017] The rotating mechanism comprises a rotating shaft and a rotating shaft sliding bearing seat;

[0018] The Y-axis guide rail includes a left end and a right end, the left end of the Y-axis guide rail can be pivotally mounted on the Z-axis synchronizer of the left Z-axis drive mechanism, and the right end of the Y-axis guide rail can be pivotally mounted on the Z-axis synchronizer of the right Z-axis drive mechanism; the Y-axis guide rail is directly or indirectly connected to the rotating shaft sliding bearing seat through the rotating shaft, and the rotating shaft is located between the left Z-axis drive mechanism and the right Z-axis drive mechanism; the left Z-axis drive mechanism and the right Z-axis drive mechanism drive the Y-axis guide rail to move along the Z-axis direction in opposite directions, so that the Y-axis guide rail rotates around the rotating shaft to drive the nail mechanism to rotate.

[0019] In the above technical solution, the nail beautification mechanism is not only lifted but also rotated around the nail, which greatly simplifies the structure of the driving mechanism, improves the integration of the present invention, and reduces the space occupancy of the present invention.

[0020] Further, the driving mechanism includes an X-axis driving mechanism for driving the manicure mechanism to move according to the X-axis motion vector, a Y-axis driving mechanism for driving the manicure mechanism to move according to the Y-axis motion vector, a Z-axis driving mechanism for driving the manicure mechanism to move according to the Z-axis motion vector, and a rotation mechanism for driving the manicure mechanism to rotate around the nail according to the rotation vector; at least one of the X-axis driving mechanism, the Y-axis driving mechanism and the Z-axis driving mechanism is a meshing transmission component, and the meshing transmission component includes a driving gear, a linear rack and a motor 2, the driving gear is meshed and connected with the linear rack, and the Motor 2 drives the driving gear to rotate; the Z-axis driving mechanism is installed on the X-axis driving mechanism to realize that the X-axis driving mechanism drives the Z-axis driving mechanism to reciprocate along the X-axis direction, the Y-axis driving mechanism is installed on the Z-axis driving mechanism to realize that the Z-axis driving mechanism drives the Y-axis driving mechanism to reciprocate along the Z-axis direction, and the nail mechanism is installed on the Y-axis driving mechanism to realize that the Y-axis driving mechanism drives the nail mechanism to reciprocate along the Y-axis direction, thereby realizing that the nail mechanism reciprocates in the X-axis direction, the Y-axis direction and the Z-axis direction respectively; Motor 2 is connected to the main control board.

[0021] In the above technical solution, the tooth meshing transmission mode is reliable and safe.

[0022] Furthermore, the driving mechanism includes an X-axis driving mechanism for driving the manicure mechanism to move according to the X-axis motion vector, a Y-axis driving mechanism for driving the manicure mechanism to move according to the Y-axis motion vector, a Z-axis driving mechanism for driving the manicure mechanism to move according to the Z-axis motion vector, and a rotating mechanism for driving the manicure mechanism to rotate around the nail according to the rotation vector; the rotating mechanism includes a second rotating shaft and a servo, the manicure mechanism is connected to the servo, the servo is connected to the Y-axis driving mechanism through the second rotating shaft, and the servo is connected to the main control board.

[0023] In the above technical solution, the steering gear rotates more accurately, has high transmission efficiency and responds promptly.

[0024] Furthermore, the nail art mechanism includes a nozzle, multiple ink sacs, multiple ink tanks and a mounting bracket; the nozzle is provided with a plurality of nozzles arranged in sequence along the width direction of the nail, and the ink tank, the ink sac and the nozzle are connected in sequence to form an inkjet passage for circulating a base color spray material; the nozzle is arranged toward the nail; the nozzle and the ink sac are both mounted on the mounting bracket; the mounting bracket is mounted on the driving mechanism; and / or, the nail art mechanism includes a vacuum air pump, an electromagnetic reversing valve and a suction nozzle for taking and placing decorations, which are connected in sequence through an airflow duct, and the electromagnetic reversing valve is arranged between the vacuum air pump and the suction nozzle; the suction nozzle is connected to the driving mechanism.

[0025] In the above technical scheme, multiple nozzles are arranged in sequence along the width direction of the nail at intervals, so that the area to be nailed that has been sprayed with one or more base colors of spray material can be selectively sprayed with other base colors of spray material by the nozzle that moves above it subsequently. The two or more spray materials sprayed successively on the same area to be nailed will form a new spray color after mixing. Therefore, each area to be nailed arranged in sequence along the width direction of the nail can further refine the depth of the same spray color according to the arrangement and combination of this device, thereby realizing the diversification of spray colors. Since the same nail or different nails can be sprayed with the same or different spray colors, and the division, number, and position of the areas to be nailed of the same nail and different nails can be the same or different, the nail art pattern is greatly enriched. The increase in colors greatly reduces the color difference of the nail art colors, and the color saturation, clarity, and consistency of the effect are greatly improved.

[0026] In the above technical scheme, pneumatic method is used to suck up the decorations used for manicure, so as to be suitable for taking and placing a variety of irregularly shaped decorations, so that the decorations are placed just right to adapt to the irregular curved surface of the nail, ensuring the firm connection between the decorations and the nails, while not causing damage to the decorations, thereby improving the scope of application and practicality of taking and placing decorations.

[0027] The three-dimensional information acquisition mechanism includes a first camera and a second camera installed on the driving mechanism, and the first camera and the second camera are located above the area to be nailed; the first camera collects images above the nail, and the second camera collects images toward the side of the nail.

[0028] The three-dimensional information acquisition mechanism is a stereo camera or a 3D camera installed on the driving mechanism, and the stereo camera is located above the nail art area.

[0029] In the above technical solution, two cameras or stereo cameras realize the acquisition of the real-time position and shape of the nails, so as to adapt to the separate acquisition of data of each nail of different sizes and shapes, and ensure the accuracy of the present invention in positioning and manicure of the nails. It is worth noting that in actual applications, when there is no camera for separately collecting position information, the position information of the nails can also be used to specify the nail placement area for placing the nails.

[0030] Specifically, the three-dimensional information acquisition mechanism is a third camera and a sensor installed on the driving structure, and the third camera and the sensor are located above the area to be manicured; wherein the third camera obtains the position of the nail, and the sensor obtains the surface data of the nail; the third camera is directly or indirectly communicated with the sensor.

[0031] Specifically, the sensor is a dot matrix laser sensor, and its dot matrix laser beam area can cover the nail; the driving mechanism drives the dot matrix laser sensor to move to just above the nail, so that the activity range of the dot matrix laser sensor covers the nail, so as to obtain the nail surface information at one time.

[0032] Specifically, the sensor is a point source laser sensor, and the driving mechanism drives the point source laser sensor to move two-dimensionally so that the activity range of the point source laser sensor covers the nail to obtain the curved surface information of the nail;

[0033] Specifically, the sensor is a line source laser sensor, and the line length of its line source is greater than or equal to the length or width of the nail. The driving mechanism drives the line source laser sensor to perform one-dimensional movement so that the activity range of the line source laser sensor covers the nail to obtain nail surface information.

[0034] In the above technical solution, there are various ways to obtain the three-dimensional information of each nail, which greatly increases the product variety of the present invention and satisfies different customers or application scenarios.

[0035] Furthermore, it also includes a nail art requirement acquisition mechanism for acquiring nail art requirements, the nail art acquisition mechanism is connected to the main control board; and / or a curing mechanism for curing the nail art layer.

[0036] In the above technical solution, users can independently select their manicure requirements to achieve self-service manicure, which greatly improves the application scenarios of the present invention, such as nail shops, or streets, etc., thereby realizing the free, autonomous, and self-service functions of manicure.

[0037] Furthermore, it also includes a payment mechanism for collecting user payment fees, and the payment mechanism is connected to the main control board.

[0038] In the above technical solution, manicure charging is self-service and autonomous, which greatly improves the application scenarios and venues of the present invention, thereby realizing manicure anytime and anywhere, and providing a good user experience for users who like manicure but do not want to go to a nail salon for manicure.

[0039] Compared with the prior art, the present arbitrary curved surface recognition nail art system has the following beneficial effects:

[0040] Each nail area to be nailed is drawn in a plane within a predetermined distance range, ensuring that the nail pattern has a more three-dimensional sense of space and is realistic, high-resolution, high-definition, and without ink floating. The decorations are decorated on the area to be nailed in a direction perpendicular to the nails, ensuring the accuracy and verticality of the placement of the decorations, and ensuring the three-dimensional sense, beauty and firmness of the installation of the decorations, thereby ensuring the nail effect and user experience. More preferably, the present invention is intelligent manicure, which can be performed according to the actual condition of each nail, and the manicure is more scientific and reasonable. Not only is the manicure efficiency high, but also excellent manicure effects and consistency of the manicure effects are guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The preferred implementation scheme will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of an arbitrary curved surface recognition nail art system.

[0042] Figure 1 It is a schematic diagram of the structure of an embodiment of the present invention;

[0043] Figure 2 yes Figure 1 A schematic diagram of a perspective structure;

[0044] Figure 3 yes Figure 1 Another perspective structural diagram of ;

[0045] Figure 4 It is a schematic structural diagram of another embodiment of the present invention;

[0046] Figure 5 yes Figure 4 A schematic diagram of a perspective structure.

[0047] Description of Figure Numbers:

[0048] 1111. Z-axis motor, 1112. Z-axis driving wheel, 1113. Z-axis bearing seat, 1114. Z-axis passive wheel, 1115. Z-axis guide rail, 1116. Z-axis slider, 1117. Z-axis synchronization fixed block, 1118. Slider fixed plate, 1121. Y-axis guide rail, 1122. Y-axis passive wheel, 1123. Y-axis slider, 1124. Y-axis fixed frame, 1125. Y-axis driving wheel, 1126. Y-axis motor, 1131. X-axis slider, 1132. X-axis guide rail, 1133. X-axis bearing seat, 113 4. X-axis passive wheel, 1135. X-axis synchronous component fixing block, 1136. X-axis active wheel, 1137. X-axis motor, 1141. Axis connection joint, 1142. Rotating axis sliding bearing seat, 1143. Rotating axis, 12. Fixed bottom plate, 131. Ink sac, 132. Nozzle, 133. Mounting bracket, 14. Three-dimensional dot matrix laser sensor, 15. Finger slot, 151. Sub-finger slot, 16. Main control board, 17. Image collector 1, 181. UV lamp, 182. Mounting plate, 183. Vertical bracket, 184. Horizontal bracket. DETAILED DESCRIPTION

[0049] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0050] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections.

[0051] In order to make the drawings concise, only the parts related to the present invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to make the drawings concise and easy to understand, in some figures, only one of the components with the same structure or function is schematically drawn, or only one of them is marked. In this article, "one" not only means "only one", but also means "more than one". In this article, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. It should also be further understood that the term "and / or" used in the specification of this application and the attached claims refers to any combination of one or more of the items listed in the association and all possible combinations, and includes these combinations. For ease of explanation, the present application specification defines the X-axis direction as the length direction of the nail, the Y-axis direction as the width direction of the nail, and the Z-axis direction as the height direction, but in actual applications, it is not limited to this.

[0052] In one embodiment of the present invention, Figure 1-5 As shown, an arbitrary curved surface recognition nail art system includes: a three-dimensional information acquisition mechanism for acquiring three-dimensional information of nails; a driving mechanism for driving a nail art mechanism carrying nail art objects to move; a main control board 16 for acquiring curvature information of the nails according to the three-dimensional information and planning a spraying path for each area of ​​the nail to be nailed according to the curvature information and the position information of the nails, and converting the spraying path of each area to be nailed into an X-axis motion vector of the nail art mechanism in the X-axis direction, a Y-axis motion vector in the Y-axis direction, a Z-axis motion vector in the Z-axis direction, and a rotation vector of the area to be nailed, so as to enable the nail art mechanism to decorate the nail art object on the area to be nailed at a predetermined range of distance values ​​along a nail art direction perpendicular to the tangent direction of the area to be nailed, so that the nail forms more than one nail art layer.

[0053] In practical applications, the nail art direction of the nail art mechanism along the tangent direction perpendicular to the area to be nailed is the nail art direction passing through the spherical center of the curved area to be nailed. The driving mechanism realizes the movement of the nail art mechanism according to the X-axis motion vector, the Y-axis motion vector, the Z-axis motion vector, and the rotation vector, so that the nail art mechanism decorates the nail art object on the corresponding area to be nailed along the nail art direction perpendicular to each area to be nailed and with a predetermined range of distance values, thereby realizing the plane drawing of each area to be nailed, ensuring that the distance value between the nail art mechanism and each area to be nailed is within a stable distance range value when each area to be nailed is decorated with the same decoration. It is worth noting that the predetermined range distance values ​​of different nail art objects or areas to be nailed can be the same or different, and can be set based on ensuring the nail art effect. The technician can set the predetermined range distance value of the nail art object through experience or experimental results, which will not be repeated here. The position information of the nail can be obtained by acquiring the image frame of the nail according to the image acquisition device 17 to confirm the coordinates and shape of the nail. The position information of the nail can also be obtained according to the coordinate system set in advance based on the area where the nail is placed. At this time, the shape of the nail can be provided by the three-dimensional information acquisition mechanism. The nail art object can be a spray material of different base colors for spraying patterns and / or a decoration for decorating nails (such as patches, beads, pattern decorations of various shapes, etc.) and / or a spray for protecting nails or protecting nail art objects. It is worth noting that the nail art layer can be formed by any of the above-mentioned nail art objects, and the number of layers of the nail art layer can be one or more layers. When the nail art layer is multi-layered, the present invention preferably decorates one layer of nail art layer before decorating the next layer of nail art layer. The nail art objects decorated in different areas to be nailed can be the same or different, the number of layers of the nail art layer can be the same or different, and the nail art objects decorated in different areas to be nailed in the same layer of nail art layer can be the same or different, which is subject to the user's nail art needs. The nail area to be manicured is preferably divided according to curvature information, that is, nail areas with the same curvature and arranged adjacently, or can be divided equidistantly according to the width direction or length direction of the nail, and the specific division can be based on actual needs.

[0054] In another embodiment of the present invention, Figure 1-5As shown, a nail art system for recognizing arbitrary curved surfaces includes: a three-dimensional information acquisition mechanism for acquiring three-dimensional information of nails; a driving mechanism for driving a nail art mechanism carrying nail art objects to move; a main control board 16 for acquiring curvature information of the nails according to the three-dimensional information and planning a spraying path for each nail art area to be painted according to the curvature information and the position information of the nails, and converting the spraying path of each nail art area to be painted into an X-axis motion vector of the driving mechanism in the X-axis direction, a Y-axis motion vector in the Y-axis direction, a Z-axis motion vector in the Z-axis direction, and a rotation vector of the nail art area to be painted, so as to enable the nail art mechanism to decorate the nail art object on the nail art area along the nail art direction perpendicular to the tangent direction of the nail art area at a predetermined range of distance values, so that the nail forms more than one nail art layer; the driving mechanism includes a driving mechanism for driving the nail art mechanism according to the X-axis motion vector The invention relates to a mobile X-axis driving mechanism, a Y-axis driving mechanism that drives the nail mechanism to move according to the Y-axis motion vector, a Z-axis driving mechanism that drives the nail mechanism to move according to the Z-axis motion vector, and a rotation mechanism that drives the nail mechanism to rotate around the nail according to the rotation vector; at least one of the X-axis driving mechanism, the Y-axis driving mechanism and the Z-axis driving mechanism is a synchronous transmission assembly, and the synchronous transmission assembly includes a guide rail, a driving wheel, a passive wheel and a motor 1, the driving wheel and the passive wheel are arranged in sequence along the same direction, the synchronous parts are respectively connected to the driving wheel and the passive wheel in tension, and the motor 1 drives the driving wheel to rotate; the X-axis driving mechanism drives the Z-axis driving mechanism to reciprocate along the X-axis direction, the Z-axis driving mechanism drives the Y-axis driving mechanism to reciprocate along the Z-axis direction, and the Y-axis driving mechanism drives the nail mechanism to reciprocate along the Y-axis direction; the motor 1 is connected to the main control board 16. Preferably, the driving wheel and the passive wheel are both installed through bearings to reduce their wear and extend their service life.

[0055] For example, Figure 1-3As shown, the X-axis driving mechanism includes an X-axis guide rail 1132 extending along the X-axis direction, an X-axis driving wheel 1136, an X-axis passive wheel 1134, an X-axis synchronous member and an X-axis motor 1137; the X-axis driving wheel 1136 and the X-axis passive wheel 1134 are arranged in sequence along the X-axis direction, the X-axis synchronous member is respectively tensionedly connected with the X-axis driving wheel 1136 and the X-axis passive wheel 1134, and the X-axis motor 1137 drives the X-axis driving wheel 1136 to rotate; the Y-axis driving mechanism includes a Y-axis guide rail 1121 extending along the Y-axis direction, a Y-axis driving wheel 1125, a Y-axis passive wheel 1122, a Y-axis synchronous member and a Y-axis motor 1126; the Y-axis driving wheel 1125 and the Y-axis passive wheel 1122 are arranged in sequence along the Y-axis direction, the Y-axis synchronous member is respectively tensionedly connected with the Y-axis driving wheel 1125 and the Y-axis passive wheel 1122, and the Y-axis motor 1126 drives the Y-axis The driving wheel 1125 rotates; the Z-axis driving mechanism includes a Z-axis guide rail 1115 extending along the Z-axis direction, a Z-axis driving wheel 1112, a Z-axis passive wheel 1114, a Z-axis synchronous component and a Z-axis motor 1111; the Z-axis driving wheel 1112 and the Z-axis passive wheel 1114 are arranged in sequence along the Z-axis direction, the Z-axis synchronous component is tensionedly connected with the Z-axis driving wheel 1112 and the Z-axis passive wheel 1114 respectively, and the Z-axis motor 1111 drives the Z-axis driving wheel 1112 to rotate; the Z-axis guide rail 1115 is slidably connected with the X-axis guide rail 1132, and the Z-axis guide rail 1115 is connected with the X-axis synchronous component; the Y-axis guide rail 1121 is slidably connected with the Z-axis guide rail 1115, and the Y-axis guide rail 1121 is connected with the Z-axis synchronous component; the nail art mechanism is connected with the Y-axis synchronous component; the X-axis motor 1137, the Y-axis motor 1126 and the Z-axis motor 1111 are all connected with the main control board 16. Preferably, the Z-axis guide rail 1115 is slidably installed on the X-axis guide rail 1132 through an X-axis slider 1131 slidably connected to the X-axis guide rail 1132, and the X-axis guide rail 1132 and the X-axis slider 1131 are matched with each other in a concave-convex manner, that is, if the X-axis guide rail 1132 is provided with a groove, then the X-axis slider is provided with a protrusion matched with the groove, and vice versa; of course, the X-axis guide rail 1132 can also be a rod or a plate, and the X-axis slider 1131 is provided with a through groove corresponding to the X-axis guide rail 1132, so that the X-axis guide rail 1132 passes through the through groove to realize the sliding of the X-axis slider 1131 on the X-axis guide rail 1132; it is worth noting that the same structure is also applicable to the Y-axis drive mechanism and the Z-axis drive mechanism, but the nail needs to be decorated above the nail for the Y-axis drive mechanism, so the Y-axis drive mechanism is preferably realized by a T-slot and a T-protrusion to realize the sliding connection, or by the Y-axis guide 1121 passing through the through groove of the Y-axis slider 1123. The number of guide rails and sliders are both more than one. The nail mechanism can be installed on the Y-axis slider 1123 of the Y-axis driving mechanism, and the Y-axis guide rail 1121 of the Y-axis driving mechanism is installed on the Z-axis slider 1116 of the Z-axis driving mechanism.Preferably, the Z-axis guide rail 1115 is connected to the X-axis synchronizer through the X-axis synchronizer fixing block 1135, the Z-axis slider 1116 is connected to the Z-axis synchronizer fixing block through the Z-axis synchronizer fixing block 1117, and the Y-axis slider 1123 is directly connected to the Y-axis synchronizer. Preferably, the X-axis slider 1131 is connected to the Z-axis guide rail 1115 through the slider fixing plate 1118, the Z-axis passive wheel 1114 is installed on the slider fixing plate 1118 through the Z-axis bearing seat 1113; the X-axis guide rail 1132 is installed on a fixed base plate 12, and the X-axis passive wheel 1134 is installed on the fixed base plate 12 through the X-axis bearing seat 1133; the Y-axis motor 1126 is installed on the Y-axis fixing frame 1124, and the Y-axis fixing frame 1124 is connected to the Y-axis guide rail 112 1, the Y-axis driving wheel 1125 and the Y-axis passive wheel 1122 are also installed on the Y-axis fixing frame 1124, the Y-axis fixing frame 1124 is preferably a U-shaped plate, whose opening faces the human body side, the Y-axis guide rail 1121 penetrates the two side walls of the U-shaped plate and is connected to the Z-axis slider 1116, the Y-axis driving wheel 1125 and the Y-axis passive wheel 1122 are both installed on the bottom plate of the U-shaped plate close to the human body, and the Y-axis motor 1126 is installed on the surface of the U-shaped plate away from the human body. Preferably, in order to ensure the linearity of the operation of the driving mechanism, there are two guide rails (X-axis guide rail 1132, Y-axis guide rail 1121, Z-axis guide rail 1115) and sliders (X-axis slider 1131, Y-axis slider 1123, Z-axis slider 1116) slidably connected to the guide rails, and the two guide rails are parallel and spaced apart. More than one set of active wheels (X-axis active wheel 1136, Y-axis active wheel 1125, Z-axis active wheel 1112), passive wheels (X-axis passive wheel 1134, Y-axis passive wheel 1122, Z-axis passive wheel 1114) and motors (X-axis motor 1137, Y-axis motor 1126, Z-axis motor 1111) can be provided. It is worth noting that the installation relationship of the X-axis drive mechanism, the Y-axis drive mechanism and the Z-axis drive mechanism can be adjusted in response to the driving mechanism driving the nail art mechanism to achieve three-dimensional movement.

[0056] Preferably, the image collector 17 for obtaining the position information of the nail is installed above the nail through a supporting mechanism, and the supporting mechanism includes a vertical bracket 183 extending along the Z-axis direction and a horizontal bracket 184 extending along the Y-axis direction, and the horizontal bracket 184 is installed on the upper end of the vertical bracket 183. The image collector 17 can be fixedly installed on the horizontal bracket 184 or slidably installed on the horizontal bracket 184, so that the image collector 17 is arranged from top to bottom toward the nail. Preferably, two vertical brackets 183 are arranged on both sides of the nail, one end of the horizontal bracket 184 is connected to the upper end of one of the two vertical brackets 183, and the other end of the horizontal bracket 184 is connected to the upper end of the other vertical bracket 183 of the two vertical brackets 183, so that the horizontal bracket 184 is mounted on the image collector 17, and preferably, the image collector 17 is installed on the side of the horizontal bracket 184 facing the nail through the mounting plate 182. Preferably, it also includes a curing mechanism for curing the nail art layer, and the curing mechanism is installed on the transverse bracket 184 or the mounting plate 182. In practical applications, the curing mechanism can be an ultraviolet curing mechanism or a hot air curing mechanism, wherein the ultraviolet curing mechanism includes a plurality of ultraviolet lamps 181 or ultraviolet lamp strips, etc., and the hot air curing mechanism includes a plurality of air outlets for blowing hot air to the nails, and the air outlets are conical structures, and their large diameter sections are arranged close to the nails. Of course, the curing mechanism can also be installed on the driving mechanism to ensure that each nail art layer that needs to be cured can be cured by the curing mechanism in time after the decoration is completed, thereby shortening the time consumption of nail art and improving the efficiency of nail art. Therefore, the curing mechanism and the nail art mechanism can be installed on the Y-axis slider 1123 at the same time, but the curing mechanism is arranged at the rear end of the nail art path of the nail art mechanism. Of course, the curing mechanism and the image collector 17 can also be installed separately, but they should also belong to the protection scope of the present invention.

[0057] Preferably, two groups of X-axis drive mechanisms are arranged on both sides of the nail along the Y-axis direction to form a left X-axis drive mechanism and a right X-axis drive mechanism, one X-axis drive mechanism is installed with a Z-axis drive mechanism, so that the Z-axis drive mechanism installed on the left X-axis drive mechanism is the left Z-axis drive mechanism, and the Z-axis drive mechanism installed on the right X-axis drive mechanism is the right Z-axis drive mechanism; the rotating mechanism includes an axis connection joint 1141, a second rotating shaft, a rotating shaft 1143 and a rotating shaft sliding bearing seat 1142; the Y-axis guide rail 1121 includes a left end and a right end, and the Y-axis guide rail 112 The left end of the Y-axis guide rail 1121 is connected to the Z-axis synchronous part of the left Z-axis driving mechanism through the shaft connection joint 1141 and the second rotating shaft, and the right end of the Y-axis guide rail 1121 is connected to the Z-axis synchronous part of the right Z-axis driving mechanism through the shaft connection joint 1141 and the second rotating shaft; the Y-axis driving mechanism is connected to the rotating shaft sliding bearing seat 1142 through the rotating shaft 1143; the left Z-axis driving mechanism and the right Z-axis driving mechanism drive the Y-axis guide rail 1121 to move along the Z-axis direction in opposite directions, so that the Y-axis guide rail 1121 rotates around the rotating shaft 1143, so as to realize the rotation of the nail art mechanism around the nail. Preferably, one end of the shaft connection joint 1141 is connected to the Z-axis slider 1116 through the second rotating shaft, and the other end of the shaft connection joint 1141 is connected to the Y-axis guide rail 1121. Preferably, the shaft connection joint 1141 is a telescopic joint with a telescopic function (such as a spring or a telescopic sleeve and other components with a telescopic function), and the two Z-axis guide rails 1115 are respectively arranged on the inner walls of the two vertical brackets 183. At this time, the vertical bracket 183 is also installed on the slider fixing plate 1118, and the two ends of the two parallel Y-axis guide rails 1121 are respectively connected to the Z-axis slider 1116 through the shaft connecting member and the rotating shaft. When one or two Z-axis motors 1111 drive the Z-axis driving wheel 1112 connected thereto to rotate, one end or both ends of the Y-axis guide rail 1121 can be raised or lowered, thereby realizing the rotation of the nail art mechanism relative to the nail. Preferably, the rotating shaft sliding bearing seat 1142 is a T-shaped structure, including a Y-axis mounting plate extending along the Y-axis direction and a Z-axis support plate extending along the Z-axis direction. The Y-axis fixing frame 1124 is rotatably installed on the Z-axis support plate through the rotating shaft 1143, so that the Y-axis fixing frame 1124 can rotate around the rotating shaft 1143. The rotation plane of the Y-axis fixing frame 1124 is parallel to the Z-axis direction, thereby realizing the rotation of the nail art mechanism installed on the Y-axis slider 1123 on the nail.

[0058] Preferably, it also includes a finger groove 15 for placing nails, the finger groove 15 is provided with more than one sub-finger groove 151 for accommodating a nail alone, the finger groove 15 is provided below the Y-axis guide rail 1121, and the finger groove 15 can be directly provided on the fixed base plate 12, or installed with the fixed base plate 12 through a finger groove block provided with the finger groove 15. When the number of the sub-finger grooves 151 is more than two, the adjacent sub-finger grooves 151 are independent of each other, so as to facilitate the precise positioning and manicure of each nail. When the user needs to manicure more than two nails, the main control board 16 plans the spraying path of the area to be manicured of each nail according to the position information of each nail and the three-dimensional information needle, and the manicure sequence of multiple nails. If the manicure objects of the same or different manicure areas of more than two nails are the same and located in the same manicure layer, the driving mechanism can drive the manicure mechanism to manicure the manicure object on each nail one by one. Of course, the manicure can also be completed one nail after another. The specific implementation method can be set according to actual needs.

[0059] Preferably, the nail art mechanism includes a nozzle 132, a plurality of ink sacs 131, a plurality of ink tanks and a mounting bracket 133; the nozzle 132 is provided with a plurality of nozzles arranged in sequence along the width direction of the nail, an ink tank, an ink sac 131 and a nozzle are connected in sequence to form an inkjet passage for circulating a primary color of the spray material; the nozzle is arranged toward the nail; the nozzle 132 and the ink sac 131 are both mounted on the mounting bracket 133; the mounting bracket 133 is mounted on the driving mechanism, and the nozzle 132 is connected to the main control board 16. Specifically, the mounting bracket 133 is mounted on the Y-axis slider 1123. Preferably, the nail art mechanism includes a vacuum air pump, an electromagnetic reversing valve and a suction nozzle for taking and placing decorations, which are connected in sequence through an airflow duct, and the electromagnetic reversing valve is arranged between the vacuum air pump and the suction nozzle; the suction nozzle is connected to the driving mechanism, and the vacuum air pump and the electromagnetic reversing valve are both connected to the main control board 16. Preferably, a throttle valve is arranged between the vacuum air pump and the electromagnetic reversing valve. It is worth noting that the nail art mechanism may only have the function of spraying or only have the function of decorating ornaments. The nail art mechanism may also have both the function of spraying and the function of decorating ornaments. It can be set according to actual needs. The suction nozzle and the nozzle can be installed on the mounting bracket 133. Of course, the suction nozzle and the nozzle can also be installed at different positions of the Y-axis slider 1123, and even the suction nozzle and the nozzle can be moved by two sets of driving mechanisms. The ink tank is installed on the fixed bottom plate 12 through the ink tank bracket, and the ink tank and the ink bag 131 are connected one by one through a hose or a telescopic tube. Preferably, it also includes a decoration box for storing decorations. The decoration box is provided with independent storage areas corresponding to each kind of decoration, and the decoration box is placed on the fixed bottom plate 12 and is located within the working range of the driving mechanism. It is worth noting that when the driving mechanism is a mechanical arm, it is also within the protection scope of the present invention, and when the driving mechanism is a mechanical arm, the X-axis motion vector, the Y-axis motion vector, the Z-axis motion vector, and the rotation vector are the motion vectors and of each component of the mechanical arm.

[0060] In actual applications, the number of primary colors can be three primary colors (such as cyan, magenta, yellow or red, yellow, blue), four primary colors (such as cyan, magenta, yellow, black or red, yellow, blue, black), six primary colors (such as cyan, light cyan, magenta, light red, yellow, black or red, light red, yellow, blue, light blue, black), eight primary colors (purple, blue, cyan, light green, yellow-green, yellow, dark red, red), etc., and an inkjet path is set corresponding to each primary color of spray material, and the driving mechanism drives the nozzle 132 to move so that the same area to be nailed is sprayed with more than one primary color of spray material in sequence. In actual application, when the six-color nozzle 132 moves along the width direction of the nail, the six nozzles can selectively spray a base color of spray material on the same area of ​​the nail to be nailed. Since the six nozzles are arranged in sequence along the width direction of the nail, the area to be nailed that has been sprayed with more than one base color of spray material can be selectively sprayed with other base colors of spray material by the subsequent nozzle moving above it. The two or more spray materials sprayed successively on the same area to be nailed will form a new spray color after mixing. Therefore, each area to be nailed arranged in sequence along the width direction of the nail can further refine the depth of the same spray color according to the arrangement and combination of the device, thereby realizing the diversification of the spray color. Since the same nail or different nails can be sprayed with the same or different spray colors, and the division, quantity, and position of the areas to be nailed of the same nail and different nails can be the same or different, the nail pattern is greatly enriched, and the increase in color greatly reduces the color difference of the nail color, and greatly improves the color saturation and clarity. When the number of nozzles corresponding to each base color is more than two, the more than two nozzles are arranged in sequence and at intervals along the length direction of the nail to improve the efficiency of nail art. It is worth noting that the nail art mechanism can also realize nail art along the length direction of the nail. The specific implementation method can refer to the nail art mechanism realizing nail art along the width direction of the nail. The difference is that the installation method of the nozzles is changed from being arranged in sequence and at intervals along the width direction of the nail to being arranged in sequence and at intervals along the length direction of the nail, and the installation method of the X-axis drive mechanism, the Y-axis drive mechanism and the Z-axis drive mechanism of the drive mechanism can remain unchanged or changed.

[0061] Preferably, the suction nozzle includes a suction nozzle body, a ball head connector and a screw connection portion; the screw connection portion includes a threaded section and a connecting section, the threaded section is screwed to the mounting bracket 133, the connecting section is provided with a receiving cavity, the ball head connector includes a ball head end and a connecting end, the ball head end of the ball head connector is movably accommodated in the receiving cavity, and the connecting end of the ball head connector is connected to the suction nozzle body; the suction nozzle body is connected to the airflow duct 34. Preferably, the suction nozzle body is an elastic member, such as a rubber suction nozzle. In practical applications, the threaded section can be a screw or a nut, and correspondingly, the mounting bracket 133 is provided with a nut or a screw screwed to the threaded section; it is worth noting that the screw connection portion may not be screwed to the mounting bracket 133, but is connected through a connecting member, and in this case, the direction of the decoration can be achieved by the rotation of the mounting bracket 133 driven by a motor.

[0062] Preferably, the three-dimensional information acquisition mechanism is a three-dimensional dot matrix laser sensor 14, and the three-dimensional dot matrix laser sensor 14 is arranged from top to bottom toward the nail. The three-dimensional dot matrix laser sensor 14 directly emits a dot matrix laser to obtain the curvature information and shape and size information of the nail. The dot matrix laser area size of the three-dimensional dot matrix laser sensor 14 is larger than the area of ​​the nail, and the shape, size and curvature information of the nail can be quickly and accurately acquired at one time, and the edge area of ​​the nail can be identified in combination with the image collector 17. When the curvature of multiple nails is identified, the image collector 17 needs to be used to identify the relative position information of multiple nails, and then the three-dimensional dot matrix laser sensor 14 is controlled to move to the specified position to obtain data information (the three-dimensional dot matrix laser sensor 14 can be installed on the Y-axis slider 1123 to achieve this), or multiple three-dimensional dot matrix laser sensors 14 can correspond to multiple nails (i.e., the sub-finger groove 151), and then there is no need to move the three-dimensional dot matrix laser sensor 14.

[0063] In another embodiment of the present invention, different from the above embodiment, at least one of the X-axis drive mechanism, the Y-axis drive mechanism and the Z-axis drive mechanism of this embodiment is a meshing transmission assembly, which includes a driving gear, a linear rack and a second motor, the driving gear is meshingly connected with the linear rack, and the second motor drives the driving gear to rotate; the X-axis drive mechanism drives the Z-axis drive mechanism to reciprocate along the X-axis direction, the Z-axis drive mechanism drives the Y-axis drive mechanism to reciprocate along the Z-axis direction, and the Y-axis drive mechanism drives the nail mechanism to reciprocate along the Y-axis direction; the second motor is connected to the main control board 16. Preferably, a guide rail slidably connected to the linear rack is provided on the side of the linear rack, and the guide rail is arranged parallel to the linear rack. The connection method between the guide rail and the linear rack can be the same as the connection between the guide rail and the slider in the above text, through concave-convex matching or the linear rack is provided with a through groove for the guide rail to pass through, so as to ensure the linearity of the reciprocating motion of the linear rack. When the X-axis drive mechanism, the Y-axis drive mechanism, and the Z-axis drive mechanism are all meshing transmission components, the Z-axis drive mechanism can be installed on the linear rack of the X-axis drive mechanism through a mounting member or directly, and the Y-axis drive mechanism can be installed on the linear rack of the Z-axis drive mechanism through a mounting member or directly.

[0064] In another embodiment of the present invention, different from any of the above embodiments, the rotating mechanism of this embodiment includes a second rotating shaft and a steering gear, the nail art mechanism is connected to the steering gear, the steering gear is connected to the Y-axis drive mechanism through the second rotating shaft, and the steering gear is connected to the main control board 16. In practical applications, the steering gear is connected to the Y-axis slider 1123 through the second rotating shaft, and the steering gear rotates to drive the nozzle 132 and / or the suction nozzle to rotate. Preferably, the steering gear is connected to a driving gear, the mounting bracket 133 is connected to an arc-shaped rack, and the driving gear is meshed with the arc-shaped rack, so that the driving gear is driven to rotate by the steering gear, and then the arc-shaped rack drives the mounting bracket 133 to rotate, thereby realizing the rotation of the suction nozzle and / or the nozzle 132. Of course, in another embodiment of the present invention, the steering gear can also be directly connected to the mounting bracket 133 through a connecting member. Alternatively, in another embodiment of the present invention, the servo is connected to a driving wheel, the mounting bracket 133 is connected to the outer peripheral wall of a driven wheel, the driving gear is meshingly connected to the driven gear, and the driving wheel is driven by the servo to rotate, and the driving wheel drives the driven wheel to rotate to realize the rotation of the mounting bracket 133 connected to the driven wheel, thereby realizing the rotation of the nozzle 132 and / or the suction nozzle. Preferably, the Z-axis driving wheel 1112 and the Z-axis motor 1111 are directly connected by shaft holes, the Z-axis driving wheel 1112 and the Z-axis passive wheel 1114 are connected by a Z-axis synchronous belt, and the Z-axis synchronous belt is connected to the Z-axis slider 1116, and the Z-axis slider 1116 is slidably connected to the Z-axis guide rail 1115, thereby driving the Y-axis fixed frame 1124 to move up and down in the Z-axis direction; the X-axis motor 1137 and the X-axis driving wheel 1136 are directly connected by shaft holes, the X-axis motor 1137 driving wheel and the X-axis passive wheel 1134 are connected by an X-axis synchronous belt, and the X-axis synchronous belt is also fixed on the X-axis slider 1131, and the X-axis motor 1137 drives the X-axis slider 1131 to move on the X-axis guide rail 1132, thereby driving the Y-axis The fixed frame 1124 performs reciprocating motion in the X-axis direction, thereby driving the nozzle 132 and / or the suction nozzle to reciprocate in the X-axis direction; the Y-axis driving wheel 1125 and the Y-axis passive wheel 1122 are connected by a Y-axis synchronous belt, and the Y-axis synchronous belt is fixed on the Y-axis slider 1123. The Y-axis motor 1126 drives the Y-axis driving wheel 1125 to rotate, thereby driving the Y-axis slider 1123 to reciprocate in the Y-axis direction, thereby driving the nozzle 132 and / or the suction nozzle to reciprocate in the Y-axis direction; the nozzle 132 rotates through the interior of the mounting bracket 133 where the nozzle 132 and / or the suction nozzle is fixedly installed through the servo, and the servo shaft is connected to the Y-axis slider 1123. The servo rotates to drive the nozzle 132 and / or the suction nozzle to rotate. It is worth noting that the synchronous member can be a synchronous chain in addition to the synchronous belt.

[0065] In actual application, when it is necessary to spray-paint the nail, the person's finger is placed in the corresponding finger groove 15, and the image collector 17 takes a photo to obtain the plane coordinate information of the nail, and then the data is transmitted to the main control board 16 for data processing and analysis, and converted into the movement of the X-axis motor 1137 and the movement of the Y-axis motor 1126, and then the movement of the three-dimensional dot matrix laser sensor 14 connected to the Y-axis slider 1123 is controlled, and the three-dimensional dot matrix laser sensor 14 is used to move to the top of the nail to obtain the three-dimensional information of the nail and transmit it to the main control board 16, and then the curvature information of the nail is obtained by the main control board 16, and then combined with the position information obtained by the image collector 17 The positioning information is analyzed and processed, and converted into the movement of the X-axis motor 1137 (the X-axis motion vector of the nozzle 132 in the X-axis direction can be realized through the rotation of the X-axis motor 1137), the Y-axis motor 1126 (the Y-axis motion vector of the nozzle 132 in the Y-axis direction can be realized through the rotation of the Y-axis motor 1126), the Z-axis motor 1111 (the Z-axis motion vector of the nozzle 132 in the Z-axis direction can be realized through the rotation of the Z-axis motor 1111) and the rotation movement of the servo connected to the mounting bracket 133, thereby controlling the nail art mechanism where the nozzle 132 is located to move up and down, left and right, forward and backward, and the rotation movement of the nozzle 132. The movement of the Y-axis motor 1126 can control the movement of the nozzle 132 to different nails, and when printing on the same nail, the nozzle 132 can be controlled to move in the X-axis relative to the nail so as to adapt to the length of the nail for spraying. The movement of the Y-axis motor 1126 can control the left and right movement of the nozzle 132 relative to the nail to adapt to the width of the nail, and perform reciprocating motion in the Y-axis direction for spraying. The movement of the Z-axis motor 1111 can control the height of the nozzle 132 relative to the nail, and perform spraying at a precise predetermined height, avoiding the problem of ink drift during spraying, and improving the quality of the spraying pattern. The mounting bracket 133 and the Y-axis slider 1123 are connected by a steering gear, and the steering gear can control the mounting bracket 133 to rotate to realize the rotation of the nozzle 132 to adapt to the irregular curved surface of the nail for spraying. The spraying angle of the nozzle 132 is always adjusted to an angle perpendicular to the area to be sprayed on the nail through the movement of the driving mechanism, and the nozzle 132 is adjusted to be within a predetermined range according to the height of the area to be sprayed, so as to improve the precision quality of the spraying, avoid ink drift and pattern deformation and distortion, and improve the clarity.

[0066] In another embodiment of the present invention, different from any of the above embodiments, the three-dimensional information acquisition mechanism of this embodiment is an image collector 2, and the image collector 2 is arranged toward the nail from the front of the nail to the back of the nail to obtain the cross-sectional profile of the nail. In practical applications, in order to facilitate the image collector 2 to smoothly collect the cross-sectional profile of the nail, the image collector 2 is arranged on the side of the nail away from the human body, and each sub-finger groove 151 is a channel. The image collector 2 can be provided with a camera whose working range covers each sub-finger groove 151, and the image collector 2 can also be provided with one corresponding to each sub-finger groove 151, or when the image collector 2 is one, the image collector 2 can reciprocate along the Y-axis direction, so that the image collector 2 can collect images of each nail by moving. Preferably, the image collector is installed on the Y-axis driving mechanism. The top surface image of the nail is collected by the image collector 1 17 installed at a 90° angle, and the side image of the nail is collected by the image collector 2, and the curvature information and position information (i.e., surface parameters, size, shape and three-dimensional coordinates) of the nail can be obtained through image analysis by the main control board 16.

[0067] In another embodiment of the present invention, different from any of the above embodiments, the three-dimensional information acquisition mechanism of this embodiment is a point source laser sensor, which is installed on a driving mechanism, and the driving mechanism drives the point source laser sensor to move so that the activity range of the point source laser sensor covers the nail. Specifically, the point source laser sensor can be installed on the Y-axis driving mechanism, and can even be installed on the mounting bracket 133. The two-dimensional movement of the point source laser sensor (i.e., movement in the horizontal direction) can be achieved through the Y-axis driving mechanism and the X-axis driving mechanism, and the curvature information of the nail can be obtained by scanning the nail. Therefore, the point source laser sensor can be installed on the Y-axis slider 1123. In another embodiment of the present invention, the point source laser sensor may not be set on the driving mechanism, as long as the working range of the point source laser sensor (i.e., the optical path of the point source laser sensor) covers the nail.

[0068] In another embodiment of the present invention, different from any of the above embodiments, the three-dimensional information acquisition mechanism of this embodiment is a line source laser sensor that emits a linear array laser, and then scans the nail in one dimension to acquire the fingernail data. Specifically, when the line source extension direction of the line source laser sensor is the X-axis direction, the line source laser sensor can be installed on the Y-axis slider 1123 of the Y-axis drive mechanism; when the line source extension direction of the line source laser sensor is the Y-axis direction, the line source laser sensor can be installed on the X-axis slider 1131 of the X-axis drive mechanism.

[0069] In another embodiment of the present invention, different from any of the above embodiments, the three-dimensional information acquisition mechanism of this embodiment is a three-dimensional image collector, and the three-dimensional image collector is arranged from top to bottom toward the nail. In this case, the image collector 17 and the three-dimensional information acquisition mechanism can be integrated into a three-dimensional image collector, and the nail curvature information and position information can be acquired at the same time. Of course, the image collector 17 and the three-dimensional information acquisition mechanism can also be two independent components.

[0070] In another embodiment of the present invention, different from any of the above embodiments, the three-dimensional information acquisition mechanism of this embodiment is a contact probe, which is installed on a driving mechanism, and the driving mechanism drives the contact probe to contact the nail and makes the movable range of the contact probe cover the nail. Specifically, the contact probe can be a one-dimensional point probe, which contacts the nail and obtains the curvature information and shape and size information of the nail relative to the movement of the nail in the X-axis direction and the Y-axis direction. The one-dimensional point probe can be installed on the Y-axis slider 1123 or the mounting bracket 133. The contact probe can be a two-dimensional linear arrangement probe that directly obtains the curvature information of the nail by contacting the nail relative to a certain axis of the nail. The two-dimensional linear arrangement probe can be installed on the X-axis slider 1131 or the Y-axis slider 1123. The contact probe can be a three-dimensional planar arrangement probe array that directly obtains the curvature information and shape and size information of the nail by contacting the nail. In this case, the three-dimensional planar arrangement probe array can be directly installed on the finger groove 15 or the fixed base plate 12, or can be installed on the driving mechanism.

[0071] In another embodiment of the present invention, on the basis of any of the above embodiments, a nail art requirement acquisition mechanism for acquiring nail art requirements is further included, and the nail art acquisition mechanism is connected to the main control board 16. The nail art requirement acquisition mechanism is preferably equipped with a display screen and a touch point, and is selected or designed by the user or the nail art staff according to the nail art requirements to form the user's nail art requirements, so that the main control board 16 controls the image collector 17, the three-dimensional information acquisition mechanism, the drive mechanism (X-axis drive mechanism, Y-axis drive mechanism, Z-axis drive mechanism, rotation mechanism), the nail art mechanism and the curing mechanism according to the nail art requirements to work in an orderly manner to complete the nail art. The decoration order and curing requirements of the nail art layer can be set according to actual experience, such as the exemplary operation sequence of the nail art layer: first spray the protective layer on the nail, then spray the nail art layer, then spray the protective nail art layer, then spray the polishing layer, and finally post the decoration. For example, the exemplary operation sequence of the nail art layer is exemplary two: when there is no need to post the decoration, the last step (posting the decoration) of the exemplary operation sequence of the nail art layer can be removed. For example, in example 3: first, spray the protective layer on the nails, then dry, then spray the nail layer, then dry, then spray the protective nail layer, then dry, then spray the adhesive layer for adhering the decorations, post the decorations, dry, etc. When the nail art requirement is to achieve a set nail art package, the control can be performed according to the nail art sequence pre-set in the nail art package. Of course, it can also be set according to the spraying requirements corresponding to each decoration, so that the corresponding operations can be performed when decorating different decorations.

[0072] Preferably, it also includes a payment mechanism for collecting user payment fees, and the payment mechanism is connected to the main control board 16. The payment mechanism can calculate the user payment fee according to the manicure requirements, and only after the user pays the corresponding user payment fee, the manicure operation is opened to the user. This operation mode is suitable for unmanned manicure technology, that is, the present invention can be placed in shopping malls, nail shops, or streets, etc., to achieve user autonomy and self-manicure. Of course, the payment mechanism can also collect the user payment fee after the user completes the manicure. This operation mode is suitable for users in nail shops or through APP orders, etc., where there are manicure staff supervising the collection.

[0073] It should be noted that the X-axis drive mechanism, the Y-axis drive mechanism and the Z-axis drive mechanism in the above embodiments may be the same or different and may be selected according to actual needs. The above embodiments may be freely combined as needed. The above description is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A nail art system for recognizing arbitrary curved surfaces, characterized in that: include: A three-dimensional information acquisition mechanism for acquiring three-dimensional information of a nail; A driving mechanism for driving a nail art mechanism carrying nail art objects to move; A main control board for acquiring the curvature information of the nail according to the three-dimensional information, planning the spraying path of each area of ​​the nail to be nailed according to the curvature information and the position information of the nail, and converting the spraying path of each area to be nailed into an X-axis motion vector of the nail art mechanism in the X-axis direction, a Y-axis motion vector in the Y-axis direction, a Z-axis motion vector in the Z-axis direction, and a rotation vector of the area to be nailed, so as to enable the nail art mechanism to perform curved surface nail art on the nails in the nail art area along a nail art direction perpendicular to the tangent direction of the area to be nailed at a predetermined range of distance values, so that the nails form more than one nail art layer; The driving mechanism includes an X-axis driving mechanism for driving the nail art mechanism to move according to the X-axis motion vector, a Y-axis driving mechanism for driving the nail art mechanism to move according to the Y-axis motion vector, a Z-axis driving mechanism for driving the nail art mechanism to move according to the Z-axis motion vector, and a rotation mechanism for driving the nail art mechanism to rotate around the nail according to the rotation vector; The X-axis drive mechanism, the Y-axis drive mechanism and the Z-axis drive mechanism are all synchronous transmission components, and the synchronous transmission component includes a guide rail, a driving wheel, a passive wheel and a motor 1, the driving wheel and the passive wheel are arranged in sequence along the same direction, the synchronous parts are respectively connected to the driving wheel and the passive wheel in a tensioned manner, and the motor 1 drives the driving wheel to rotate; the Z-axis drive mechanism is installed on the X-axis drive mechanism to realize that the X-axis drive mechanism drives the Z-axis drive mechanism to reciprocate along the X-axis direction, the Y-axis drive mechanism is installed on the Z-axis drive mechanism to realize that the Z-axis drive mechanism drives the Y-axis drive mechanism to reciprocate along the Z-axis direction, and the nail art mechanism is installed on the Y-axis drive mechanism to realize that the Y-axis drive mechanism drives the nail art mechanism to reciprocate along the Y-axis direction, thereby realizing that the nail art mechanism reciprocates in the X-axis direction, the Y-axis direction and the Z-axis direction respectively; the motor 1 is connected to the main control board; The X-axis driving mechanism comprises an X-axis guide rail, an X-axis driving wheel, an X-axis driven wheel, an X-axis synchronous member and an X-axis motor extending in the X-axis direction; the X-axis driving wheel and the X-axis driven wheel are arranged in sequence in the X-axis direction, the X-axis synchronous member is respectively connected to the X-axis driving wheel and the X-axis driven wheel in a tensioned manner, and the X-axis motor drives the X-axis driving wheel to rotate; The Y-axis driving mechanism comprises a Y-axis guide rail, a Y-axis driving wheel, a Y-axis driven wheel, a Y-axis synchronous component and a Y-axis motor which cooperate along the Y-axis direction; the Y-axis driving wheel and the Y-axis driven wheel are sequentially installed along the Y-axis direction, the Y-axis synchronous component is respectively tensionedly connected with the Y-axis driving wheel and the Y-axis driven wheel, and the Y-axis motor drives the Y-axis driving wheel to rotate; The Z-axis driving mechanism comprises a Z-axis guide rail extending along the Z-axis direction, a Z-axis driving wheel, a Z-axis driven wheel, a Z-axis synchronous member and a Z-axis motor; the Z-axis driving wheel and the Z-axis driven wheel are arranged in sequence along the Z-axis direction, the Z-axis synchronous member is respectively tensionedly connected with the Z-axis driving wheel and the Z-axis driven wheel, and the Z-axis motor drives the Z-axis driving wheel to rotate; The Z-axis guide rail is slidably connected to the X-axis guide rail, and the Z-axis guide rail is connected to the X-axis synchronous member; the Y-axis guide rail is slidably connected to the Z-axis guide rail, and the Y-axis guide rail is connected to the Z-axis synchronous member; the nail art mechanism is connected to the Y-axis synchronous member; the nail art mechanism is slidably connected to the Y-axis guide rail; the X-axis motor, the Y-axis motor and the Z-axis motor are all connected to the main control board; The two groups of X-axis drive mechanisms are arranged on both sides of the nail along the Y-axis direction to form a left X-axis drive mechanism and a right X-axis drive mechanism, and the X-axis drive mechanism carries and installs the Z-axis drive mechanism, so that the Z-axis drive mechanism installed on the left X-axis drive mechanism is the left Z-axis drive mechanism, and the Z-axis drive mechanism installed on the right X-axis drive mechanism is the right Z-axis drive mechanism; The rotating mechanism includes a rotating shaft and a sliding bearing on the rotating shaft, and a sliding bearing seat for mounting the sliding bearing; The Y-axis guide rail includes a left end and a right end, the left end of the Y-axis guide rail is connected to the Z-axis synchronizer of the left Z-axis drive mechanism through an axial connection joint and a rotating shaft, and the right end of the Y-axis guide rail is connected to the Z-axis synchronizer of the right Z-axis drive mechanism through an axial connection joint and a rotating shaft; the Y-axis guide rail is directly or indirectly connected to the rotating shaft sliding bearing seat through the rotating shaft, and the rotating shaft is located between the left Z-axis drive mechanism and the right Z-axis drive mechanism; the left Z-axis drive mechanism and the right Z-axis drive mechanism drive the Y-axis guide rail to move along the Z-axis direction in opposite directions, so that the Y-axis guide rail rotates around the rotating shaft to drive the nail art mechanism to rotate.

2. The arbitrary curved surface recognition nail art system according to claim 1, characterized in that: The nail art mechanism comprises a nozzle, a plurality of ink bags, a plurality of ink tanks and a mounting bracket; the nozzle is provided with a plurality of nozzles arranged in sequence and at intervals along the width direction of the nail, an ink tank, an ink bag and a nozzle are connected in sequence to form an inkjet passage for circulating a base color of the spray material; the nozzle is arranged toward the nail; the nozzle and the ink bag are both mounted on the mounting bracket; the mounting bracket is mounted on the driving mechanism; and / or, The nail art mechanism includes a vacuum air pump, an electromagnetic reversing valve and a suction nozzle for taking and placing decorations, which are sequentially connected through an airflow pipeline. The electromagnetic reversing valve is arranged between the vacuum air pump and the suction nozzle; the suction nozzle is connected to the driving mechanism.

3. The arbitrary curved surface recognition nail art system according to claim 2, characterized in that: The three-dimensional information acquisition mechanism includes a first camera and a second camera installed on the driving mechanism, and the first camera and the second camera are respectively located above and to the side of the area to be nailed; The first camera is installed above the nail to look down at the nail to collect images, and the second camera faces the side of the nail to collect images; and / or; The three-dimensional information acquisition mechanism is a stereo camera or a 3D camera installed on the driving mechanism, and the stereo camera is located above the nail art area.

4. The arbitrary curved surface recognition nail art system according to claim 3, characterized in that: The three-dimensional information acquisition mechanism is a sensor and a third camera installed on the driving mechanism, and the third camera and the sensor are located above the area to be manicured; wherein the third camera obtains the position of the nail, and the sensor obtains the surface data of the nail; the third camera is directly or indirectly connected to the sensor for communication.

5. The arbitrary curved surface recognition nail art system according to claim 4, characterized in that: The sensor is a dot matrix laser sensor, and its dot matrix laser beam area can cover the nail; the driving mechanism drives the dot matrix laser sensor to move to the top of the nail, so that the detection range of the dot matrix laser sensor completely covers the nail, so as to obtain the nail surface information at one time; or; The sensor is a point source laser sensor, and the driving mechanism drives the point source laser sensor to move in two dimensions, so that the activity range of the point source laser sensor covers the nail, so as to obtain the curved surface information of the nail; or; The sensor is a line source laser sensor, and the line length of its line source is greater than or equal to the length or width of the nail. The driving mechanism drives the line source laser sensor to perform one-dimensional movement so that the activity range of the line source laser sensor covers the nail to obtain nail surface information.

6. The arbitrary curved surface recognition nail art system according to claim 5, characterized in that: Also includes: A nail art requirement acquisition mechanism for acquiring nail art requirements, wherein the nail art acquisition mechanism is connected to the main control board; and / or, A curing mechanism for curing the nail art layer; and / or; A payment mechanism for collecting user payment fees, wherein the payment mechanism is in communication connection with the main control board.

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