Hair supply device

Abstract

This invention enables efficient hair transplantation. The hair supply device (10), which performs a supplying action of pulling each hair strand (B) from a hair bundle (M) for hair transplantation, comprises: a head (60) for capturing the tips of the hair strands; a conveying mechanism (70) for conveying the head; and a control device (100) for controlling the supply action. The head includes: a suction nozzle (61) for attracting the tips of the hair strands; a gripping member (63) for gripping the hair strands attracted by the suction nozzle; and an actuator (64) for applying gripping pressure to the gripping member.

Description

Technical Field

[0001] This invention relates to a hair supply device. Background Technology

[0002] In recent years, hair implantation devices have been developed that use multiple hooks to form knots of hair for implantation in each mesh of the mesh-like matrix material, thereby automating the manufacturing of wigs (for example, see Patent Document 1).

[0003] Patent Document 1: Japanese Patent Application Publication No. 2018-040084

[0004] The aforementioned tufting device automates the tufting process that was previously done manually, enabling stable and continuous tufting of substrate materials.

[0005] However, the hair implantation device needs to receive the hair for implantation one by one. In order to achieve a stable and continuous hair implantation operation, a stable and continuous supply of hair for implantation is indispensable.

[0006] Typically, a large number of hairs are needed in the hair implantation process, so they are circulated in bundles. Therefore, it is required to extract the hairs one by one from the bundles of hairs as described above and supply them appropriately to the hair implantation device, but the supply operation described above has not been automated. Summary of the Invention

[0007] The purpose of this invention is to supply hair for hair implantation one by one from the hair bundles of hair for hair implantation.

[0008] The invention described in technical solution 1 is a hair supply device that performs a supply action to pull out the hair for hair implantation one hair at a time from the hair bundle.

[0009] The hair supply device is characterized by having:

[0010] The head is used to capture the tips of the hairs used for implantation.

[0011] A conveying mechanism that conveys the head; and

[0012] The control device performs the action control of the supply action.

[0013] The head has a suction nozzle that draws in the tips of the hairs used for hair implantation.

[0014] A gripping component that grips the hair for implantation drawn by the suction nozzle; and

[0015] An actuator that applies gripping pressure to the gripping component.

[0016] The invention described in technical solution 2 is characterized in that, in the hair supply device described in technical solution 1,

[0017] have:

[0018] The detection unit detects the three-dimensional position of the hair tips of the implanted hairs; and

[0019] The supply unit sorts a portion of the hair bundles used for hair implantation, i.e., multiple hairs with their tips pointing towards the head side.

[0020] The control device controls the conveying mechanism so that when the suction nozzle is positioned at the three-dimensional position of the tip of the hair for implantation detected by the detection unit and the tip of the hair for implantation is attracted by the suction nozzle, the head moves forward toward the supply unit to a position where the attracted hair for implantation can be grasped by the gripping member.

[0021] The invention described in technical solution 3 is characterized in that, in the hair supply device described in technical solution 1 or 2,

[0022] It includes a flow detection unit that detects the flow rate of external gas drawn from the nozzle.

[0023] The control device determines whether a hair for hair implantation has been attracted to the nozzle based on the flow rate detected by the flow detection unit, and if no hair for hair implantation is attracted, it performs a confirmation control to make the nozzle re-attract the tip of the hair for hair implantation.

[0024] The invention described in technical solution 4 is characterized in that, in the hair supply device described in technical solution 2,

[0025] It includes a flow detection unit that detects the flow rate of external gas drawn from the nozzle.

[0026] The control device determines whether a hair for hair implantation has been attracted to the suction nozzle based on the flow rate detected by the flow detection unit, and if no hair for hair implantation is attracted, it performs a confirmation control to re-attract the hair tip of the hair implantation by the suction nozzle in the case of the forward movement of the head before and after the hair tip is attracted.

[0027] The effects of the invention

[0028] The present invention uses a gripping component to grip the hair for hair implantation that is attracted to the head by a suction nozzle. Therefore, the hair for hair implantation M can be pulled out from the hair bundle B of the hair for hair implantation M by gripping pressure, and the hair for hair implantation can be supplied one by one from the hair bundle of the hair for hair implantation. Attached Figure Description

[0029] Figure 1 This is a perspective view showing the overall structure of the hair supply device as an embodiment of the invention.

[0030] Figure 2 This is a top view showing the overall structure of the hair supply device.

[0031] Figure 3 This is a block diagram representing the control system of the hair supply device.

[0032] Figure 4 This is a perspective view of the structure on the support plate of the hair supply device.

[0033] Figure 5 This is a perspective view of the supply section with the separation plate in a waiting state.

[0034] Figure 6 This is a perspective view of the supply section with the separation plate tilted.

[0035] Figure 7 This is a top view of the supply department.

[0036] Figure 8 This is an enlarged view of the separation plate.

[0037] Figure 9 This is a view of the separation plate from the right.

[0038] Figure 10 This is a top view of the supply section with the separation plate tilted.

[0039] Figure 11 This is a perspective view of the structure that causes the separation plate to rotate.

[0040] Figure 12 This is a perspective view of the structure on the support plate of the hair supply device with the head pulling out a single hair graft.

[0041] Figure 13 It is a perspective view of the head and conveying mechanism.

[0042] Figure 14 (A) to Figure 14 (C) is a cross-sectional view showing the suction action of the hair for hair implantation performed through the head.

[0043] Figure 15 From and Figure 13Oblique views of the conveyor mechanism viewed from different directions.

[0044] Figure 16 This is a perspective view of the gripping device.

[0045] Figure 17 This is a flowchart of the motion control for the hair implantation device to automatically extract hairs one by one from the hair bundles.

[0046] Explanation of the label

[0047] 10 Hair supply device

[0048] 20 Supply Department

[0049] 30 hair bundle holding part

[0050] 33 Support plate (abutment component)

[0051] 331 Contact Surface

[0052] 333 Narrow section

[0053] 34 Pressure Plate

[0054] 341 Incision site

[0055] 342 Auxiliary Pressure Plate

[0056] 343 Incision site

[0057] 36. Maintain cylinder

[0058] 40 Separation Section

[0059] 41 Separation plate

[0060] 411 Flat Surface

[0061] 412 Groove (recessed part)

[0062] 44 Enter the cylinder

[0063] 48 Rotating cylinder

[0064] 49 Air valve

[0065] 50 Testing Department

[0066] 51 Displacement Sensor

[0067] 511 Light Source

[0068] 512 Light-receiving element

[0069] 52 Conveying Units

[0070] 53 Sensor conveyor motor

[0071] 60 heads

[0072] 61 Suction nozzle

[0073] 62. Nozzle housing

[0074] 621 Air Chamber

[0075] 625 Flow Meter (Flow Detection Section)

[0076] 63 Gripping components

[0077] 64 First gripping cylinder (actuator)

[0078] 70 Conveying mechanism

[0079] 711 X-axis conveyor motor

[0080] 721 Z-axis conveyor motor

[0081] 731 Y-axis conveyor motor

[0082] 80 Gripping Device

[0083] 81 Upper gripping component

[0084] 82 Lower gripping components

[0085] 83 Second gripping cylinder

[0086] 85 Retreat Cylinder

[0087] 100 Control device

[0088] 101 CPU

[0089] 104 Data Storage

[0090] B Hair bundles for hair transplantation

[0091] D Detection Area

[0092] M Hair for hair transplantation Detailed Implementation

[0093] [Overall Structure of the Implementation Method]

[0094] Hereinafter, with reference to the accompanying drawings, the hair supply device 10, which is an embodiment of the present invention, will be described in detail.

[0095] Figure 1 This is a perspective view showing the overall structure of the hair supply device 10. Figure 2 This is a top view showing the overall structure of the hair supply device 10. Figure 3 It is a block diagram representing its control system.

[0096] The hair supply device 10 is used to automatically extract and supply hair M one by one from the hair bundle B of the hair M for hair transplantation device (not shown).

[0097] The hair used for hair transplantation is not limited to human hair, but also includes all other fibers that are considered as human hair, including natural fibers and artificial fibers.

[0098] As shown in the figure, the hair supply device 10 includes: a supply unit 20, which sorts a portion of the hair bundle B of hair grafts M, i.e., multiple hair grafts M, with the hair tips pointing in a direction different from the hair bundle B (e.g., the head 60 side described later); a detection unit 50, which detects the three-dimensional position of the hair tips of the sorted multiple hair grafts M; a head 60, which captures the hair tip of a hair graft M; a conveying mechanism 70, which conveys the head 60 to any position in three dimensions; a gripping device 80 as a holding unit, which holds the end of the hair graft M opposite to the hair tip pulled out by the head 60; a pedal 14, which performs the supply action of the hair graft M; a control device 100, which performs the action control of the supply action of the hair graft M; and a base 12, which supports the above-mentioned structures.

[0099] Furthermore, as stated in the following description, Figure 1 As shown, with the device positioned horizontally, the two orthogonal directions are designated as the X-axis and Y-axis. One side along the X-axis is designated "left," and the other "right." Similarly, one side along the Y-axis is designated "front," and the other "rear." Furthermore, the vertical direction, orthogonal to both the X-axis and Y-axis, is designated as the Z-axis, with one side designated "up," and the other "down."

[0100] [Abutment]

[0101] The base 12 is generally rectangular in shape, and its upper surface is a horizontal plane along the X-Y plane. Moreover, a long rectangular support plate 121 is provided on the upper surface of the base 12 along the Y-axis, and the various structures supporting the hair supply device 10 are mounted on the upper surface of the support plate 121.

[0102] In addition, six support legs 122 (two of which are omitted from the diagram) are provided at the bottom of the base 12, but casters that allow the device to move can also be provided at the bottom of the base 12.

[0103] [Supply Department]

[0104] Figure 4 These are oblique views of the various structures on the support plate 121. Figure 5 and Figure 6This is a perspective view of the supply section 20. Figure 7 It is a top view.

[0105] Supply Department 20 Figures 4 to 7 As shown, the front portion of the upper surface of the support plate 121 is provided. The supply unit 20 has: a hair bundle holding unit 30, which holds the hair bundles B of the hair M for hair implantation; and a separating unit 40, which sorts multiple hairs M from the hair bundles B of the hair M held by the hair bundle holding unit 30 with the hair tips facing a predetermined direction (head 60 side, for example, rear).

[0106] The hair bundle B for hair implantation M consists of hundreds to thousands of hairs M bundled together in a roughly cylindrical shape with their lengths aligned.

[0107] The hair tuft holding part 30 includes: a main body plate 31, which is located near the right end of the upper surface of the support plate 121, and the right end is supported by a support wall 123 that is erected in a state along the Y-Z plane; and a side wall plate 32, which is connected to the left end of the main body plate 31.

[0108] The main body plate 31 is a rectangular flat plate along the X-Z plane, and the side wall plate 32 is a flat plate along the Y-Z plane extending rearward from the left end of the main body plate 31. The side wall plate 32 has feet and is erected on the upper surface of the support plate 121.

[0109] Furthermore, the hair tuft holding part 30 includes: a support plate 33 as an abutment member, which is disposed behind the main body plate 31 to support the hair tuft B of the hair M for hair implantation; and a pressure plate 34, which pushes the hair tuft B of the hair M for hair implantation toward the support plate 33.

[0110] When viewed from above, the support plate 33 is bent into a roughly V-shape, supporting the main body plate 31 and the side wall plate 32 with the opening of the V facing forward.

[0111] Furthermore, the support plate 33 has two abutment surfaces 331 on the inner side of the V-shape, with the spacing between them gradually decreasing as they face rearward. These abutment surfaces 331 are both perpendicular to the X-Y plane and intersect at the trough of the V-shape, with the intersection of the two abutment surfaces 331 along the Z-axis. Moreover, the hair tufts B of the implantation hair M are pressed into contact with the trough of the V-shape, thereby holding the hair tufts B of the implantation hair M in a state along the Z-axis.

[0112] The pressure plate 34 is a rectangular flat plate along the X-Y plane, with a roughly V-shaped cutout 341 formed at the center of its rear end. Furthermore, the front end of the pressure plate 34 is slidably supported along the Y-axis by two sliding guides 35 provided on the main body plate 31 at both its left and right ends. The pressure plate 34 is connected to a plunger of a holding cylinder 36 fixedly mounted on the main body plate 31, and is given a reciprocating movement along the Y-axis.

[0113] The left and right ends of the rear end of the pressure plate 34 can be inserted into the slit holes 332 formed on the two abutment surfaces 331 of the support plate 33, which are parallel to the X-Y plane. As a result, the rear end of the pressure plate 34 can be moved back to the vicinity of the trough of the V-shape of the support plate 33.

[0114] The valley portion of the generally V-shaped cutout 341 formed at the rear end of the pressure plate 34 and the generally V-shaped valley portion of the aforementioned support plate 33 are aligned in the X-axis direction.

[0115] Therefore, if the pressure plate 34 is pressurized in the backward movement direction by the holding cylinder 36, the hair M for implantation arranged in the generally V-shaped trough of the support plate 33 is pressurized and held in a state where it is engaged with the trough of the generally V-shaped cut 341 of the pressure plate 34.

[0116] The hair bundles B of the hair M for hair implantation held in the hair bundle holding section 30 are sequentially taken out from their rear portion (the portion that becomes the two contact surfaces 331) and supplied to the supply destination. Therefore, with respect to the hair bundles B of the hair M for hair implantation, the number of hairs of the hair M for hair implantation gradually decreases, and its cross-sectional area gradually decreases.

[0117] Furthermore, if the cross-sectional area of ​​the hair bundle B of the hair M used for hair implantation becomes smaller, it becomes difficult to maintain it between the generally V-shaped trough portion of the support plate 33 and the generally V-shaped trough portion 341 of the pressure plate 34.

[0118] Therefore, an auxiliary pressure plate 342 with a narrow width in the X-axis direction is provided on the upper surface of the pressure plate 34. Like the pressure plate 34, the auxiliary pressure plate 342 has a small, approximately V-shaped cutout 343 at its rear end. The auxiliary pressure plate 342 has an elongated hole in the Y-axis direction and is fixed to the pressure plate 34 by a locking screw. Therefore, the auxiliary pressure plate 342 can move relative to the pressure plate 34 in the Y-axis direction to adjust its fixed position.

[0119] The auxiliary pressure plate 342 has a small width in the X-axis direction, which allows its rear end to be closer to the support plate 33. Therefore, by adjusting its position so that the rear end of the auxiliary pressure plate 342 is behind the rear end of the pressure plate 34 when the cross-sectional area of ​​the hair tuft B of the hair M for implantation becomes smaller, it is possible to retain the hair tuft B of the hair M for implantation with a smaller number of hairs.

[0120] The separation section 40 has a separation plate 41 that is inserted into the outer periphery of the hair bundle B of the hair M for hair implantation, so as to sort multiple hairs for hair implantation with the hair tips facing backward.

[0121] Figure 8 This is an enlarged view of the separation plate 41. Figure 9 This is a view of the separating plate 41 from the right. The separating plate 41 is a long strip along the X-axis, and is a long flat plate with a flat surface parallel to the X-axis, with its front end extending to the right. The front end of the separating plate 41 forms a thin wedge shape, allowing it to pass through the outer periphery of the hair tuft B of the retained hair M when the flat surface 411 of the separating plate 41 is along the X-Z plane.

[0122] The separation plate 41 is fixedly supported at the right end of the support shaft 42 along the X-axis. The support shaft 42 is supported relative to the side wall plate 32 in a manner that allows it to rotate about the X-axis and slide along the X-axis.

[0123] When the separation plate 41 is in a state where its flat surface is along the X-Z plane, it waits to the left of the hair bundle B of the hair M for implantation (set as waiting state), and then enters to the right from the waiting state, thereby inserting into the hair bundle B of the hair M for implantation (set as entering state).

[0124] The hair tufts B of the implantation hairs M are pressed into the vicinity of the bottom (designated as narrow section 333) of the trough formed by the two abutment surfaces 331 of the support plate 33 by pressure from the pressure plate 34. The separation plate 41 is inserted into the hair tufts B of the implantation hairs M on the upper side of the support plate 33 and slightly forward of the narrow section 333 of the support plate 33 when viewed from above. Therefore, the separation plate 41 can perform a "minor separation" that sorts a small number of implantation hairs M that have entered the narrow section 333 of the support plate 33 towards the rear of the separation plate 41.

[0125] Furthermore, the separating plate 41, together with the support shaft 42, can rotate around the X-axis, and in the engaged state, it rotates 90° clockwise when viewed from the left. At this time, the separating plate 41 is located directly above the support plate 33, thus allowing several hairs M for implantation to be separated rearward. Figure 6 As shown, when viewed from the left, the flat surface 411 of the separation plate 41 is pressed down 90° clockwise, and the tip of its upper end is in a rearward-facing state (set as a tilted state).

[0126] At this time, as Figure 9 As shown, the flat surface 411 of the separating plate 41 is configured to be offset relative to the rotation center O involved in the support shaft 42. That is, in the initial state after insertion, the flat surface 411 of the separating plate 41 is located outside the radius direction centered on the rotation center O and above the rotation center O, and moves towards the rear of the rotation center O in the tilting state (illustrated by double-dotted lines). Therefore, when tilting, the front end of the flat surface 411 of the separating plate 41 can be moved further rearward in the radius direction, which can effectively press down the small number of separated and sorted hairs M for implantation.

[0127] Furthermore, if at least the rear end, or more preferably the entire portion, of the flat surface 411 of the separating plate 41 during tilting is located behind the narrow portion 333 when viewed from above, the sorted hairs M for implantation can be directed more effectively towards the rear. Additionally, it is preferable that the lower surface (flat surface 411) of the separating plate 41 during tilting is lowered to the same height as or close to the height of the upper end of the support plate 33.

[0128] Furthermore, by offsetting the flat surface 411 of the separation plate 41, it is possible to suppress the forward protrusion relative to the rotation center O during tilting, suppress interference between the portion that is in front relative to the rotation center O and the hair tuft B of the hair M for hair implantation, and ensure smooth rotation of the separation plate 41.

[0129] Furthermore, the separating plate 41 can also be offset downwards from the rotation center O in the initial state, and rotated 90° counterclockwise when viewed from the left. In this case, it can be pushed backwards to kick out the hairs M that have been separated and sorted in small quantities.

[0130] In addition, the separating plate 41 is not limited to a rotating type, but can also be configured such that the hair bundle B inserted into the hair M for hair implantation in a state along the X-Z plane moves directly backward in parallel, and pushes the sorted hair M backward between the lower end of the separating plate 44 and the upper end of the support plate 33.

[0131] Furthermore, a groove 412, serving as a recess, is formed on the flat surface 411 of the separating plate 41. This groove 412 allows the tips of the sorted multiple hairs M for implantation to expand. The groove 412 is as follows: Figure 8 As shown, when the separating plate 41 is not in a tilted state (let's call it the normal state (the state immediately after entry as described above)), the groove is in a vertical direction and has a shape that gradually increases in width from bottom to top. Therefore, if the separating plate 41 rotates to a tilted state, the groove 412 expands backward, and multiple hairs M for implantation are pressed down in the groove 412. Figure 10As shown, within the angular range of the groove 412, the burr tip is allowed to extend backward.

[0132] The support shaft 42 that supports the separation plate 41 is connected to the connecting plate 43 near its right end.

[0133] The connecting plate 43 is connected to the plunger of the entry cylinder 44, which is fixedly supported on the front side of the support shaft 42 by the side wall plate 32. The entry cylinder 44 is fixedly supported on the side wall plate 32 by the reciprocating movement of the plunger from left to right. Therefore, by operating the entry cylinder 44, the separating plate 41 can be moved to the right via the connecting plate 43, switching from the waiting state to the entering state. In addition, the entry cylinder 44 can also switch the separating plate 41 from the entering state to the waiting state.

[0134] Additionally, the support shaft 42 is supported on the side wall plate 32 via a keyway nut 45. The keyway nut 45 is supported so as to be rotatable about the X-axis relative to the side wall plate 32. Moreover, the keyway nut 45 allows the support shaft 42 to slide along the X-axis and rotates together with the support shaft 42 about the X-axis.

[0135] Keyway nut 45 Figure 11 As shown, one end of the driven wrist 46 is fixed to the driven wrist 46, and the other end of the driven wrist 46 is connected to the plunger of the rotating cylinder 48 via the connecting rod member 47.

[0136] The driven wrist 46 can rotate about the X-axis with the keyway nut 45 as the axis, and the two ends of the connecting rod component 47 are respectively rotatably connected to the pistons of the driven wrist 46 and the rotating cylinder 48 about the X-axis.

[0137] The rotating cylinder 48 moves the plunger upward and mounts it on the side wall plate 32. Furthermore, if the plunger of the rotating cylinder 48 is moved upward, the driven wrist 46, together with the keyway nut 45 and the support shaft 42, can be rotated 90° clockwise when viewed from the left via the connecting rod member 47.

[0138] Therefore, the rotating cylinder 48 can switch the separator plate 41 from the tilted state to the tilted state. In addition, the rotating cylinder 48 can restore the separator plate 41 from the tilted state to the normal state.

[0139] Additionally, an air nozzle 49 is provided below the rear end of the support plate 33. This air nozzle 49 is positioned below a groove 412 in the flat surface 411 of the tilted separation plate 41, with its front end facing upwards, and is capable of blowing air into the groove 412. The air nozzle 49 is connected to a high-pressure air supply source (not shown) and can be controlled by adjusting the solenoid valve 49a (see reference). Figure 3 The system controls the airflow at specified intervals.

[0140] Air nozzle 49 blows air from below into the groove 412 of the flat surface 411 of the tilted separation plate 41, thereby enabling the multiple hairs M that are pressed down in the groove 412 to disperse without overlapping.

[0141] [Testing Department]

[0142] Inspection Department 50 Figure 4 As shown, it is supported by the support wall 123 and disposed behind the supply unit 20. Furthermore, the detection unit 50 includes: a displacement sensor 51; and a conveying unit 52, which conveys the displacement sensor 51 along the Y-axis direction.

[0143] The conveying unit 52, for example, has a ball screw mechanism and a sensor conveying motor 53 (see reference) that serves as its drive source. Figure 3 ).

[0144] Furthermore, driven by the sensor transmission motor 53, the ball screw of the ball screw mechanism rotates, and the bracket 54 supporting the displacement sensor 51 moves along the Y-axis direction, enabling the displacement sensor 51 to be moved and positioned at any position in the Y-axis direction.

[0145] Furthermore, the conveying unit 52 only needs to be able to move and position the displacement sensor 51 at any position in the Y-axis direction, and a known linear mechanism other than a ball screw mechanism can also be used.

[0146] Figure 12 This is a perspective view showing the detection area D of the displacement sensor 51.

[0147] The displacement sensor 51 has a light source 511 for detecting light and a light-receiving element 512 for receiving the reflected light (see reference). Figure 3 ).

[0148] The light source 511 of the displacement sensor 51 is as follows Figure 12 As shown, the detection beam, composed of laser light, is directed vertically downwards along the X-Z plane.

[0149] On the other hand, the light-receiving element 512 is a planar image sensor. The optical axis of the light-receiving element 512 and the optical system (not shown) is slightly tilted forward relative to the vertical direction, and the detection range has a small width in the X-axis and Y-axis directions.

[0150] Therefore, the detection area D of the displacement sensor 51 becomes the region along the X-Z plane that overlaps with the detection range of the light-receiving element 512 for the detection light along the X-Z plane. Figure 12 (The region represented by the diagonal line).

[0151] If the hair M used for hair grafting intersects with the detection area D of the plane, the displacement sensor 51 will generate scattered light, which can detect the intersection position on the detection area D. That is, the displacement sensor 51 constitutes a sensor for detecting position in two dimensions along the X-Z plane.

[0152] Furthermore, the displacement sensor 51 can move along the Y-axis direction orthogonal to the detection area D via the transport unit 52. Therefore, by scanning the detection area D along the Y-axis direction, the three-dimensional position of the hair M for hair implantation can be detected.

[0153] For example, such as Figure 10 As shown, if the detection area D is scanned forward, the tips of multiple hair grafts M will intersect with the detection area D, enabling the detection of the three-dimensional position of the hair tips of each hair graft M.

[0154] [head]

[0155] Figure 13 This is an oblique view of the head 60 and the conveying mechanism 70. Figure 14 (A) to Figure 14 (C) is a cross-sectional view showing the suction action of the hair M for hair implantation performed through the head 60.

[0156] The head 60, which holds the tip of the hair M for hair grafting, is supported on the conveying mechanism 70. The head 60 and the conveying mechanism 70 are located behind the supply section 20.

[0157] The head 60 includes: a suction nozzle 61 that attracts the tips of the hair M for hair implantation; a suction nozzle housing 62 that forms an air chamber connected to the suction nozzle 61; a gripping member 63 that grips the hair M for hair implantation attracted by the air chamber 621 of the suction nozzle housing 62 from the suction nozzle 61; and a first gripping cylinder 64 as an actuator that applies gripping pressure to the gripping member 63.

[0158] The suction nozzle 61 is a tubular body that allows for the insertion of a sufficient amount of hair M for hair implantation through its inner diameter. The opening at the front end can be shaped such that its outer diameter expands slightly as it faces forward.

[0159] The nozzle housing 62 includes: an air chamber 621, which is formed by a circular bottomed hole with a constant inner diameter and an open top; a mounting hole 622 for the nozzle 61, which extends from the front end outside to the air chamber 621; and a suction port 623, which extends from the rear end outside to the air chamber 621 and is connected to a negative pressure source consisting of an injector, pump, etc. The suction port 623 is connected to a solenoid valve 61a (see reference). Figure 3 The solenoid valve 61a is connected to the suction path (not shown) and switches between the suction state and the suction stop state involved in the negative pressure source.

[0160] Inside the air chamber 621, there is a cylindrical or plate-shaped gripping member 63 that can reciprocate within the air chamber 621 in the vertical direction.

[0161] The gripping component 63 is connected to the plunger of the first gripping cylinder 64 located on the upper part of the suction nozzle housing 62.

[0162] The first gripping cylinder 64 fixes the plunger downwards to the upper part of the nozzle housing 62. A sealing material (not shown) with airtightness is sandwiched between the first gripping cylinder 64 and the nozzle housing 62 to prevent external gas from flowing into the air chamber 621 from the upper opening.

[0163] The first gripping cylinder 64 is located in the air chamber 621 and can be switched to a state that causes the gripping component 63 to retract upwards. Figure 14 (A) and Figure 14 (B) and the state of being pressed against the bottom of the air chamber 621 ( Figure 14 (C)).

[0164] Thus, the gripping component 63 can grip the hair M for implantation that is drawn from the suction nozzle 61 into the air chamber 621.

[0165] Additionally, a flow meter 625, serving as a flow detection unit, is installed between the air chamber 621 and the air intake source (see reference). Figure 3 The control device 100 detects the airflow rate when the hair M for hair implantation is drawn through the suction nozzle 61. Based on the flow rate detected by the flow meter 625, the control device 100 can determine whether one hair M for hair implantation is drawn into the suction nozzle 61, whether none is drawn, or whether two or more hairs are drawn.

[0166] [Conveying Mechanism]

[0167] Figure 15 From and Figure 13 Oblique views of the conveyor mechanism 70 viewed from different directions. (e.g.) Figure 13 and Figure 15 As shown, the conveying mechanism 70 includes: an X-axis conveying unit 71 that conveys the head 60 along the X-axis direction; a Z-axis conveying unit 72 that conveys the head 60 along the Z-axis direction via the X-axis conveying unit 71; and a Y-axis conveying unit 73 that conveys the head 60 along the Y-axis direction via the X-axis conveying unit 71 and the Z-axis conveying unit 72.

[0168] The X-axis conveying unit 71, for example, has a ball screw mechanism and an X-axis conveying motor 711 that serves as its drive source (see reference). Figure 3Furthermore, by driving the X-axis conveyor motor 711, the bracket 712 supporting the head 60 moves along the X-axis direction, enabling the head 60 to be moved and positioned at any position in the X-axis direction.

[0169] Similarly, the Z-axis conveying unit 72, for example, has a ball screw mechanism and a Z-axis conveying motor 721 that serves as its drive source (see reference). Figure 3 Furthermore, driven by the Z-axis conveyor motor 721, the bracket 722 supporting the X-axis conveyor unit 71 moves along the Z-axis direction, enabling the head 60 to be moved and positioned at any position in the Z-axis direction.

[0170] Furthermore, the Y-axis conveying unit 73, for example, has a ball screw mechanism and a Y-axis conveying motor 731 that serves as its drive source (see reference). Figure 3 Furthermore, by driving the Y-axis conveyor motor 731, the bracket 732 supporting the Z-axis conveyor unit 72 moves along the Y-axis direction, enabling the head 60 to be moved and positioned at any position in the Y-axis direction.

[0171] Furthermore, the X-axis transport unit 71 and the Z-axis transport unit 72 are specifically designed for positioning the hair tips of the implantation hair M by attracting them through the head 60. In contrast, the Y-axis transport unit 73, in addition to positioning the hair tips of the implantation hair M by attracting them through the head 60, is also used for pulling the implantation hair M from the hair bundle B backward when it is grasped by the head 60. Therefore, its range of motion is set to be wider than that of the X-axis transport unit 71 and the Z-axis transport unit 72.

[0172] In addition, the X-axis conveying unit 71, Z-axis conveying unit 72, and Y-axis conveying unit 73 can be used as long as they can move and position the head 60 at any position in three dimensions. Each unit 71, 72, and 73 can use a known linear motion mechanism other than a ball screw mechanism.

[0173] [Grasping device]

[0174] Figure 16 This is a perspective view of the gripping device 80. The gripping device 80 is as follows: Figure 1 , Figure 2 and Figure 8 As shown, it is located behind the supply unit 20 and the detection unit 50, and is located slightly to the right of the movable area in the Y-axis direction of the head 60 involved in the conveying mechanism 70.

[0175] The gripping device 80 grips the end of the hair M for implantation, which is captured by the head 60, opposite to the tip of the hair. The gripping device 80 includes: an upper gripping member 81 and a lower gripping member 82, which grip the hair M for implantation; a second gripping cylinder 83, which raises and lowers the upper gripping member 81; a gripping member support bracket 84, which supports the second gripping cylinder 83, the upper gripping member 81, and the lower gripping member 82; a retraction cylinder 85, which moves the upper gripping member 81 and the lower gripping member 82 along the X-axis direction via the gripping member support bracket 84; and a base 86, which supports the overall structure of the gripping device 80.

[0176] The lower gripping component 82 is fixedly supported on the gripping component support bracket 84, and the upper gripping component 81 is supported to move up and down relative to the gripping component support bracket 84 via the second gripping cylinder 83.

[0177] The lower gripping component 82 extends to the left from near the upper end of the gripping component support bracket 84, and its upper surface at the left end becomes the gripping surface for gripping the hair M for hair implantation.

[0178] The upper gripping member 81 extends to the left near the upper end of the gripping member support bracket 84 and is located directly above the lower gripping member 82. The lower surface of its left end becomes the gripping surface for gripping the hair M used for hair implantation.

[0179] If the upper gripping member 81 is given a downward action by the second gripping cylinder 83, its gripping surface presses against the gripping surface of the lower gripping member 82, and it can grip the hair M for hair implantation that is located between the gripping surfaces of each other.

[0180] Furthermore, the gripping surface of the upper gripping member 81 is elastically supported in the Z-axis direction, or the gripping surface itself is made of an elastic material. Therefore, if the hair M for hair implantation is pulled under a certain degree of tension while being gripped by the upper gripping member 81 and the lower gripping member 82, the hair M for hair implantation can slide and move at the same time.

[0181] The junction position of the head 60 with respect to the gripping device 80 is located at the center of the suction nozzle 61 on the Y-axis passing through the upper end of the narrow portion 333 of the support plate 33, and the front end of the suction nozzle 61 is slightly behind the gripping positions of the upper gripping member 81 and the lower gripping member 82 of the gripping device 80.

[0182] Thus, with the head 60 gripping the rear end of the hair M for implantation, and the gripping device 80 gripping the hair M in a position in front of the position gripped by the head 60, the conveying mechanism 70 moves the head 60 backward to the mounting position. This allows the hair M for implantation to slide on the gripping surfaces of the upper gripping member 81 and the lower gripping member 82, and the hair M for implantation to be stretched under a certain tension over approximately its entire length.

[0183] The second gripping cylinder 83 is supported on the gripping component support bracket 84 with the plunger facing upward, and the plunger is connected to the upper gripping component 81.

[0184] The base 86 is disposed on the upper surface of the support plate 121 behind and to the right of the detection section 50.

[0185] The retraction cylinder 85 has its plunger facing to the left and is mounted on the upper part of the base 86, with the gripping component support bracket 84 connected to the plunger supported on the upper side of its left end.

[0186] Furthermore, the retraction cylinder 85 can move the upper gripping member 81 and the lower gripping member 82 along the X-axis between the retraction position at the right end of the movable area and the gripping position at the left end via the gripping member support bracket 84.

[0187] In the retracted position, the upper gripping member 81 and the lower gripping member 82 are located to the right outside the movable area of ​​the head 60, thus retracting to a position where they do not interfere with the head 60 conveyed by the conveying mechanism 70.

[0188] At the gripping position, the upper gripping member 81 and the lower gripping member 82 are positioned to grip the hair M for implantation along the Y-axis direction, which is stretched rearward from the upper end of the narrow portion 333 of the support plate 33 of the hair bundle holding portion 30.

[0189] [Control system of the hair supply device]

[0190] The control device 100 of the hair supply device 10, such as Figure 3 As shown, it includes: a ROM (Read Only Memory) 102, which stores a program for controlling the following action: automatically extracting hair M hairs one by one from hair bundles B of hair M for hair implantation and supplying them to a hair implantation device (not shown); a RAM (Random Access Memory) 103, which serves as the working area for arithmetic processing; an erasable and rewritable non-volatile data memory 104, which stores various setting data, etc.; and a CPU (Central Processing Unit) 101, which executes the program in the ROM 102.

[0191] In addition, the CPU 101 controls the driving of the sensor conveyor motor 53, the X-axis conveyor motor 711, the Z-axis conveyor motor 721, and the Y-axis conveyor motor 731 via motor drive circuits 53a, 711a, 721a, and 731a.

[0192] Furthermore, the CPU 101 is connected to drive circuits 36b, 44b, 48b, 64b, 83b, and 85b for controlling solenoid valves 36a, 44a, 48a, 64a, 83a, and 85a. These solenoid valves 36a, 44a, 48a, 64a, 83a, and 85a respectively activate the holding cylinder 36, the entry cylinder 44, the rotation cylinder 48, the first gripping cylinder 64, the second gripping cylinder 83, and the retraction cylinder 85.

[0193] In addition, the CPU 101 is connected to drive circuits 49b and 61b for controlling solenoid valves 49a and 61a, respectively. Solenoid valve 49a ejects air from air nozzle 49, and solenoid valve 61a switches between the suction state and the suction stop state of head 60.

[0194] In addition, the CPU 101 is connected to the light source 511 and light receiving element 512 of the displacement sensor 51 and the flow meter 625 via interfaces 51a and 625a.

[0195] Furthermore, the CPU 101 is connected to the pedal 14 via interface 14a, which initiates the supply action of the hair M for hair implantation.

[0196] In addition, the CPU 101 is connected to the operation panel 15 via the interface 15a. The operation panel 15 has the function of displaying various information and the function of inputting various inputs.

[0197] [Control of hair supply for hair implantation]

[0198] Figure 17 This is a flowchart illustrating the motion control of automatically extracting hair M hairs one by one from hair bundles B to supply hair implantation devices (not shown). The following is a detailed explanation of the motion control for supplying the hair M hairs.

[0199] Furthermore, in the supply section 20, the premise is that the hair bundle B of the hair M for hair implantation is held between the abutment surface 331 of the support plate 33 and the cut portion 341 of the pressure plate 34 by the operation of the holding cylinder 36.

[0200] In this state, if the CPU 101 detects the input of the start of the supply action via the pedal 14 (step S1), it performs the sorting action (minor separation) via the separation plate 41 so that the tips of the multiple hairs for implantation M are facing backward, and the determination action of the position of the tips of the sorted hairs for implantation M (step S3).

[0201] That is, from Figure 5 The state shown is such that the separating plate 41 moves to the right by the cylinder 44, passing through the portion where the hair bundles B of the implantation hair M are pressed into the narrow section 333, thereby sorting multiple implantation hairs M. Furthermore, as... Figure 6 As shown, by rotating the cylinder 48, the separating plate 41 is rotated 90° and pressed down so that the tips of the selected multiple hairs M are facing backward, and air is blown out from below through the air nozzle 49, thereby dispersing the pressed multiple hairs M without overlapping.

[0202] Furthermore, with the displacement sensor 51 set to an illuminated state, the sensor-driven motor 53 moves the displacement sensor 51 forward from a waiting position where the detection area D typically does not reach the tip of the hair M facing backward, to a stopping position where the detection area D is near the narrow section 333. The distance from the waiting position to the stopping position is set to be less than or equal to the distance from the stopping position where the detection area D reaches the narrow section 333.

[0203] Therefore, as Figure 10 As shown, the displacement sensor 51 moves forward along the detection area D of the X-Z plane to detect the position of the tips of multiple hairs M used for hair implantation on the X-Z plane that have invaded the detection area D. At this time, the displacement sensor 51 is moving forward, so it continuously detects the position on the X-Z plane at tiny time sampling intervals, thereby obtaining the three-dimensional position of the tips of the multiple hairs M used for hair implantation.

[0204] Furthermore, if the three-dimensional position of the tips of multiple hair grafts M is detected, only one hair graft M is selected from them. For example, the CPU 101 selects the hair graft M whose tip extends to the very back (head 60 side).

[0205] Furthermore, the selection of the hair M for hair transplantation is not limited to the methods described above; any method can be used to select one hair from multiple hairs. For example, the hair M with the smallest tilt relative to the Y-axis can be selected from multiple hairs for hair transplantation.

[0206] In addition, sometimes only one hair M for hair implantation is detected in a three-dimensional position. In this case, no selection process is required.

[0207] Additionally, it is possible that sometimes the three-dimensional position of the tip of any hair M used for hair grafting cannot be detected. In this case, the CPU 101 can perform error handling such as notification. Alternatively, the sorting operation performed by entering and rotating the separation plate 41 can be retried.

[0208] If hair M for hair implantation is selected, the CPU 101 controls the solenoid valve 61a to start suction in the nozzle 61 of the head 60 (step S5).

[0209] Furthermore, the CPU 101 controls the X-axis conveyor motor 711, the Z-axis conveyor motor 721, and the Y-axis conveyor motor 731 to convey the head 60 in the waiting position, so that the front end of the suction nozzle 61 is positioned at the detection position of the tip of the selected hair M for hair implantation (step S7).

[0210] Furthermore, the waiting position of the head 60 is only required to be a sufficiently rearward position where the front end of the suction nozzle 61 is not usually far enough to reach the tip of the hair M for implantation facing backward. Here, it is further set to be a position on the Y-axis passing through the upper end of the narrow portion 333 of the support plate 33 from the center of the suction nozzle 61.

[0211] Furthermore, if the head 60 reaches the tip of the selected hair M for implantation, the CPU 101 performs a confirmation control (step S9) to determine whether a hair M for implantation has been sucked into the suction nozzle 61, based on the flow rate detected by the flow meter 625.

[0212] Regarding the flow rate in the suction nozzle 61, based on measured values, a lower and upper threshold value for the flow rate when a single hair M for hair implantation is attracted in the suction nozzle 61 are predetermined. The determination is made based on whether the flow rate is within the range from the lower to the upper threshold value. These threshold values ​​can be pre-recorded in the data memory 104 or can be arbitrarily set from the operation panel 15.

[0213] Furthermore, if the detected flow rate is outside the range from the lower threshold to the upper threshold (step S9: NO), the CPU 101 performs the following action control: stops suction and returns the head 60 and displacement sensor 51 to their respective waiting positions (step S27), and returns the separation plate 41 to the waiting state (step S29).

[0214] Furthermore, the process is returned to step S3, and the sorting action (minor separation), the determination of the hair tip position of the hair M, and the suction action of one hair M through the head 60 are retried.

[0215] On the other hand, when the detected flow rate is within the range of the lower threshold to the upper threshold (step S9: YES), the CPU 101 controls the conveying mechanism 70 so that the head 60 moves forward to the suction position (step S11).

[0216] The suction position of the head 60 is the position of the center of the suction nozzle 61 on the Y-axis passing through the upper end of the narrow portion 333 of the support plate 33, and the position after moving forward a predetermined distance from the tip of the hair M for hair implantation. The predetermined distance is set as the distance that allows the tip of the hair M for hair implantation attracted by the suction nozzle 61 to be inserted into the air chamber 621 until it can be grasped by the gripping member 63.

[0217] Furthermore, at the attraction position of the head 60, the CPU 101 performs the same confirmation control as step S9 (step S13) again.

[0218] In this case, if the detected flow rate is outside the range from the lower threshold to the upper threshold (step S13: NO), the process proceeds to step S27, where the separation of the hair M from the hair bundle B, hair tip detection, and retry of the attraction of the hair M for hair implantation are performed.

[0219] Additionally, when the detected flow rate is within the range from the lower threshold to the upper threshold (step S13: YES), the CPU 101 controls the first gripping cylinder 64 to lower the gripping component 63, gripping the tip of the hair M for hair implantation in the air chamber 621 (step S15), and controls the solenoid valve 61a to stop the suction in the suction nozzle 61 of the head 60 (step S17).

[0220] Then, the CPU 101 returns the displacement sensor 51 to the waiting position, causing the head 60 to move to the handover position relative to the gripping device 80 (step S19).

[0221] The junction position of the head 60 with respect to the gripping device 80 is the position on the Y-axis where the center of the suction nozzle 61 passes through the upper end of the narrow part 333 of the support plate 33, and the front end of the suction nozzle 61 is slightly behind the gripping position in the upper gripping member 81 and the lower gripping member 82 of the gripping device 80.

[0222] If the head 60 is moved to the junction position relative to the gripping device 80, the gripped hair M is pulled straight out from the upper end of the narrow part 333 of the support plate 33 along the Y-axis direction. Therefore, it is possible to maintain the configuration where the hair M passes through the detection area D of the displacement sensor 51 until the junction position is reached.

[0223] Therefore, the CPU 101 performs detection by the displacement sensor 51 on the hair M for hair implantation that has passed through the detection area D, and determines whether the pulling action of the hair M for hair implantation is appropriate (step S21).

[0224] That is, by detecting the displacement sensor 51, it is determined whether a cross-section of a single hair M for hair implantation is detected at an appropriate position.

[0225] For example, it is deemed inappropriate based on the following situations: the hair M for implantation is deviated from its grasping state and is not detected in the detection area D; the hair M for implantation is deviated from its grasping state and is detected in a clearly abnormal position; multiple hairs M are grasped and multiple hairs are detected in the cross-section.

[0226] Furthermore, if the pulling action is determined to be inappropriate (step S21: NO), the gripping state is released, and the process proceeds to step S27, where the separation of the hair M from the hair bundle B, hair tip detection, and retry of the attraction of the hair M for hair implantation are performed.

[0227] Furthermore, if the pull-out action is deemed appropriate (step S21: YES), the CPU 101 controls the retraction cylinder 85 of the gripping device 80 to move the upper gripping member 81 and the lower gripping member 82 from their retraction positions to the gripping positions, and controls the second gripping cylinder 83 to perform the gripping of the hair M for hair implantation by the upper gripping member 81 and the lower gripping member 82 (step S23).

[0228] Furthermore, the CPU 101 controls the conveying mechanism 70 to move the head 60 backward to the mounting position (step S25), thus ending the control of the supply of hair M for hair implantation.

[0229] Furthermore, the mounting position of the head 60 is a position slightly shorter than the length obtained by subtracting the gripping amount of the gripping device 80 and the gripping amount of the head 60 from the aforementioned junction position. The length of the hair M, the gripping amount of the gripping device 80, and the gripping amount of the head 60 can be pre-recorded in the data memory 104, or can be preset as setting data from the operation panel 15.

[0230] By transporting the head 60 to the mounting position, the hair M for implantation is mounted between the gripping device 80 and the head 60 over approximately its entire length, and the hair M for implantation can be handed over to an implantation device (not shown).

[0231] In addition, regarding the control of the supply action of the hair M for hair implantation, additional processing can be added, instead of setting the process of moving the head 60 backward to the erection position in step S25 as the end.

[0232] For example, in the setup state of step S25, the solenoid valve 61a is controlled to set the suction nozzle 61 to the suction state, and the first gripping cylinder 64 is controlled to release the gripping state of the gripping component 63.

[0233] Furthermore, the flow meter 625 detects the situation where the hair M for hair implantation in the erected state is picked up by the hair implantation device (not shown) and the hair M for hair implantation in the suction nozzle 61 of the head 60 is pulled out.

[0234] This test can stop the suction of the nozzle 61 and release the gripping state of the gripping device 80. After returning the upper gripping component 81, the lower gripping component 82, and the head 60 to their respective waiting positions, the control of the hair supply action for hair implantation M is completed.

[0235] Therefore, when it is necessary to supply the next hair M for hair implantation, the supply of the next hair M for hair implantation can be started quickly, and the supply of hair M for hair implantation can be carried out continuously.

[0236] [Technical Effects of the Implementation Method]

[0237] In the hair supply device 10 described above, the supply unit 20 sorts multiple hairs M with their tips pointing backward from the hair bundle B of the hair M for hair implantation. The CPU 101 of the control device 100 controls the conveying mechanism 70 so that the head 60 captures the tip of one of the multiple hairs M for hair implantation, which is detected by the detection unit 50, in three dimensions.

[0238] Therefore, it is possible to automatically extract a single hair M from the hair bundle B of the hair M used for hair implantation, and to stably supply the hair M one by one to the hair implantation device.

[0239] Furthermore, in the hair supply device 10, the detection unit 50 scans the displacement sensor 51, which detects the position in two dimensions, along the direction toward the hair tips of the multiple hairs M for hair implantation, and detects the position of the hair tips in three dimensions.

[0240] Therefore, it is possible to achieve high-precision three-dimensional detection through a relatively simple structure.

[0241] In addition, the CPU 101 of the control device 100 controls the conveying mechanism 70 so that the hair M for implantation captured by the head 60 is pulled out from the hair bundle B through the detection area D of the displacement sensor 51.

[0242] Therefore, after the hair M for hair implantation is pulled out through the head 60, the detection unit 50 can also determine whether a hair for hair implantation has been properly pulled out, thereby reducing the occurrence of poor delivery and providing a more stable supply of hair M for hair implantation.

[0243] In addition, the CPU 101 of the control device 100 controls the conveying mechanism 70 so that the longest hair M extending toward the head 60 is selected and held from among the multiple hairs M for implantation with their tips facing in a direction different from that of the hair bundle B.

[0244] Therefore, it is possible to appropriately select one hair M from the multiple hairs M selected for hair transplantation.

[0245] Furthermore, if the longest hair M for implantation that extends toward the head 60 is selected, the capture performed through the head 60 becomes easier, thus suppressing the capture of more than or equal to two hairs M for implantation, and enabling a stable supply of hairs M for implantation.

[0246] In addition, the supply section 20 of the hair supply device 10 includes: a hair bundle holding section 30, which holds the hair bundle B of the hair M for hair implantation; and a separating section 40, which sorts multiple hairs M for hair implantation from the hair bundle B of the hair M for hair implantation with the hair tips pointing in a direction different from the hair bundle B.

[0247] Therefore, when supplying hair M for hair implantation, only one hair M needs to be taken from multiple hairs M. Thus, compared with the operation of directly taking one hair M from the hair bundle B of hair M, it is much easier to supply hair M one by one.

[0248] In addition, the hair bundle holding part 30 has a support plate 33, which presses the hair bundle B of the hair for implantation M into contact with two abutment surfaces 331 for holding. The separating part 40 has a separating plate 41, which is inserted into the part of the hair bundle B of the hair for implantation M that becomes the abutment surface 331 side (rear side) to sort multiple hairs for implantation M.

[0249] Therefore, multiple hairs M that are pressed into a narrow area between two contact surfaces 331 can be easily sorted regardless of the cross-sectional shape of the hair bundle B of the hair M.

[0250] Furthermore, during the sorting of the hairs M for hair implantation, the separating plate 41 rotates while the hair bundles B inserted into the hairs M are in place, thus easily orienting multiple hairs M in a direction different from the hair bundles B. Therefore, the tips of multiple hairs M for hair implantation can be separated from the hair bundles B, and a single hair M for hair implantation can be easily captured from among the multiple hairs M.

[0251] In addition, the direction of the tips of the multiple hairs M for hair implantation can be easily adjusted by rotating the separation plate 41.

[0252] Furthermore, the separating plate 41 has a groove 412 on the flat surface 411, which allows the tips of the sorted multiple hairs M to expand. Therefore, when the multiple hairs M are oriented in a direction different from the hair bundle B, when viewed from a direction orthogonal to the flat surface 411, the overlapping of the hairs M can be prevented from causing them to spread out, thus making it easy and stable to remove one hair M from the multiple hairs M.

[0253] In addition, the head 60 of the hair supply device 10 has: a gripping member 63 that grips the hair M for hair implantation attracted by the suction nozzle 61; and a first gripping cylinder 64 that applies gripping pressure to the gripping member 63, so that only one hair M for hair implantation can be easily captured from multiple hairs by the suction nozzle 61 and firmly gripped, and the hair M for hair implantation can be pulled out from the hair bundle B more reliably.

[0254] Therefore, it is possible to supply a single hair M for hair transplantation in a good and stable manner.

[0255] In addition, the hair supply device 10 determines whether a hair M for hair implantation has been attracted by the suction nozzle 61 based on the detection flow rate of the external gas attracted from the suction nozzle 61 detected by the flow meter 625 via the CPU 101 of the control device 100. If no hair is attracted, a confirmation control is executed to perform a re-suction operation.

[0256] Therefore, when capturing the hair M for hair implantation through the head 60, it is possible to determine whether a hair for hair implantation has been properly pulled out, thereby reducing the occurrence of poor delivery and providing a more stable supply of hair M for hair implantation.

[0257] In addition, the CPU 101 of the control device 100 performs the following control: when the suction nozzle 61 is positioned at the three-dimensional position of the tip of the hair M for hair implantation detected by the detection unit 50 and the tip of the hair M for hair implantation is attracted by the suction nozzle 61, the head 60 is moved forward toward the supply unit 20 by the conveying mechanism 70 to a position where the attracted hair M for hair implantation can be grasped by the gripping member 63. Therefore, the hair M for hair implantation can be attracted sufficiently, and a hair M for hair implantation can be pulled out more reliably from the hair bundle B of the hair M for hair implantation, and a more stable supply of hair M for hair implantation can be achieved.

[0258] Furthermore, the aforementioned confirmation control is performed on both the forward and backward movements of the head 60 during the suction of the hair tip M via the suction nozzle 61. Therefore, it is possible to determine whether a hair has been properly pulled out at the beginning and end of the suction of the hair M, thereby more effectively reducing the occurrence of delivery defects and providing a more stable supply of hair M.

[0259] In addition, the hair supply device 10 has an air nozzle 49, which blows air toward the flat plate surface 411 after the separation plate 41 rotates. Therefore, when multiple hairs M for hair implantation are viewed from a direction orthogonal to the flat plate surface 411, the overlapping of each hair M is suppressed and it can be promoted to spread out. Thus, a single hair M for hair implantation can be stably taken out from multiple hairs M.

Claims

1. A hair supply device that performs a supply action for pulling the hair for hair implantation out one hair at a time from a hair bundle. The hair supply device is characterized by having: The head is used to capture the tips of the hairs used for implantation. A conveying mechanism that conveys the head; The detection unit detects the three-dimensional position of the hair tips of the hair used for implantation. as well as The control device performs the action control of the supply action. The head has: A suction nozzle that draws in the tips of the hairs used for hair implantation; A gripping component that grips the hair for implantation drawn by the suction nozzle; as well as An actuator that applies gripping pressure to the gripping component.

2. The hair supply device according to claim 1, characterized in that, It has a supply section that sorts a portion of the hair bundles for hair implantation, i.e., multiple hairs with their tips facing the head side. The control device controls the conveying mechanism so that when the suction nozzle is positioned at the three-dimensional position of the tip of the hair for implantation detected by the detection unit and the tip of the hair for implantation is attracted by the suction nozzle, the head moves forward toward the supply unit to a position where the attracted hair for implantation can be grasped by the gripping member.

3. The hair supply device according to claim 1 or 2, characterized in that, It has a flow detection unit that detects the flow rate of external gas drawn from the nozzle. The control device determines whether a hair for hair implantation has been attracted to the nozzle based on the flow rate detected by the flow detection unit, and if no hair for hair implantation is attracted, it performs a confirmation control to make the nozzle re-attract the tip of the hair for hair implantation.

4. The hair supply device according to claim 2, characterized in that, It includes a flow detection unit that detects the flow rate of external gas drawn from the nozzle. The control device determines whether a hair for hair implantation has been attracted to the suction nozzle based on the flow rate detected by the flow detection unit, and if no hair for hair implantation is attracted, it performs a confirmation control to re-attract the hair tip of the hair implantation by the suction nozzle in the case of the forward movement of the head before and after the hair tip is attracted.

Images