An automatic hair implanting machine and a hair implanting method

Abstract

The application provides an automatic hair implanting machine and a hair implanting method, characterized by: three-dimensional moving and rotating driving devices of hair accumulators arranged at both ends and the middle of a rack, three-dimensional moving and rotating driving devices of hair implanting needles, and two-way rotating driving devices of wig rubber support bodies are respectively provided with hair accumulator devices, hair implanting needle devices and wig rubber support bodies, and the needle tip of the hair implanting needle device is initially positioned as a hair implanting positioning reference point. A control system sets a plurality of to-be-implanted point positions on the wig rubber support body covered by the wig rubber, controls the to-be-implanted point positions on the wig rubber to reach the hair implanting position points of the hair implanting needles one by one, and controls the movement of the hair accumulator devices and the hair implanting needles in the three-dimensional space to cooperate with each other, so that the hair implanting needles hook at least one hair on the hooking outlet of the hair accumulator devices each time, and implant the hair on the to-be-implanted point positions on the wig rubber which coincide with the hair implanting position points of the hair implanting needles. The application has high automation degree, high production efficiency, reasonable hair implanting process and high quality of wig products.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of wig manufacturing, and relates to improvements in hair implantation production equipment and hair implantation methods, in particular to an automatic hair implantation machine and a hair implantation method. BACKGROUND

[0002] In wig production, the head mold rubber used is a 0.5mm-thick silicone product coated on the surface of a rigid hemispherical support. The head mold rubber after being removed from the rigid spherical support is similar in shape to a human skull. Artificial hair implantation is a process in which an operator holds the two ends of a hair bundle shaped into a semicircular arc with the left hand, and cooperates with a hair implantation needle operated with the right hand to implement a series of operations, and implants a hair on each hair implantation point on the head mold rubber according to requirements by hooking, weaving, knotting, etc. The process is referred to as a hair implantation production process. For a wig product, the hair implantation point, number, hair direction, and the fixing method of the hair on the head mold rubber, etc. all have strict process requirements. Therefore, whether the hair can be accurately implanted in the hair implantation point according to the required hair direction within a certain precision range is an important factor affecting the quality of the wig product. This puts forward higher requirements for the operator. If the operator is not skilled, the implanted hair is uneven, which will affect the quality of the product, and even cause defective products, resulting in unstable quality. Therefore, the processing efficiency of the manual hair implantation method is very low, and it is a labor-intensive work. Since the manual hair implantation operation is complicated, meticulous, time-consuming and labor-intensive, and is prone to fatigue, and requires higher skills and quality of the operator, it is difficult to recruit workers. Therefore, the wages of skilled workers are rising, which also increases the labor cost of wig products, and makes the economic benefit of wig manufacturing enterprises low, hindering the normal development of wig manufacturing enterprises. With the continuous improvement of people's living standards, the demand for wigs is increasing, and manual processing of wig products greatly affects the demand for rapid development of the industry, and cannot meet the current requirements of people for the quality of wig products.

[0003] The existing hair implantation equipment is mainly used for hair implantation on the head of a doll. Since the degree of automation is not high, the hair implantation process also needs manual operation, which requires higher skills of the operator, and also has problems of low efficiency, high cost, and unstable quality.

[0004] For a wig product, the hair implantation point, number, and hair direction on the corresponding head mold rubber, and the fixing method of the hair on the head mold rubber, etc. all have strict process requirements. Therefore, whether the hair can be accurately implanted in the hair implantation point according to the required hair direction within a certain precision range is an important factor affecting the quality of the wig product.

[0005] Therefore, how to design an automatic hair implantation machine and a hair implantation method with high automation, high production efficiency, reasonable hair implantation process, and high quality of the produced wig product is a technical problem to be solved at present. SUMMARY

[0006] The present application aims at solving the problems and deficiencies in the prior art, and provides an automatic hair implanting machine and a hair implanting method, which have high automation degree, high production efficiency, reasonable hair implanting process and high quality of produced wig products.

[0007] The present application aims at solving the problems and deficiencies in the prior art, and provides an automatic hair implanting machine and a hair implanting method, which have high automation degree, high production efficiency, reasonable hair implanting process and high quality of produced wig products.

[0008] The improvement on the above technical solution is that a combing board horizontal rotary motor is arranged on the rack, a control end of the combing board horizontal rotary motor is connected with the control system, a horizontal combing board is arranged on an upper end of a transmission shaft arranged vertically on the combing board horizontal rotary motor, a rectangular through hole is arranged in a middle part of the combing board, the rectangular through hole is aligned with the hair implanting point of the head mold rubber below, the transmission shaft is arranged eccentrically and maintains a certain distance with the through hole, the combing board rotary motor drives the combing board to rotate 360° in a horizontal plane, and is used for combing the hair implanted on the head mold rubber, and makes the hair implanted on the head mold rubber be combed on the lower surface side of the combing board.

[0009] The further improvement on the above technical solution is that the hair accumulator three-dimensional moving and rotating driving device comprises a hair accumulator X linear module, a hair accumulator Y linear module, a hair accumulator Z linear module, a hair accumulator moving cross beam and a hair accumulator support plate, control ends of the hair accumulator X linear module, the hair accumulator Y linear module and the hair accumulator Z linear module are connected with the control system, the hair accumulator X linear module is arranged on one end of the rack, the hair accumulator Y linear module is arranged on the hair accumulator X linear module to realize longitudinal movement, the hair accumulator Z linear module is arranged on the hair accumulator Y linear module to realize transverse movement, the hair accumulator moving cross beam is connected with a driving end of the hair accumulator Z linear module to realize vertical movement, the hair accumulator moving cross beam is connected with the hair accumulator support plate, and the hair accumulator device is arranged on the hair accumulator support plate.

[0010] Further improvement of the above technical solution: the hair storage device moving beam is connected with the hair storage device support plate through the hair storage device fine adjustment block, which is used for accurately adjusting the position of the hair storage device; the hair storage device comprises a hair storage container, a pressurizing device and a hair storage device rotating motor, the control end of the hair storage device rotating motor is connected with the control system, the hair storage container comprises a side wall and a bottom plate, the hair storage container is provided with the hair hook outlet at the middle position of the bottom plate, the hair storage device support plate is connected with a motor fixing plate, the hair storage device rotating motor is fixed on the motor fixing plate, the transmission shaft of the hair storage device rotating motor penetrates through the motor fixing plate and is connected with the pressurizing device, the pressurizing device comprises a frame, a left pressure shaft, a left pressure shaft stepping motor, a hair storage device left screw rod, a hair storage device left sliding block, a left pressure shaft push rod driving plate, a left pressure shaft push rod driven plate, a right pressure shaft, a right pressure shaft stepping motor, a hair storage device right screw rod, a hair storage device right sliding block, a right pressure shaft push rod driving plate and a right pressure shaft push rod driven plate, the left pressure shaft and the right pressure shaft are respectively fastened on the left pressure shaft push rod driven plate and the right pressure shaft push rod driven plate, the left pressure shaft stepping motor and the right pressure shaft stepping motor are respectively arranged at the left end and the right end of the top of the frame, the transmission shaft of the left pressure shaft stepping motor and the transmission shaft of the right pressure shaft stepping motor are respectively connected with the hair storage device left screw rod and the hair storage device right screw rod, the hair storage device left screw rod and the hair storage device right screw rod are respectively sleeved with the hair storage device left sliding block and the hair storage device right sliding block, the hair storage device left sliding block and the hair storage device right sliding block are respectively connected with the left pressure shaft push rod driving plate and the right pressure shaft push rod driving plate, the left pressure sensor is additionally arranged between the left pressure shaft push rod driving plate and the left pressure shaft push rod driven plate, the right pressure sensor is additionally arranged between the right pressure shaft push rod driving plate and the right pressure shaft push rod driven plate, and the control end of the left pressure sensor, the control end of the right pressure sensor, the control end of the left pressure shaft stepping motor and the control end of the right pressure shaft stepping motor are all connected with the control system.

[0011] Further improvement of the above technical solution: the head mold rubber support body bidirectional rotation driving device comprises a head mold revolution rotating shaft bearing seat, a head mold revolution rotating shaft, a head mold revolution motor and a head mold rotation motor, the head mold revolution rotating shaft bearing seat is arranged on the frame and is close to the hair transplant needle three-dimensional movement rotating device, the head mold revolution motor is arranged on the head mold revolution rotating shaft bearing seat, the head mold revolution rotating shaft is horizontally arranged and is driven to rotate by the head mold revolution motor, one end of the head mold revolution rotating shaft is installed on the head mold revolution rotating shaft bearing seat through a bearing, and the other end is provided with a mounting plate, the head mold rotation motor is fixedly installed on the mounting plate, the head mold support body is installed on the upper end of the vertical transmission shaft of the head mold rotation motor, the head mold rubber support body is located in the middle of the frame, and the control end of the head mold revolution motor and the control end of the head mold rotation motor are both connected with the control system.

[0012] Further improvement of the above technical solution: the hair transplant needle three-dimensional movement and rotation driving device comprises a hair transplant needle movement beam, a hair transplant needle rotation motor, a hair transplant needle X-direction linear module, a hair transplant needle Y-direction linear module and a hair transplant needle Z-direction linear module, control ends of the hair transplant needle rotation motor, the hair transplant needle X-direction linear module, the hair transplant needle Y-direction linear module and the hair transplant needle Z-direction linear module are connected with the control system, the hair transplant needle X-direction linear module is arranged on the other end of the rack, the hair transplant needle Y-direction linear module is arranged on the hair transplant needle X-direction linear module to realize longitudinal movement, the hair transplant needle Z-direction linear module is arranged on the hair transplant needle Y-direction linear module to realize transverse movement, a driving end of the hair transplant needle Z-direction linear module is connected with the hair transplant needle movement beam to realize vertical movement, the hair transplant needle rotation motor is arranged on the hair transplant needle movement beam, and a transmission shaft of the hair transplant needle rotation motor is connected with the hair transplant needle in the hair transplant needle device.

[0013] Further improvement of the above technical solution: the hair transplant needle comprises a needle rod, a needle tip and a barb, the front end of the needle rod is arc-shaped, the rear end of the needle rod is connected with the hair transplant needle three-dimensional movement and rotation driving device, the barb is arranged in a V-shaped groove formed on the needle tip of the front end of the needle rod, and the V-shaped groove can only accommodate 1, 2 or 3 hair strands; the hair transplant needle device further comprises a hair transplant needle fixing handle, the rear end of the needle rod is connected with the hair transplant needle fixing handle, and the hair transplant needle fixing handle is detachably connected with the hair transplant needle three-dimensional movement and rotation driving device.

[0014] Further improvement of the above technical solution: a hair state detection device is further arranged at the hair strand hook outlet, the hair state detection device adopts an image recognition detection device for monitoring, the image recognition detection device is connected with the control system, the control system is provided with an alarm, and once the barb of the hair transplant needle fails to hook the hair strand at the hair strand hook outlet in the automatic hair transplanting process, the machine is stopped and an alarm is given.

[0015] The hair transplant method of the automatic hair transplanting machine comprises the following steps:

[0016] Step 1: hair strands are placed in the hair storage device, and a wig rubber is covered on the wig rubber support body, a plurality of hair transplant point positions are set on the hair transplanting part of the wig rubber through the hair transplant point position setting module of the control system;

[0017] Step 2: The control system controls the hair implanting needle three-dimensional movement and rotation driving device to drive the hair implanting needle device, so that the needle tip of the hair implanting needle is at the hair implanting positioning reference point, and controls the hair accumulator three-dimensional movement and rotation driving device to move the hair hook outlet on the hair accumulator device to a position close to the hair implanting positioning reference point, and then controls the head mold rubber support body bidirectional rotation driving device to drive the head mold rubber support body to rotate, so that a to-be-implanted hair point on the head mold rubber is at a position coinciding with the hair implanting position point of the hair implanting needle, and waits for hair implanting.

[0018] Step 3: The control system controls the hair implanting needle three-dimensional movement and rotation driving device to drive the needle tip of the hair implanting needle to move to the hair implanting position point of the hair implanting needle and coincide with a to-be-implanted hair point on the head mold rubber, the needle tip of the hair implanting needle first penetrates from the hair implanting position point on the outer surface of the head mold rubber to the inner surface of the head mold rubber, then the hair implanting needle rotates by a certain angle, the needle tip of the hair implanting needle penetrates from the inner surface of the head mold rubber to the outer surface of the head mold rubber by a certain distance, and the hair accumulator three-dimensional movement and rotation driving device is further controlled to drive the hair accumulator device to move, so that at least one hair in the hair hook outlet on the hair accumulator device is embedded in the V-shaped groove of the hair implanting needle, the hair is hooked out and implanted on the to-be-implanted hair point on the head mold rubber coinciding with the hair implanting position point of the hair implanting needle through the mutual movement and cooperation between the hair implanting needle and the hair accumulator device.

[0019] Step 4: After implanting each hair, the control system controls the head mold rubber support body bidirectional rotation driving device to drive the head mold support body to rotate by a certain angle, and then the next hair implanting is performed according to the implanting method of steps 2 and 3, and after the head mold rubber support body rotates by 360°, the to-be-implanted hair points on a latitudinal circular line are implanted with hairs.

[0020] Step 5: The control system controls the head mold rubber support body bidirectional rotation driving device to drive the head mold rubber support body to revolve by a certain angle, and then the hair implanting is performed on the to-be-implanted hair points on another latitudinal circular line on the head mold rubber according to step 4, until the to-be-implanted parts of the latitudinal circular lines on the head mold rubber are implanted with hairs, and the hair implanting work is completed.

[0021] Improvement of the above technical solution: In step 1, the specific way in which the control system sets the to-be-implanted hair points on the head mold rubber is as follows: the eccentric point of the middle part of the head mold rubber is taken as the head rotation center, and a plurality of rows of to-be-implanted hair points arranged longitudinally are arranged in a rectangular region around the head rotation center in the middle part of the head mold rubber. The to-be-implanted hair points on the rest of the head mold rubber are arranged as follows: a plurality of latitudinal circular line families with a certain interval are drawn with the head rotation center as the center, and a plurality of meridional circular line families are drawn in the implanting direction with the head rotation center as the center, and the intersection points of the latitudinal circular lines and the meridional circular lines on the head mold rubber are taken as the to-be-implanted hair points.

[0022] Further improvement of the above technical solution: after each hair is planted, the combing plate horizontal rotation motor drives the combing plate to rotate 360° in the horizontal plane, the planted hair falls from the through hole on the combing plate to the lower surface side of the combing plate, and is pressed by the lower surface of the combing plate in a certain regular direction, so that the planted hair is on the lower surface of the combing plate and is regularly arranged, so as to avoid affecting or interfering with the production process of the next hair planting.

[0023] Further improvement of the above technical solution: the hair storage device comprises a hair storage container, a pressure device and a hair storage motor, the left and right pressure shafts in the pressure device and the bottom plate of the hair storage container generate pressure on the left and right two pressure points of the hair bundle, the pressure device generates pressure on the left and right two pressure points of the hair bundle, the pressure lower limit value and the pressure upper limit value of the pressure are set, the pressure range between the pressure lower limit value and the pressure upper limit value is detected by the left and right pressure sensors, and the position adjustment of the left and right pressure shafts is completed by the control system; the left and right pressure shafts are driven by the hair storage left slider and the hair storage left slider, when the pressure of the left and right pressure shafts on the hair bundle is less than the pressure lower limit value, the corresponding left pressure shaft linear module stepper motor or right pressure shaft linear module stepper motor is started, then the left pressure shaft push rod active plate or right pressure shaft push rod active plate moves relative to the direction of the hair bundle under the driving of the corresponding hair storage left slider or hair storage left slider, and the left pressure shaft or right pressure shaft stops moving when the pressure value of the hair bundle is kept at the pressure upper limit value.

[0024] Compared with the prior art, the present application has the following advantages and positive effects:

[0025] 1. In addition to putting the hair bundle into the hair storage device and covering the head mold rubber on the head mold support by manual operation, other hair planting operations are completely realized by mechanical automation, the degree of automation is high, and the production efficiency is high.

[0026] 2. The combing plate horizontal rotation motor provided on the rack drives a combing plate to rotate 360° in the horizontal plane, a rectangular through hole is arranged in the middle of the combing plate, which is used for combing the hair planted on the head mold rubber, and the hair planted on the head mold rubber is on the lower surface side of the combing plate, which is suitable for automatic production mode.

[0027] 3. The present application can also complete the hair planting process of different regular arrangement of hair planting points, for example, it can complete the hair planting requirement of the hair planting points arranged in the circumferential direction, and can also complete the hair planting of the several rows of hair planting points arranged in the longitudinal direction in the rectangular area around the head mold rubber head rotation center, which has wide adaptability.

[0028] 4. The hair planting process of the present application is reasonable, the hair planted on the head mold rubber is uniform and reasonable in layout, therefore, the quality of the wig products produced is high. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 Front view of an automatic hair implanting machine according to the present application;

[0030] Figure 2 Supporting body of the head mold rubber in the automatic hair implanting machine according to the present application, viewed along the X-axis direction;

[0031] Figure 3 Supporting body of the head mold rubber in the automatic hair implanting machine according to the present application, viewed along the Z-axis direction;

[0032] Figure 4 Partial view of the hair implanting needle device in the automatic hair implanting machine according to the present application;

[0033] Figure 5 Schematic view of the knotting process of the hair implanting needle in the automatic hair implanting machine according to the present application;

[0034] Figure 6 Front view of the hair accumulator device in the automatic hair implanting machine according to the present application;

[0035] Figure 7 Left view of the hair accumulator device in the automatic hair implanting machine according to the present application;

[0036] Figure 8 Right view of the hair accumulator device in the automatic hair implanting machine according to the present application;

[0037] Figure 9 Schematic view of the distribution of the hair implanting point positions of the head mold in the automatic hair implanting machine according to the present application, viewed along the Z-axis direction;

[0038] Figure 10 Schematic view of the distribution of the hair implanting point positions of the head mold in the automatic hair implanting machine according to the present application, viewed along the Y-axis direction;

[0039] Figure 11 Front view of the three-dimensional movement and rotation driving device of the hair implanting needle in the automatic hair implanting machine according to the present application;

[0040] Figure 12 Left view of the three-dimensional movement and rotation driving device of the hair implanting needle in the automatic hair implanting machine according to the present application;

[0041] Figure 13 Schematic view of the direction of the hair implanting needle in the automatic hair implanting machine according to the present application;

[0042] Figure 14 Schematic view of the six groups of connected structures in the automatic hair implanting machine according to the present application;

[0043] Figure 15 Block diagram of the control system of the automatic hair implanting machine according to the present application.

[0044] In the figure, 1 - hair accumulator X direction linear module, 2 - hair accumulator Y direction linear module, 3 - hair accumulator Z direction linear module, 4 - hair accumulator moving crossbeam, 5 - hair accumulator fine adjustment block, 6 - hair accumulator support plate, 7 - hair accumulator device, 7.1 - left pressure shaft, 7.2 - right pressure shaft, 7.3 - left pressure shaft stepping motor, 7.4 - right pressure shaft stepping motor, 7.5 - hair accumulator rotating stepping motor, 7.6 - hair accumulator container bottom plate, 7.7 - hair accumulator container, 7.8 - left pressure shaft push rod driven plate, 7.9 - left pressure sensor, 7.10 - left pressure shaft push rod driving plate, 7.11 - right pressure shaft push rod driving plate, 7.12 - right pressure sensor, 7.13 - right pressure shaft push rod driven plate, 7.14 - hair accumulator left screw rod, 7.15 - hair accumulator left sliding block, 7.16 - hair accumulator right screw rod, 7.17 - hair accumulator right sliding block, 8 - hair combing plate, 8.1 - through hole, 9 - hair implanting needle device, 9.1 - hair implanting needle fixing handle, 9.2 - needle rod, 9.2.1 - needle tip, 9.2.2 - barb, 10 - hair implanting needle moving crossbeam, 11 - hair implanting needle Z direction linear module, 11.1 - hair implanting needle Z direction module stepping motor, 11.2 - hair implanting needle Z direction module coupling, 11.3 - hair implanting needle Z direction module ball screw, 11.4 - hair implanting needle Z direction module ball guide rail, 11.8 - hair implanting needle Z direction module moving sliding block, 11.10 - hair implanting needle Z direction module bottom plate, 12 - hair implanting needle Y direction linear module, 12.1 - hair implanting needle Y direction module stepping motor, 12.2 - hair implanting needle Y direction module coupling, 12.4 - hair implanting needle Y direction module moving sliding block, 12.7 - hair implanting needle Y direction module ball guide rail, 12.8 - hair implanting needle Y direction module ball screw, 12.10 - hair implanting needle Y direction module bottom plate, 13 - hair implanting needle X direction linear module, 13.1 - hair implanting needle X direction module stepping motor, 13.2 - hair implanting needle X direction module moving sliding block, 13.3 - hair implanting needle X direction linear module body, 13.4 - hair implanting needle X direction module ball screw, 13.5 - hair implanting needle X direction module coupling, 14 - head mold revolved rotating shaft bearing seat, 15 - head mold revolved rotating shaft, 16 - head mold rotated stepping motor, 17 - head mold rubber support body, 18 - head mold rubber, 19 - machine frame, 20 - hair. DETAILED DESCRIPTION

[0045] The application will be further described in detail below in conjunction with the drawings and examples.

[0046] Reference Figures 1-13An embodiment of an automatic hair transplant machine according to the present invention includes a frame 19, a head mold rubber support body 17, a head mold rubber support body driving device, a hair accumulator device 7, a hair transplant needle device, and a control system. The frame 19 supports the head mold rubber 18, and the hair accumulator device 7 stores hair bundles. A three-dimensional moving and rotating driving device for the hair accumulator and a three-dimensional moving and rotating driving device for the hair transplant needles are respectively provided at both ends of the frame 19. A bidirectional rotating driving device for the head mold rubber support body is provided in the middle of the frame 19. The head mold rubber support body 17 is mounted on the bidirectional rotating driving device. The head mold rubber support body 17 is hemispherical. The bidirectional rotating driving device drives the hemispherical head mold rubber support body 17 to revolve around a horizontal axis around its center and to rotate around a rotation axis perpendicular to the horizontal axis and intersecting the center of the sphere. The hair accumulator device 7 is mounted on the three-dimensional moving and rotating driving device for the hair accumulator, and a hair hook outlet is provided on the hair accumulator device 7. The hair transplant needle device 7 is mounted on the three-dimensional moving and rotating drive device for the hair transplant needle. The hair transplant needle device includes a hair transplant needle. The initial position of the tip of the hair transplant needle is the hair transplant positioning reference point (the hair transplant positioning reference point is the starting position during the hair transplant process, the starting point of the movement of the hair transplant needle tip relative to the head mold rubber support 17, i.e., the program starting point); the point where the tip of the hair transplant needle is located on the vertical line passing through the center of the ball and coincides with the head mold rubber 18 is the hair transplant needle hair transplant position point. Figure 9 , Figure 10 (C in the middle) The hair transplant needle position point is the working position of the tip of the hair transplant needle, called the hair transplant needle position point C. It is the position where the tip of the hair transplant needle pierces the head mold rubber 18. For easy observation and testing, the hair transplant positioning reference point can be set at a certain distance directly above the hair transplant needle position point C, for example, 10mm. The control system includes a hair transplant point setting module, used to set several hair transplant points on the head mold rubber. The control system is used to control the bidirectional rotary drive device of the head mold rubber support to drive the head mold support 17 to rotate bidirectionally, so that each hair transplant point on the head mold rubber 18 reaches the position below the hair transplant positioning reference point and coincides with the hair transplant needle position point. It also controls the hair accumulator device 7 to move and cooperate with the hair transplant needle in three-dimensional space, so that the hair transplant needle hooks at least one hair 20 from the hair hook outlet on the hair accumulator device 7 each time, and implants the hair 20 on the head mold rubber 18 at the hair transplant point that coincides with the hair transplant needle position point.

[0047] Furthermore, a horizontal rotation motor for the comb plate is installed on the frame 19, and the control terminal of the horizontal rotation motor for the comb plate is connected to the control system. For example... Figure 3As shown, the upper end of the transmission shaft of the combing plate horizontal rotary motor is provided with a combing plate 8, and a through hole 8.1 is arranged in the middle of the combing plate 8. The through hole 8.1 is a rectangular through hole, and the center of the rectangular through hole is aligned with the hair implantation point of the lower head mold rubber. The transmission shaft of the combing plate horizontal rotary motor is eccentrically arranged and maintains a certain distance from the rectangular hole (the distance between the center of the rectangular through hole and the transmission shaft of the combing plate rotary motor is e). The combing plate 8 is driven by the combing plate horizontal rotary motor to rotate 360° in the horizontal plane, and is used for combing the hair 20 implanted on the head mold rubber 18. The combing plate 8 rotates 360° in the horizontal plane, that is, the rectangular through hole 8.1 on the combing plate 8 rotates 360° relative to the shaft of the combing plate rotary motor, so that the hair 20 implanted on the hair implantation point through the rectangular through hole 8.1 of the hair implantation plate (at this time, the soft hair 20 of a certain length is roughly V-shaped and naturally falls on the upper surface of the combing plate 8) is gradually offset from the hair implantation point by a certain distance during the rotation of the combing plate 8, and the maximum offset distance is 2e. If 2e is greater than the length of the V-shaped side of the implanted hair, then as the distance between the rectangular through hole 8.1 of the combing plate and the hair implantation point gradually increases, the length of the hair 20 exposed on the upper surface of the combing plate 8 also gradually shortens, and finally all the hair falls onto the lower surface of the combing plate 8 and is combed by the lower surface of the combing plate 8 in the direction of rotation, so that the hair 20 implanted on the head mold rubber 18 is combed neatly.

[0048] Preferably, the above-mentioned combing plate horizontal rotary motor adopts a stepping motor, and specifically can also adopt a DC micro motor.

[0049] Specifically, the above-mentioned hair accumulator three-dimensional moving and rotating driving device includes a hair accumulator X-direction linear module 1, a hair accumulator Y-direction linear module 2, a hair accumulator Z-direction linear module 3, a hair accumulator moving cross beam 4, and a hair accumulator support plate 6. The control ends of the hair accumulator X-direction linear module 1, the hair accumulator Y-direction linear module 2, and the hair accumulator Z-direction linear module 3 are connected with the control system. The hair accumulator X-direction linear module 1 is arranged on one end of the rack 19, the hair accumulator Y-direction linear module 2 is arranged on the hair accumulator X-direction linear module 1 to realize longitudinal movement, the hair accumulator Z-direction linear module 3 is arranged on the hair accumulator Y-direction linear module 2 to realize transverse movement, and the driving end of the hair accumulator Z-direction linear module 3 is connected with the hair accumulator moving cross beam 4 to realize vertical movement. The hair accumulator moving cross beam 4 is connected with the hair accumulator support plate 6, and the hair accumulator device 7 is arranged on the hair accumulator support plate 6.

[0050] Further, as shown in the figure, Figure 1 The hair accumulator moving cross beam 4 is connected with the hair accumulator support plate 6 through the hair accumulator fine adjustment block 5, which is used for accurately adjusting the position of the hair accumulator device 7.

[0051] As shown in Figures 6-8 The hair accumulator device 7 comprises a hair accumulator container 7.7, a pressure device and a hair accumulator rotating stepper motor 7.5, the control end of the hair accumulator rotating stepper motor 7.5 is connected with the control system, the hair accumulator container 7.7 comprises a side wall and a hair accumulator container bottom plate 7.6, the hair filament hook outlet is arranged at the middle position of the hair accumulator container bottom plate 7.6. The hair accumulator support plate 6 is connected with a motor fixing plate, the hair accumulator rotating stepper motor 7.5 is fixed on the motor fixing plate, the transmission shaft of the hair accumulator rotating stepper motor 7.5 penetrates through the motor fixing plate and is connected with the pressure device.

[0052] The pressure device comprises a frame, a left pressure shaft 7.1, a left pressure shaft stepper motor 7.3, a hair accumulator left screw rod 7.14, a hair accumulator left sliding block 7.15, a left pressure shaft push rod driving plate 7.10, a left pressure shaft push rod driven plate 7.8, a right pressure shaft 7.2, a right pressure shaft stepper motor 7.4, a hair accumulator right screw rod 7.16, a hair accumulator right sliding block 7.17, a right pressure shaft push rod driving plate 7.11 and a right pressure shaft push rod driven plate 7.13. The left pressure shaft 7.1 and the right pressure shaft 7.2 are respectively fastened on the left pressure shaft push rod driven plate 7.8 and the right pressure shaft push rod driven plate 7.11. The left pressure shaft stepper motor 7.3 and the right pressure shaft stepper motor 7.4 are respectively arranged at the left and right ends of the top of the frame, the transmission shaft of the left pressure shaft stepper motor 7.3 and the transmission shaft of the right pressure shaft stepper motor 7.4 are respectively connected with the hair accumulator left screw rod 7.14 and the hair accumulator right screw rod 7.16, the hair accumulator left sliding block 7.15 and the hair accumulator right sliding block 7.17 are respectively sleeved on the hair accumulator left screw rod 7.14 and the hair accumulator right screw rod 7.16, the hair accumulator left sliding block 7.15 and the hair accumulator right sliding block 7.17 are respectively connected with the left pressure shaft push rod driving plate 7.10 and the right pressure shaft push rod driving plate 7.11. The left pressure sensor 7.9 is additionally arranged between the left pressure shaft push rod driving plate 7.10 and the left pressure shaft push rod driven plate 7.8, the right pressure sensor 7.12 is additionally arranged between the right pressure shaft push rod driving plate 7.11 and the right pressure shaft push rod driven plate 7.13, the control end of the left pressure sensor 7.9, the control end of the right pressure sensor 7.12, the control end of the left pressure shaft stepper motor 7.3 and the control end of the right pressure shaft stepper motor 7.4 are all connected with the control system. The purpose of additionally arranging the left pressure sensor 7.9 and the right pressure sensor 7.12 is to accurately quantitatively control the extrusion force generated between the hair filaments 20.

[0053] The hair filament bundle composed of a plurality of hair filaments 20 is arranged in the hair accumulator container 7.7, the plurality of hair filaments 20 are between the left pressure shaft 7.1, the right pressure shaft 7.2 and the hair accumulator container bottom plate 7.6, if the left pressure shaft 7.1 and the right pressure shaft 7.2 move towards each other relative to the hair accumulator container bottom plate 7.6, the hair filament bundle is extruded between the left pressure shaft 7.1, the right pressure shaft 7.2 and the bottom plate 7.6, thus the extrusion force is generated between the hair filament bundle composed of a plurality of hair filaments 20.

[0054] Based on production process requirements and considering the strength of the equipment itself, the clamping force of the left pressure shaft 7.1 and right pressure shaft 7.2 on the hair bundle should be set within a certain range, such as 0.5 to 3 kg. This clamping force range is detected by the left pressure sensor 7.9 and the right pressure sensor 7.12, and the position adjustment of the left pressure shaft 7.1 and right pressure shaft 7.2 is completed by the control system. When the clamping force of the left pressure shaft 7.1 on the hair bundle is less than the lower limit (e.g., 0.5 kg), the corresponding left pressure shaft stepper motor 7.3 starts, which drives the left screw 7.14 of the hair accumulator to rotate, pushing the left slider 7.15 of the hair accumulator to move relative to the hair bundle direction. Then, the left pressure shaft push rod active plate 7.10 moves relative to the hair bundle direction under the drive of the left slider 7.15 of the hair accumulator. When the left pressure shaft 7.1 clamps the hair bundle until the pressure value is maintained at the upper limit (e.g., 3 kg), it stops moving. Similarly, when the pressure applied by the right pressure shaft 7.2 to the hair bundle is less than the lower limit of pressure (e.g., 0.5 kg), the corresponding right pressure shaft stepper motor 7.4 starts, and the right screw 7.16 of the hair accumulator rotates, pushing the right slider 7.17 of the hair accumulator to move relative to the direction of the hair bundle. Then, the right pressure shaft push rod active plate 7.11 moves relative to the direction of the hair bundle under the drive of the right slider 7.17 of the hair accumulator. The right pressure shaft 7.2 presses the hair bundle until the pressure value is maintained at the upper limit of pressure (e.g., 3 kg) and then stops moving.

[0055] Furthermore, such as Figure 1 As shown, the aforementioned bidirectional rotation drive device for the head mold support includes a head mold revolution shaft bearing seat 14, a head mold revolution shaft 15, a head mold rotation stepper motor 16, and a head mold revolution stepper motor. The head mold revolution shaft bearing seat 14 is located on the frame 19 near the three-dimensional moving and rotating device for the hair transplant needle. The head mold revolution stepper motor is mounted on the head mold revolution shaft bearing seat 14. The head mold revolution shaft 15 is horizontally positioned and driven to rotate by the head mold revolution stepper motor. One end of the head mold revolution shaft 15 is mounted on the head mold revolution shaft bearing seat 14 via a bearing, and the other end is mounted on a mounting plate. The head mold rotation stepper motor 16 is fixedly mounted on the mounting plate. A head mold rubber support 17 is mounted on the upper end of the vertically positioned transmission shaft on the head mold rotation stepper motor 16. The head mold rubber support 17 is located in the middle of the frame 19. The control terminals of both the head mold rotation stepper motor 16 and the revolution stepper motor are connected to the control system. The control system controls the head mold rotation stepper motor 16 to drive the head mold rubber support body 17 to rotate around the rotation axis of the head mold rotation stepper motor 16, and controls the head mold revolution stepper motor to drive the head mold rubber support body 17 to revolve around the axis of the head mold revolution axis 15.

[0056] Furthermore, such as Figure 1As shown in the figure, the three-dimensional moving and rotating driving device of the hair transplant needle comprises a hair transplant needle moving beam 10, a hair transplant needle rotating stepping motor, a hair transplant needle X-direction linear module 13, a hair transplant needle Y-direction linear module 12 and a hair transplant needle Z-direction linear module 11. The control end of the hair transplant needle rotating stepping motor, the control end of the hair transplant needle X-direction linear module 13, the control end of the hair transplant needle Y-direction linear module 12 and the control end of the hair transplant needle Z-direction linear module 11 are connected with the control system. The hair transplant needle X-direction linear module 13 is arranged on the other end of the rack 19. The hair transplant needle Y-direction linear module 12 is arranged on the hair transplant needle X-direction linear module 13 to realize longitudinal movement. The hair transplant needle Z-direction linear module 11 is arranged on the hair transplant needle Y-direction linear module 12 to realize transverse movement. The driving end of the hair transplant needle Z-direction linear module 11 is connected with the hair transplant needle moving beam 10 to realize vertical movement. The hair transplant needle rotating stepping motor is arranged on the hair transplant needle moving beam 10. The transmission shaft of the hair transplant needle rotating stepping motor is connected with the hair transplant needle in the hair transplant needle device 9.

[0057] Specifically, as shown in the figure, Figure 1 The hair transplant needle device 9 is arranged on the hair transplant needle moving beam 10. Under the control of the hair transplant needle X-direction linear module 13, the hair transplant needle Y-direction linear module 12 and the hair transplant needle Z-direction linear module 11, the hair transplant needle moving beam 10 can realize three-dimensional spatial movement within a certain size range. Therefore, the hair transplant needle device 9 on the hair transplant needle moving beam 10 can also realize three-dimensional spatial movement. Therefore, the hair transplant needle device 9 can realize arbitrary angle rotation of the hair transplant needle. Under the driving of the hair transplant needle moving beam 10, the hair transplant needle device 9 can also realize arbitrary displacement within a certain size in three-dimensional space.

[0058] Preferably, the hair transplant needle comprises a needle rod 9.2, a needle tip 9.2.1 and a barb 9.2.2. The front end of the needle rod 9.2 is arc-shaped. The barb 9.2.2 is arranged on the V-shaped groove formed on the needle tip 9.2.1 at the front end of the needle rod 9.2. Only one, two or three hairs 20 can be accommodated in the V-shaped groove. The hair transplant needle device 9 further comprises a hair transplant needle fixing handle 9.1. The rear end of the needle rod 9.2 is connected with the hook needle fixing handle 9.1. The hair transplant needle fixing handle 9.1 is detachably connected with the three-dimensional moving and rotating driving device of the hair transplant needle. In actual use, a plurality of hair transplant needles with different V-shaped groove sizes need to be configured. According to the hair transplant process, when one hair 20 needs to be hooked each time, a hair transplant needle with a V-shaped groove that can only accommodate one hair 20 is installed on the hair transplant needle device 9, as shown in the figure, and the like. Figure 4 As shown in the figure, the like is sequentially performed.

[0059] The barb 9.2.2 on the needle tip 9.2.1 of the hair transplantation needle device may fail to hook the hair 20 at the hair hooking outlet of the hair storage container, resulting in a hair transplantation vacancy and affecting the product quality. Therefore, a hair state detection device is arranged at the hair hooking outlet, the hair state detection device is monitored by an image recognition detection device, the image recognition detection device is connected with a control system, the control system is provided with an alarm, and once the barb 9.2.2 of the hair transplantation needle fails to hook the hair 20 at the hair hooking outlet during the automatic hair transplantation process, the control system controls the machine to stop and the alarm prompts.

[0060] During the process that the hair transplantation needle hooks the hair 20 in the hair hooking outlet, the fixed handle 9.1 and the needle rod 9.2 are obliquely arranged, and the hair storage container 7.7 is also obliquely arranged in another direction, so that the hair hooking outlet is close to the hair transplantation needle, the hair 20 in the hair hooking outlet is easily hooked and the scalp rubber 18 is easily punctured.

[0061] As shown in Figure 15 the control system of the present application adopts a programmable controller (PLC for short), the output terminals of the PLC are connected with an X-direction module stepping motor 13.1, a Y-direction module stepping motor 12.1 and a Z-direction module stepping motor 11.1 of the hair transplantation needle respectively. The control system is connected with a computer, and the computer is connected with a display screen, a keyboard and a mouse. Figure 10It can be seen that the hair transplant needle Y direction module base plate 12.10 is fixed on the hair transplant needle X direction module moving slider 13.2 by screws, and the hair transplant needle Z direction module base plate 11.10 is fixed on the hair transplant needle Y direction module moving slider 12.4 by screws. Therefore, when the PLC sends a certain number of pulse signals to the hair transplant needle X direction module stepper motor 13.1, the hair transplant needle X direction module stepper motor 13.1 rotates, and the X direction module moving slider 13.2 moves along the ±X direction through the hair transplant needle X direction module coupling 13.5 and the hair transplant needle X direction module ball screw 13.4, thereby simultaneously driving the hair transplant needle Y direction module and the hair transplant needle Z direction module to move synchronously. When the PLC sends a certain number of pulse signals to the hair transplant needle Y direction module stepper motor 12.1, the hair transplant needle Y direction module moving slider 12.4 moves along the hair transplant needle Y direction module ball rail 12.7 in the ±Y direction through the hair transplant needle Y direction module coupling 12.2 and the hair transplant needle Y direction module ball screw 12.8, thereby driving the hair transplant needle Z direction module 11 to move synchronously through the hair transplant needle Z direction module base plate 11.10. The hair transplant needle moving beam 10 is fixed on the hair transplant needle Z direction module slider 11.8 by screws, and also moves in the ±Y direction. When the PLC sends a certain number of pulse signals to the hair transplant needle Z direction module stepper motor 11.1, the hair transplant needle Z direction module moving slider 11.8 moves along the hair transplant needle Z direction module ball rail 11.4 in the ±Z direction through the hair transplant needle Z direction module coupling 11.2 and the hair transplant needle Z direction module ball screw 11.3, thereby driving the hair transplant needle moving beam 10 to move in the ±Z direction.

[0062] If the PLC sends a certain number of pulse signals to the hair transplant needle X direction module stepper motor 13.1 and the hair transplant needle Z direction module stepper motor 11.1 at the same time, the hair transplant needle X direction linear module 13 and the hair transplant needle Z direction linear module 11 move simultaneously, and the hair transplant needle moving beam 10 can move in any direction in the X-Z plane. If the PLC sends a certain number of pulse signals to the hair transplant needle Y direction module stepper motor 12.1 and the hair transplant needle Z direction module stepper motor 11.1 at the same time, the hair transplant needle Y direction linear module 12 and the hair transplant needle Z direction linear module 11 move simultaneously, and the hair transplant needle moving beam 10 can move in any direction in the Y-Z plane. If the PLC sends a certain number of pulse signals to the hair transplant needle X direction module stepper motor 13.1 and the hair transplant needle Y direction module stepper motor 12.1 at the same time, the hair transplant needle moving beam 10 can move in any direction in the X-Y plane. Similarly, if the PLC sends a certain number of pulse signals to the hair transplant needle X direction module stepper motor 13.1, the hair transplant needle Y direction module stepper motor 12.1 and the hair transplant needle Z direction module stepper motor 11.1 at the same time, the hair transplant needle moving beam 10 can move in any direction in the X-Y-Z space. The above-mentioned various stepper motors can also be replaced by servo DC motors.

[0063] As Figure 13As shown, the hair implant needle Z linear module 11 and the hair implant needle X linear module 13 are linked to make the hair implant needle pierce into the head mold rubber 18 at an angle of θ with the Z axis. In the X-Z coordinate system, the hair implant needle pierces into the head mold rubber 18 at an angle of θ with the Z axis, and the angle of θ is the optimal piercing angle when the angle is about 0°-30°. The PLC sends signals to control the speed and direction of the hair implant needle X linear module 13 and the speed and direction of the hair implant needle Z linear module 11, and finally the speed of the movement at an angle of θ with the Z axis is synthesized.

[0064] The three-dimensional moving and rotating driving device of the hair accumulator based on PLC control and the three-dimensional moving driving device of the hair implant needle based on PLC control are symmetrically arranged and installed, and the mechanical bodies, control systems and control modes of the two are basically the same.

[0065] The hair accumulator device 7 is arranged on the hair accumulator moving beam 4, and the hair accumulator moving beam 4 can realize three-dimensional spatial movement within a certain size range under the control of the hair accumulator X linear module 1, the hair accumulator Y linear module 2 and the hair accumulator Z linear module 3, so that the hair accumulator device 7 on the hair accumulator moving beam 4 also realizes three-dimensional spatial movement.

[0066] Under the control of the PLC program compiled according to specific process requirements, through the precise cooperation between the hair implant needle device 9 and the hair accumulator device 7, the hair 20 is finally implanted on the head mold rubber 18, and the so-called “needle piercing” process and “knotting” process are realized.

[0067] Referring to Figure 14 In order to adapt to batch and mass production, a modular series combination design scheme is adopted, and six automatic hair implant machines of the present application can be connected in parallel as a whole through a set of racks, and the hair implant needle device 9 and the hair accumulator device 7 are arranged on the respective beams to realize synchronous movement.

[0068] Referring to Figures 1-15 An embodiment of the hair implant method of the automatic hair implant machine of the present application is provided, the hair implant needle comprises a needle rod 9.2, a needle tip 9.2.1 and a barb 9.2.2, the front end of the needle rod 9.2 is arc-shaped, the barb 9.2.2 is arranged in a V-shaped groove formed on the needle tip 9.2.1 at the front end of the needle rod 9.2, and the hair implant method comprises the following steps:

[0069] Step 1: The hair 20 is placed in the hair accumulator device, and the head mold rubber 18 is covered on the head mold rubber support 17, and a plurality of hair implant point positions are set on the hair implant site on the head mold rubber 18 through the hair implant point position setting module of the control system.

[0070] Step 2: The control system controls the hair implanting needle three-dimensional movement and rotation driving device to drive the hair implanting needle device 9, so that the needle tip 9.2.1 of the hair implanting needle is at the hair implanting positioning reference point, controls the hair storage device three-dimensional movement and rotation driving device to move the hair hook outlet on the hair storage device 7 to a position close to the hair implanting positioning reference point, and controls the head mold support body bidirectional rotation driving device to drive the head mold rubber support body 17 to rotate, so that a to-be-implanted hair point on the head mold rubber 18 reaches a position coinciding with the hair implanting position point and waits for hair implanting.

[0071] Step 3: The control system controls the hair implanting needle three-dimensional movement and rotation driving device to drive the needle tip 9.2.1 of the hair implanting needle to move to the hair implanting position point and coincide with a to-be-implanted hair point on the head mold rubber 18. The needle tip 9.2.1 of the hair implanting needle first penetrates from the hair implanting position point on the outer surface of the head mold rubber 18 to the inner surface of the head mold rubber 18, and then the hair implanting needle rotates by a certain angle (about 180°), and the needle tip of the hair implanting needle penetrates from a certain distance (about 1-2 mm) away from the hole in the head mold rubber to the outer surface of the head mold rubber 18 from the inner surface of the head mold rubber 18. The control system also controls the hair storage device three-dimensional movement and rotation driving device to drive the hair storage device 7 to move, so that at least one hair 20 in the hair hook outlet on the hair storage device 7 is embedded in the V-shaped groove of the hair implanting needle. Through the mutual movement and cooperation between the hair implanting needle and the hair storage device 7, the hair 20 is hooked out and implanted into the to-be-implanted hair point on the head mold rubber 18 coinciding with the hair implanting position point.

[0072] Step 4: After each hair 20 is implanted, the control system controls the head mold support body bidirectional rotation driving device to drive the head mold support body 17 to rotate by a certain angle, and then the next hair 20 is implanted according to the implanting method of steps 2 and 3. After the head mold support body rotates by 360°, the hair implanting points on the circumferential line are implanted with hairs 20.

[0073] Step 5: The control system controls the head mold support body bidirectional rotation driving device to drive the head mold rubber support body 17 to rotate by a certain angle, and then the hair implanting points on the adjacent latitudinal circumferential line on the head mold rubber 18 are implanted according to step 4. After the to-be-implanted parts of each latitudinal circumferential line on the head mold rubber 18 are implanted with hairs 20, the hair implanting work is completed.

[0074] Further, the specific way of setting the points to be implanted in step 1 is as follows: the eccentric point in the middle of the head mold rubber 18 is taken as the center of head rotation, and a rectangular area around the center of head rotation in the middle of the head mold rubber 18 is set with a plurality of rows of longitudinally arranged points to be implanted. When hair is implanted in this area, the head mold rubber 18 is driven to rotate around the center of head rotation to coincide with the points to be implanted, the head mold rubber support 17 is kept stationary, the hair storage device 7 and the hair implanting needle are driven to adjust their positions by the three-dimensional movement and rotation driving device of the hair storage device and the three-dimensional movement and rotation driving device of the hair implanting needle, and hair is implanted in each of the points to be implanted in the area around the center of head rotation. The points to be implanted in the rest of the head mold rubber 18 are set as follows: a plurality of families of latitudinal circular lines with a certain interval are drawn with the center of head rotation as the center, a plurality of families of longitudinal circular lines are drawn in the direction of hair implantation with the center of head rotation as the center, and the intersection points of the latitudinal circular lines and the longitudinal circular lines on the head mold rubber 1 are taken as the points to be implanted.

[0075] Further, after each hair 20 is implanted, the horizontal rotary stepping motor (or DC micro motor) of the hair combing plate 8 is driven to rotate the hair combing plate 8 in the horizontal plane by 360°, the implanted hair 20 falls from the rectangular through hole 8.1 of the hair combing plate 8 to the lower surface side of the hair combing plate 8, and is pressed by the lower surface of the hair combing plate 8 in a certain regular direction, so that the implanted hair 20 is arranged regularly on the lower surface side of the hair combing plate 8, and does not affect or interfere with the production process of the next hair 20. In order to meet the requirements of the rectangular area around the center of head rotation of the head mold rubber 18, the side length of the rectangular through hole of the hair combing plate 8 is greater than the side length of the corresponding rectangular area around the center of head rotation, so as to ensure that the plurality of rows of longitudinally arranged points to be implanted in the rectangular area around the center of head rotation are all exposed in the rectangular through hole 8.1 of the hair combing plate 8.

[0076] Further, the hair accumulator device 7 comprises a hair accumulator container 7.7, a pressing device and a hair accumulator rotating step motor 7.5, the left and right pressure shafts 7.1 and 7.2 of the pressing device press the hair bundle in the bottom of the hair accumulator container 7.7, the pressing force is between 0.5-3 Kg, the pressing force range is detected by the left and right pressure sensors 7.9 and 7.12, and the position of the left and right pressure shafts 7.1 and 7.2 is adjusted by the control system; when the pressing force of the left pressure shaft 7.1 on the hair bundle is less than the lower limit value (for example, 0.5 Kg), the corresponding left pressure shaft step motor 7.3 is started, the hair accumulator left screw 7.14 is rotated to drive the hair accumulator left slider 7.15 to move relative to the direction of the hair bundle, then the hair accumulator left slider 7.15 drives the left pressure shaft push rod driving plate 7.10 to move relative to the direction of the hair bundle, and when the left pressure shaft 7.1 presses the hair bundle until the pressure value is kept at the upper limit value (for example, 3 Kg), the movement is stopped. Similarly, when the pressing force of the right pressure shaft 7.2 on the hair bundle is less than the lower limit value (for example, 0.5 Kg), the corresponding right pressure shaft step motor 7.4 is started, the hair accumulator right screw 7.16 is rotated to drive the hair accumulator right slider 7.17 to move relative to the direction of the hair bundle, then the hair accumulator right slider 7.17 drives the right pressure shaft push rod driving plate 7.11 to move relative to the direction of the hair bundle, and when the right pressure shaft 7.2 presses the hair bundle until the pressure value is kept at the upper limit value (for example, 3 Kg), the movement is stopped.

[0077] According to the need, in step 3, the hair needle rod 9.2 of different specifications is replaced, and the two or three hairs 20 in the hair hook outlet of the hair accumulator device can be hooked by the barb 9.2.2 on the hair needle rod 9.2.

[0078] The design idea and working principle of the present application are as follows:

[0079] Referring to Figure 9 , Figure 10 The setting method of the hair implantation point to be implanted is: covering the head mold rubber 18 on the head mold support body 17, taking the eccentric point in the middle part of the head mold rubber 18 as the head rotation center, and setting a plurality of rows of longitudinally arranged hair implantation points in the rectangular area around the head rotation center. The setting of the hair implantation points on the rest part of the head mold rubber 18: taking the head rotation center as the center point to draw a certain interval of latitudinal circular line family, and taking the head rotation center as the center point to draw a meridional circular line family in the hair implantation direction, the intersection point of the latitudinal circular line and the meridional circular line is taken as the hair implantation point to be implanted, but the hair implantation points on the adjacent meridional circular lines should form staggered distribution rules in the latitudinal direction. Through accurate control of the rotation movement of the head mold support body 17 and the revolution movement of the head mold support body 17, all the hair implantation points to be implanted on the head mold rubber 18 except the head rotation part and the hair implantation position points of the hair needle can be realized. Figure 9 , Figure 10Precise alignment is achieved at point C in the diagram. The head mold support 17 rotates via a head mold self-rotating stepper motor 16, and revolves via the head mold revolution shaft 15 on the head mold revolution shaft bearing seat 14.

[0080] like Figure 10 As shown, at this location, the intersection of the latitudinal circumference J1 and the XOZ plane is the hair transplant position point of the hair transplant needle. By controlling the rotation angle of the head mold support 17 through the control system, the sequence of all hair transplant points on the latitudinal circumference J1 can be precisely aligned with the hair transplant position point C of the hair transplant needle tip. Through the revolution movement of the head mold support 17, the intersections of the latitudinal circumference J2, latitudinal circumference J3, ..., and latitudinal circumference Jn with the XOZ plane can also be precisely aligned with the hair transplant position point C of the hair transplant needle tip.

[0081] like Figure 9 As shown, the control system controls the rotation angle of the head mold's self-rotating stepper motor 16 to sequentially and precisely align the hair transplant point on a certain latitudinal circumference with the hair transplant position point C where the tip of the hair transplant needle 9.2.1 is located. The control system also controls the rotation angle of the head mold's revolution axis 15 to sequentially and precisely align the meridional circumference with the hair transplant position point C where the tip of the hair transplant needle 9.2.1 is located.

[0082] There are many types of wig products, therefore, the requirements for the "fixation" method of the hair strands 20 on the head mold rubber 18 are also different, resulting in production processes such as "needling" and "knotting". The "needling" process is a relatively simple needle-needling process, which only requires the hair strands to penetrate the head mold rubber to a certain length. The "knotting" process is a relatively complex knotting hair transplant process, which actually involves making a certain relative movement between the two ends of the hair strand to achieve the effect of "tying a knot", that is, "tying" the hair strand to the head mold rubber.

[0083] like Figure 1 , Figure 2 , Figure 5 As shown, the hair transplant needle 9.2 is inserted into the head mold rubber 18 at a certain angle, forming perforation I. Then, as the hair transplant needle 9.2 rotates 180° along its own axis, the needle tip 9.2.1 forms perforation II at a certain distance from perforation I, exposing the needle tip 9.2.1. Afterward, the hair transplant needle 9.2 moves from right to left, causing the barb 9.2.2 to retract.

[0084] In the state that the hair 20 is pulled tight at both ends, the needle rod 9.2 of the hair implanting needle can make the hair 20 wind on it when it rotates, for example, the needle rod 9.2 of the hair implanting needle rotates 360°, then the hair 20 winds on the needle rod 9.2 for one turn, the hair 20 is in a force balance state between being pulled tight at both ends and being clamped by the barb 9.2.2 of the hair implanting needle. In the case that the hair 20 has wound on the needle rod 9.2 for one turn, if the hair implanting needle exits the head mold rubber 18 from the left to the right direction, the hair 20 is pulled tight and then the hair implanting needle exits the perforation II, the perforation I with the hair 20, in this process, the hair 20 at one end is loosened, then the hair 20 at this end is taken through the head mold rubber 18 through the perforation II, the perforation I.

[0085] Therefore, it can be seen that the essence of implanting a hair 20 on the head mold rubber 18 is to make one end of the hair 20 pass through two holes with a certain distance, that is, the perforation I, the perforation II, which is the so-called "pricking" process in the industry. On this basis, if the two ends of the hair 20 are interwoven into a "knot" in a certain form, it is the so-called "knotting" process in the industry.

[0086] The hair implanting method of the automatic hair implanting machine can imitate the manual "pricking" and "knotting" production processes.

[0087] The above is only the preferred embodiment of the present application, and is not intended to limit the other forms of the present application. Any person skilled in the art can modify or change the above disclosed technical content into equivalent embodiments. However, any modification, equivalent change and modification of the above embodiments without departing from the technical solution of the present application, according to the technical essence of the present application, still belongs to the protection scope of the technical solution of the present application.

Claims

1. An automatic hair implanting machine comprising a machine frame, a head mold rubber support body for supporting a head mold rubber, a head mold rubber support body driving device, a hair reservoir device for storing a hair bundle, an implanting needle device, and a control system, characterized in that, The machine frame is provided with hair accumulator three-dimensional movement and rotation driving devices and hair implanting needle three-dimensional movement and rotation driving devices at two ends, respectively, and a head mold rubber support body two-way rotation driving device is arranged in the middle part of the machine frame, the head mold rubber support body two-way rotation driving device is provided with the head mold rubber support body, the head mold rubber support body is semispherical, and the head mold rubber support body two-way rotation driving device is used to drive the head mold rubber support body to revolve around a horizontal axis of the ball center and rotate around an axis of rotation which is perpendicular to the horizontal axis and intersects with the horizontal axis at the ball center; the hair accumulator device is arranged on the hair accumulator three-dimensional movement and rotation driving device, and a hair hook outlet is arranged on the hair accumulator device, the hair implanting needle device is arranged on the hair implanting needle three-dimensional movement and rotation driving device, the hair implanting needle device comprises a hair implanting needle, the needle tip at the front end of the hair implanting needle is initially located at a hair implanting positioning reference point, the needle tip at the front end of the hair implanting needle is located on a vertical line passing through the ball center and coincides with the head mold rubber at a hair implanting needle implanting position point, the control system comprises a hair implanting point position setting module, which is used to set a plurality of hair implanting point positions on the head mold rubber, the control system is used to control the head mold rubber support body two-way rotation driving device to drive the head mold rubber support body to rotate in two directions, so that each hair implanting point position on the head mold rubber reaches the position below the hair implanting positioning reference point and coincides with the hair implanting needle implanting position point one by one, and the hair accumulator device and the hair implanting needle are also controlled to move and cooperate in the three-dimensional space, so that the hair implanting needle hooks at least one hair in the hair hook outlet of the hair accumulator device each time and implants the hair on the hair implanting point position on the head mold rubber which coincides with the hair implanting needle implanting position point; a hair combing plate horizontal rotation motor is arranged on the machine frame, a control end of the hair combing plate horizontal rotation motor is connected with the control system, a horizontal hair combing plate is arranged on the upper end of a vertical transmission shaft of the hair combing plate horizontal rotation motor, a rectangular through hole is arranged in the middle part of the hair combing plate, the center of the rectangular through hole is aligned with the hair implanting point position of the head mold rubber below, the transmission shaft is arranged eccentrically and maintains a certain distance with the through hole, and the hair combing plate rotation motor drives the hair combing plate to rotate 360° in the horizontal plane, so as to comb the hair implanted on the head mold rubber and make the hair implanted on the head mold rubber comb on the lower surface side of the hair combing plate.

2. The automatic hair implantation machine according to claim 1, characterized by The accumulator three-dimensional movement rotation driving device comprises an accumulator X linear module, an accumulator Y linear module, an accumulator Z linear module, an accumulator movement crossbeam and an accumulator support plate, control ends of the accumulator X linear module, the accumulator Y linear module and the accumulator Z linear module are connected with the control system, the accumulator X linear module is arranged on one end of the rack, the accumulator Y linear module is arranged on the accumulator X linear module to realize longitudinal movement, the accumulator Z linear module is arranged on the accumulator Y linear module to realize transverse movement, a driving end of the accumulator Z linear module is connected with the accumulator movement crossbeam to realize vertical movement, the accumulator movement crossbeam is connected with the accumulator support plate, and the accumulator device is arranged on the accumulator support plate.

3. The automated hair implantation machine of claim 2, wherein, The accumulator movement crossbeam is connected with the accumulator support plate through an accumulator fine adjustment block, which is used for accurately adjusting the position of the accumulator device; the accumulator device comprises an accumulator container, a pressurizing device and an accumulator rotating motor, a control end of the accumulator rotating motor is connected with the control system, the accumulator container comprises a side wall and a bottom plate, a hair hook outlet is arranged at a middle position of the bottom plate, the accumulator support plate is connected with a motor fixing plate, the accumulator rotating motor is fixed on the motor fixing plate, a transmission shaft of the accumulator rotating motor penetrates through the motor fixing plate and is connected with the pressurizing device, the pressurizing device comprises a frame, a left pressure shaft, a left pressure shaft stepping motor, an accumulator left screw rod, an accumulator left sliding block, a left pressure shaft push rod driving plate, a left pressure shaft push rod driven plate, a right pressure shaft, a right pressure shaft stepping motor, an accumulator right screw rod, an accumulator right sliding block, a right pressure shaft push rod driving plate and a right pressure shaft push rod driven plate, the left pressure shaft and the right pressure shaft are respectively fastened on the left pressure shaft push rod driven plate and the right pressure shaft push rod driven plate, the left pressure shaft stepping motor and the right pressure shaft stepping motor are respectively arranged at left and right ends of the top of the frame, transmission shafts of the left pressure shaft stepping motor and the right pressure shaft stepping motor are respectively connected with the accumulator left screw rod and the accumulator right screw rod, the accumulator left screw rod and the accumulator right screw rod are respectively sleeved with the accumulator left sliding block and the accumulator right sliding block, the accumulator left sliding block and the accumulator right sliding block are respectively connected with the left pressure shaft push rod driving plate and the right pressure shaft push rod driving plate, a left pressure sensor is additionally arranged between the left pressure shaft push rod driving plate and the left pressure shaft push rod driven plate, a right pressure sensor is additionally arranged between the right pressure shaft push rod driving plate and the right pressure shaft push rod driven plate, and control ends of the left pressure sensor, the right pressure sensor, the left pressure shaft stepping motor and the right pressure shaft stepping motor are connected with the control system.

4. The automatic hair implantation machine according to claim 1 or 2, characterized by, The head mold rubber support bidirectional rotation driving device comprises a head mold revolution rotation shaft bearing seat, a head mold revolution rotation shaft, a head mold revolution rotation motor and a head mold rotation motor, the head mold revolution rotation shaft bearing seat is arranged on the rack near the hair transplant needle three-dimensional movement rotation driving device, the head mold revolution rotation motor is arranged on the head mold revolution rotation shaft bearing seat, the head mold revolution rotation shaft is horizontally arranged and is driven to rotate by the head mold revolution rotation motor, one end of the head mold revolution rotation shaft is installed on the head mold revolution rotation shaft bearing seat through a bearing, and the other end is provided with a mounting plate, the head mold rotation motor is fixedly installed on the mounting plate, the head mold rubber support is installed on the upper end of a transmission shaft vertically arranged on the head mold rotation motor, the head mold rubber support is located in the middle of the rack, and the control ends of the head mold revolution rotation motor and the head mold rotation motor are connected with the control system.

5. The automated hair implantation machine of claim 2, wherein, The hair transplant needle three-dimensional movement rotation driving device comprises a hair transplant needle movement beam, a hair transplant needle rotation motor, a hair transplant needle X-direction linear module, a hair transplant needle Y-direction linear module and a hair transplant needle Z-direction linear module, the control ends of the hair transplant needle rotation motor, the hair transplant needle X-direction linear module, the hair transplant needle Y-direction linear module and the hair transplant needle Z-direction linear module are connected with the control system, the hair transplant needle X-direction linear module is arranged on the other end of the rack, the hair transplant needle Y-direction linear module is arranged on the hair transplant needle X-direction linear module to realize longitudinal movement, the hair transplant needle Z-direction linear module is arranged on the hair transplant needle Y-direction linear module to realize transverse movement, the hair transplant needle Z-direction linear module is connected with the hair transplant needle movement beam on the driving end to realize vertical movement, the hair transplant needle rotation motor is arranged on the hair transplant needle movement beam, and the hair transplant needle is connected with the transmission shaft of the hair transplant needle rotation motor.

6. The automatic hair implantation machine according to claim 1 or 2, wherein The hair transplant needle comprises a needle rod, a needle tip and a barb, the front end of the needle rod is arc-shaped, the rear end of the needle rod is connected with the hair transplant needle three-dimensional movement rotation driving device, the barb is arranged in a V-shaped groove formed on the needle tip of the front end of the needle rod, and the V-shaped groove can accommodate one, two or three hair strands; the hair transplant needle device further comprises a hair transplant needle fixing handle, the rear end of the needle rod is connected with the hair transplant needle fixing handle, and the hair transplant needle fixing handle is detachably connected with the hair transplant needle three-dimensional movement rotation driving device.

7. The automated hair implantation machine of claim 6, wherein, A hair state detection device is further arranged at the hair strand hook outlet, the hair state detection device adopts an image recognition detection device to monitor, the image recognition detection device is connected with the control system, the control system is provided with an alarm, and once the barb of the hair transplant needle fails to hook the hair strand at the hair strand hook outlet in the automatic hair transplant process, the machine is stopped and an alarm is given.

8. A method of hair implantation by the automatic hair implantation machine according to any one of claims 1 to 7, characterized in that, The hair transplant needle in the hair transplant needle device comprises a needle rod, a needle tip and a barb, the front end of the needle rod is arc-shaped, the barb is arranged in a V-shaped groove formed on the needle tip of the front end of the needle rod, and the hair transplant method comprises the following steps: Step 1: Put the hair in the hair accumulator device, and cover the head mold rubber on the head mold rubber support, and set a plurality of hair implantation points on the hair implantation site on the head mold rubber by the hair implantation point setting module of the control system; Step 2: Drive the hair implantation needle device by the three-dimensional movement and rotation driving device of the control system, so that the needle tip of the hair implantation needle is at the hair implantation reference point, and drive the hair accumulator device to move to a position close to the hair implantation reference point by the three-dimensional movement and rotation driving device of the control system, and then drive the head mold rubber support to rotate by the bidirectional rotation driving device of the control system, so that one hair implantation point on the head mold rubber reaches a position coinciding with the hair implantation position point of the hair implantation needle, and waits for hair implantation; Step 3: Drive the needle tip of the hair implantation needle to move to the hair implantation position point of the hair implantation needle by the three-dimensional movement and rotation driving device of the control system, and coincide with one hair implantation point on the head mold rubber, the needle tip of the hair implantation needle first penetrates from the hair implantation position point on the outer surface of the head mold rubber to the inner surface of the head mold rubber, then the hair implantation needle rotates by a certain angle, the needle tip of the hair implantation needle penetrates from the inner surface of the head mold rubber to the outer surface of the head mold rubber by a certain distance, and at least one hair in the hair hook outlet of the hair accumulator device is embedded in the V-shaped groove of the hair implantation needle by driving the hair accumulator device to move by the three-dimensional movement and rotation device of the control system, the hair is hooked out and implanted on the hair implantation point on the head mold rubber coinciding with the hair implantation position point of the hair implantation needle by the mutual movement and cooperation between the hair implantation needle and the hair accumulator device; Step 4: After implanting one hair, drive the head mold rubber support to rotate by a certain angle by the bidirectional rotation driving device of the control system, and then implant the next hair according to the implantation method of steps 2 and 3, and after the head mold rubber support rotates 360°, the hair implantation points on the latitudinal circular line are implanted with hair; Step 5: Drive the head mold rubber support to rotate by a certain angle by the bidirectional rotation driving device of the control system, and then implant the hair implantation points on the adjacent latitudinal circular line on the head mold rubber according to step 4, until the hair implantation points on each latitudinal circular line on the head mold rubber are implanted with hair, and the hair implantation work is completed.

9. The hair implantation method of the automatic hair implantation machine according to claim 8, wherein In step 1, the specific way of setting a plurality of hair implantation points on the head mold rubber by the control system is: taking the eccentric point of the middle part of the head mold rubber as the head rotation center, setting a plurality of rows of longitudinal hair implantation points in the rectangular area around the head rotation center of the middle part of the head mold rubber, and setting the hair implantation points on the rest of the head mold rubber as a family of latitudinal circular lines with the head rotation center as the center point and a certain interval, and a family of longitudinal circular lines with the head rotation center as the center point in the implantation direction, and the intersection points of the latitudinal circular lines and the longitudinal circular lines on the head mold rubber are the hair implantation points.

10. The hair implantation method of the automatic hair implantation machine according to claim 8 or 9, wherein After each hair is implanted, the combing plate is driven by the horizontal rotation motor to rotate 360 degrees in the horizontal plane, and the implanted hair is slid from the through hole of the combing plate to the lower surface side of the combing plate, and is pressed by the lower surface of the combing plate in a certain regular direction, so that the implanted hair is arranged regularly on the lower surface of the combing plate, and the production process of the next hair implantation is not affected or disturbed.

11. The hair implantation method of the automatic hair implantation machine according to claim 8 or 9, wherein The hair storage device comprises a hair storage container, a pressure device and a hair storage motor, the left and right pressure shafts in the pressure device generate pressure on the left and right two pressure points of the hair bundle on the bottom plate of the hair storage container, the pressure set lower limit value and upper limit value, the pressure range between the lower limit value and the upper limit value is detected by the left and right pressure sensors, and the position adjustment of the left and right pressure shafts is completed by the control system; the left and right pressure shafts are driven by the left and right sliding blocks, when the pressure of the left and right pressure shafts on the hair bundle is less than the lower limit value, the corresponding left or right linear module stepper motor is started, and then the left or right pressure shaft push rod active plate moves relative to the direction of the hair bundle, and the left or right pressure shaft stops moving until the pressure value reaches the upper limit value.

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