Hair cutting actuator with fine-adjustable layers

Abstract

The invention belongs to the field of nursing automation, and discloses a hierarchical fine-adjustable hair cutting actuator, which can flexibly adjust the length of cut hair so as to realize hierarchical reflection of a head area and further to be comparable with the hair cutting impression of a barber, and comprises a hair cutting knife group, a driving motor, a fine-adjustable comb plate and a fine-adjustable driving assembly, the fitting end face faces the surface of the target head, the scissor knife set forms a hair penetrating gap, the driving motor is in output coupling with the hair cutting knife set, so that the hair penetrating gap is continuously opened and closed, the fine adjustment comb plate is arranged between the fitting end face and the target head, the fine adjustment comb plate is provided with a comb clamping gap, and the comb clamping gap corresponds to the hair penetrating gap in the carrying direction. The fine-tuning driving assembly is used for driving the fine-tuning comb plate to move so as to approach or leave the fitting end face.

Description

Technical Field

[0001] This invention belongs to the field of nursing automation, and specifically relates to a hair-cutting actuator with adjustable levels. Background Technology

[0002] Haircutting is a regular personal care activity that is difficult to perform by oneself and requires significant external intervention. This is because, firstly, one's head cannot be directly observed by one's own eyes, making it difficult to cut hair oneself; secondly, the shape of the human head is not a regular shape, and haircutting is achieved by cutting with a blade. If an individual forces themselves to cut their hair, they are very likely to cut themselves or it is difficult to cut hair well close to the head. However, external intervention means increased economic costs for haircutting and limitations on the location of haircutting services.

[0003] Currently, there are various automated or semi-automated haircutting devices on the market. These devices include robotic arms or complex linkage mechanisms, with haircutting blades installed at the end of the robotic arms or complex linkage mechanisms. During haircutting, a pre-set cutting path is used, and then the haircutting blades move along the cutting path once or multiple times based on the movement of the controlled robotic arms and linkage mechanisms, thereby performing the haircutting operation (similar to peeling a pear).

[0004] However, in practice, when cutting hair manually, certain areas of the head are usually trimmed in layers to achieve a better head shape. The haircutting process described above moves along the scissor path, which is equivalent to cutting the hair into multiple layers of equal length. Therefore, it cannot achieve the layering effect in certain areas of the head shape. This is also why automated haircutting equipment with more functions cannot compare with a regular hairdresser. In other words, the existing implementation described above makes it difficult for automated haircutting equipment to be commercially applied. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a layered, finely adjustable haircutting actuator that can flexibly adjust the length of the cut hair during haircutting, thereby achieving a layered representation of the head area. When applied to automated haircutting, it can rival the visual experience of a professional hairdresser, facilitating the commercial application of automated haircutting.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A layer-adjustable haircutting actuator, mounted on an external platform, uses the head of the person being cut as the target head. The actuator is used to cut hair on the target head and includes: a hair-cutting blade assembly with a contact end face facing the surface of the target head along the mounting direction; the blade assembly forming a hair-penetrating gap extending along the mounting direction; a drive motor coupled to the output of the hair-cutting blade assembly, thereby continuously opening and closing the hair-penetrating gap; a fine-tuning comb plate positioned between the contact end face and the target head along the mounting direction; and a fine-tuning drive assembly for driving the fine-tuning comb plate to move closer to or away from the contact end face. The fine-tuning comb plate has a comb-and-hold gap corresponding to the hair-penetrating gap in the mounting direction.

[0007] Preferably, the present invention further includes a distal housing having a bottom opening and a guide portion, the hair clipper assembly being disposed on the distal housing, the contact end face being exposed through the bottom opening, the guide portion extending in a straight line, and a fine-tuning entity having a bent and integrally continuous fine-tuning base and a fine-tuning comb plate, the fine-tuning base being movably disposed on the guide portion, so that when the fine-tuning drive assembly drives the fine-tuning entity to move, the fine-tuning comb plate moves closer to or further away from the contact end face. Furthermore, a position sensor is also fixed on the remote housing. When the remote housing moves over the target head, the position sensor sends a fine-tuning signal, and the fine-tuning drive component is activated based on external commands and the fine-tuning signal.

[0008] Furthermore, the fine-tuning drive assembly includes a cooperating electric lead screw and a moving nut, with the moving nut coupled to the fine-tuning base.

[0009] Furthermore, the fine-tuning base has a coupling channel and an insertion through hole that extend perpendicularly to each other and are connected. The coupling channel extends in the same direction as the fine-tuning base. The electric lead screw is inserted and set in the coupling channel, and the moving nut is fitted and set in the insertion through hole. The opposite sides of the moving nut interfere with the inner wall of the insertion through hole. Furthermore, the guide section has guide channels that extend in the same direction as itself and are open at both ends, with the fine-tuning base and the electric lead screw inserted from both ends of the guide channels respectively.

[0010] Furthermore, the present invention also includes a proximal housing fixed on an external platform. The proximal housing is provided with an exhaust fan and an adaptive component, including an over-generation pipe that can be elastically retracted along the mounting direction. The distal housing is disposed on the proximal housing through the adaptive component. The proximal housing, the adaptive component, and the distal housing are sequentially coupled along the mounting direction. The two ends of the over-generation pipe are respectively connected to the exhaust fan and the over-generation gap.

[0011] Furthermore, the distal casing and the hair clipper blade enclose a hair-suction chamber, which has an air inlet and a hair-passing outlet. The air inlet opens to the outside, and the hair-passing outlet opens to the hair-passing pipe. The hair-suction chamber opens to the target head through a hair-penetrating gap, and the hair-penetrating gap is located at the edge of the air inlet.

[0012] Furthermore, the adaptive component also includes three inter-end springs, the elastic direction of which is parallel to the mounting direction, and the extension axes of the three inter-end springs form the three edges of a right triangular prism.

[0013] Preferably, the hair clipper assembly includes a fixed blade and a movable blade stacked along the mounting direction. The contact end face is the end face of the fixed blade facing the target head. Both the fixed blade and the movable blade have corresponding cutting sections. The cutting section has multiple hair-cutting comb teeth distributed along a predetermined straight line direction, which is perpendicular to the mounting direction. The sides of the hair-cutting comb teeth form hair-cutting edge edges. The hair-cutting edge edges of the fixed blade and the movable blade correspond to each other and form hair-penetrating gaps. The two cutting sections form multiple hair-penetrating gaps in a grid shape along the mounting direction. Compared with the prior art, the beneficial effects of the present invention are: 1. Because the haircutting actuator of the present invention includes a hair-cutting blade assembly, a drive motor, a fine-tuning comb plate, and a fine-tuning drive assembly, the hair-cutting blade assembly has a contact end face facing the surface of the target head, and the scissor blade assembly forms a hair-penetrating gap. The drive motor is coupled to the output of the hair-cutting blade assembly, so that the hair-penetrating gap continuously opens and closes. The fine-tuning comb plate is disposed between the contact end face and the target head, and the fine-tuning comb plate has a comb-card gap, which corresponds to the hair-penetrating gap in the mounting direction. The fine-tuning drive assembly is used to drive the fine-tuning comb plate to move, thereby moving closer to or away from the contact end face. When the haircutting actuator cuts hair along the cutting path on the target head, the hair passes through the comb-card gap at an equal length, then through the hair-penetrating gap. By closing the hair-penetrating gap, the hair that has passed through is cut. That is, the cutting length is equal to the length difference between the length of the hair that passes through the hair-penetrating gap and the length of the hair that passes through the comb-card gap. The fine-tuning drive assembly can adjust this length difference. Therefore, the present invention can flexibly adjust the length of the cut hair, thereby realizing the layering of the head area, and thus comparable to the haircutting experience of a hairdresser.

[0014] 2. Because the distal cover of the present invention is also equipped with a position sensor, when the distal cover moves on the target head, the position sensor sends a fine-tuning signal. The fine-tuning drive component is activated based on external commands and fine-tuning signals. The position sensor is a gyroscope. Therefore, the present invention can better reflect the subtle changes in the haircut position on the target head and the degree of change through the position sensor. Thus, external commands enable the fine-tuning drive component to adjust the haircut length in real time based on the actual situation, thereby cutting a more detailed layered head shape.

[0015] 3. Because the fine-tuning base of the present invention has a coupling channel and an insertion through hole that extend perpendicularly to each other and are interconnected, the coupling channel extends in the same direction as the fine-tuning base, the electric lead screw is inserted and disposed in the coupling channel, and the moving nut is fitted and disposed in the insertion through hole, and the opposite sides of the moving nut interfere with the inner wall of the insertion through hole, the electric lead screw and the moving nut are both machined metal parts, while the fine-tuning base and the fine-tuning comb plate are both injection molded parts, the present invention, through the orthogonally interconnected coupling channel and the insertion through hole, not only solves the problem that the precision of the thread fit is not affected when the machined metal parts and the injection molded parts are firmly joined, but also makes the setting of the moving nut more convenient.

[0016] 4. Because the layer-adjustable haircutting actuator of the present invention also includes a proximal housing and an adaptive component, the proximal housing is fixed on the external platform and is equipped with an exhaust fan, the adaptive component includes an elastically retractable hair passage pipe, and the distal cover is set on the proximal housing through the adaptive component. The proximal housing, the adaptive component, and the distal cover are sequentially coupled along the mounting direction. The two ends of the hair passage pipe are respectively connected to the exhaust fan and the hair passage gap. Therefore, the external platform of the present invention does not need to be equipped with a robotic arm or a complex linkage mechanism. Moreover, through the exhaust fan and the hair passage pipe, the broken hair is simultaneously and quickly sucked away from the head of the hairdresser.

[0017] 5. Because the distal casing and the hair-cutting blade of the present invention enclose a hair-suction chamber, the hair-suction chamber has an air inlet and a hair-passing outlet. The air inlet is open to the outside, the hair-passing outlet is open to the hair-passing pipe, and the hair-suction chamber is open to the target head through a hair-penetrating gap, and the hair-penetrating gap is located at the edge of the air inlet. Therefore, by setting an independent hair-suction chamber, the present invention can make the flow cross-section of the hair-suction chamber smaller, thereby facilitating the formation of higher air pressure in the airflow passage, so that the cut hair is sucked away more quickly. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of a layer-adjustable haircutting actuator according to an embodiment of the present invention. Figure 1 .

[0019] Figure 2 for Figure 1 Exploded view.

[0020] Figure 3 for Figure 1 Side view (not in action).

[0021] Figure 4 for Figure 1 Side view (already activated).

[0022] Figure 5 for Figure 3 Cross-sectional view.

[0023] Figure 6 A schematic diagram of the shell body of an embodiment of the present invention. Figure 1 .

[0024] Figure 7 A schematic diagram of the shell body of an embodiment of the present invention. Figure 2 . Figure 8 This is a schematic diagram of the bottom fastening plate according to an embodiment of the present invention.

[0025] Figure 9 This is a diagram showing the assembly of the drive unit and the hair clipper assembly according to an embodiment of the present invention (the fixed sheet metal frame is only shown).

[0026] Figure 10 This is a cross-sectional view of the fine-tuning entity and fine-tuning drive component according to an embodiment of the present invention.

[0027] Figure 11 This is a schematic diagram of a layer-adjustable haircutting actuator according to an embodiment of the present invention. Figure 2 .

[0028] In the diagram: 100. Adjustable layered haircutting actuator; D1. Mounting direction; D2. Predetermined linear direction; 10. Proximal housing; 10a. Proximal air vent; 11. Exhaust fan; 12. Filter window; 20. Adaptive component; 21. Hair passage duct; 22. Inter-end spring; 30. Distal cover; 30a. Hair suction chamber; 30b. Receiving cavity; 30c. Narrow inner opening; 30d. Air inlet; 30e. Hair passage port; 30f. Motor housing cavity; 31. Housing body; 311. Internal partition; 31a. Guide section; 31b. Guide channel; 32. Bottom fastening plate; 32a. Bottom opening; 32b. Positioning protrusion; 40. Haircutting blade assembly; 41. Fixed blade; 41a. Moving straight groove; 42. Movable blade. 42a. Blade holder, 42b. Shearing part, 421. Coupling entity, 421a. Direct coupling groove, 421b. Restriction groove, 422. Blade body, 423. Moving protrusion, 42c. Hair cutting comb teeth, 43. Two-dimensional elastic rod, 50. Drive motor, 51. Crank wheel, 51a. Rotary coupling rod, 52. Fixed sheet metal frame, 60. Sensor module, 61. Sensor housing, 62. Position sensor, 70. Fine-tuning drive assembly, 71. Electric lead screw, 71a. Lead screw motor, 71b. Reduction gear set, 71c. Lead lever body, 72. Moving nut, 80. Fine-tuning entity, 81. Fine-tuning base, 81a. Coupling channel, 81b. Through hole, 82. Fine-tuning comb plate, 82a. Comb gap. Detailed Implementation

[0029] To make the technical means, creative features, objectives and effects of the present invention easier to understand, the following embodiments, in conjunction with the accompanying drawings, specifically illustrate the hair-cutting actuator with adjustable levels of the present invention. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0030] In this embodiment, the layer-adjustable haircutting actuator 100 is mounted on an external platform (not shown in the accompanying drawings). The head of the person being cut (not shown in the accompanying drawings) is used as the target head, and the haircutting actuator 100 is used to cut the hair on the target head. Specifically, the adaptive haircutting actuator is directly mounted on the external moving platform, which is located near the head of the person being cut (not shown in the accompanying drawings) and moves along a predetermined path. In this embodiment, the haircutting actuator 100 is mounted on the moving platform of the external haircutting robot.

[0031] like Figure 1 and Figure 2 As shown, the layer-adjustable haircutting actuator 100 includes a proximal housing 10, an adaptive component 20, a distal housing 30, a haircutting blade assembly 40, a drive motor 50, a sensor module 60, a fine-tuning drive assembly 70, and a fine-tuning entity 80.

[0032] The distal housing 30 is mounted on the proximal housing 10 via the adaptive component 20, and the proximal housing 10, the adaptive component 20, and the distal housing 30 are sequentially coupled along the mounting direction D1, so that the corresponding directions of the proximal end 10 and the distal end 30 are the mounting direction D1.

[0033] The proximal housing 10 is fixed on the external platform. The proximal housing 10 is provided with an exhaust fan 11, which exhausts air towards the distal housing 30. Specifically, the proximal housing 10 is injection molded and has a proximal air vent 10a that opens towards the distal housing 30. The exhaust fan 11 is located on the proximal air vent 10a and is located on the surface of the proximal housing 10 away from the distal housing 30. A grid filter window 12 is also provided between the exhaust fan 11 and the proximal air vent 10a.

[0034] like Figures 3 to 5 As shown, the adaptive component 20 includes an over-conduction conduit 21 and an inter-end spring 22.

[0035] The over-flow duct 21 extends along the mounting direction D1 and can be elastically retracted. The upper end of the over-flow duct 21 is connected to the exhaust fan 11. The grid filter window 12 is disposed between the exhaust fan 11 and the over-flow duct 21. When the exhaust fan 11 is blowing air, an airflow is formed in the over-flow duct 21 that flows towards the exhaust fan 11. This airflow flows through the grid filter window 12. The lower end of the over-flow duct 21 is connected to the far end cover 30. Specifically, the upper end of the over-flow duct 21 is connected to the near end air outlet 10a.

[0036] There are three inter-end springs 22. The elastic direction of the inter-end springs 22 is parallel to the mounting direction D1, and the extension axes of the three inter-end springs 22 (extending along the elastic direction) form three edges of a straight triangular prism. In this embodiment, the inter-end springs 22 are tower springs, and the larger end is connected to the near-end housing 10.

[0037] The distal housing 30 is a semi-open structure formed by injection molding, having a guide portion 31a and a bottom opening 32a, specifically, as shown in... Figure 6 and Figure 7 As shown, the distal housing 30 includes a housing body 31 and a bottom fastening plate 32 connected to each other.

[0038] Specifically, the shell body 31 is a semi-open shell that faces the head of the person being cut. Inside the shell body 31, there is an inner shell partition 311 and a motor receiving entity (not shown in the figure). The inner shell partition 311 extends toward the person being cut. The motor receiving entity has an inner surface (not shown in the figure) facing the inner shell partition 311. Inside the motor receiving entity, there is a motor receiving sub-cavity 30f that extends toward the person being cut. The motor receiving sub-cavity 30f has an opening on its inner surface. The drive motor 50 is located in the motor receiving sub-cavity 30f, and its output end extends into the shell body 31.

[0039] The guide portion 31a extends along a straight line and has two open ends that extend in the same direction as itself. Specifically, the guide portion 31a is formed by the motor housing body extending outward from the far end cover 30. The guide portion 31a extends toward the target head and the extending straight line intersects the straight line where the mounting direction D1 is located at an angle. In this embodiment, the guide portion 31a protrudes in a rectangular shape, the guide channel 31b is cylindrical, and the lower opening is located near the target head.

[0040] Specifically, such as Figure 8 As shown, the bottom fastening plate 32 is threadedly connected to the shell body 31 at the opening of the shell body 31. The bottom fastening plate 32 has a bottom opening 32a and a positioning protrusion 32b. The bottom opening 32a allows the distal cover 30 to be open towards the hairdresser.

[0041] The distal end cover 30 and the hair clipper assembly 40 enclose a hair suction cavity 30a. Specifically, the distal end cover 30 and the hair clipper assembly 40 enclose a hair suction cavity 30a and a receiving cavity 30b. The bottom opening 32a has a first region facing the head of the person being cut (not shown in the figure) and a second region (not shown in the figure) not facing the head of the person being cut but located near the head of the person being cut. The hair clipper assembly 40 is embedded in the first region, so that the whole formed by the distal end cover 30 and the hair clipper assembly 40 is only open near the head of the person being cut through the second region. The hair suction cavity 30a is the cavity between the second region and the inner partition 311. The receiving cavity 30b is the cavity between the hair clipper assembly 40, the inner partition 311, the bottom fastening plate 32 and the inner surface of the cavity. The free end of the inner partition 311 and the hair clipper assembly 40 form an inner through narrow opening 30c, so that the hair suction cavity 30a and the receiving cavity 30b are connected through the inner through narrow opening 30c.

[0042] The suction chamber 30a has an air inlet 30d and an over-flow port 30e. The air inlet 30d is open to the outside, and the over-flow port 30e is open to the over-flow pipe 21. Specifically, the air inlet 30d is the second region, and the over-flow port 30e is formed on the surface of the distal cover 30 near the proximal housing 10. The lower end of the over-flow pipe 21 is connected to the over-flow port 30e.

[0043] The drive motor 50 is coupled to the hair clipper assembly 40. Specifically, the output end of the drive motor 50 extends into the accommodating cavity 30b, and a crank wheel 51 is coaxially provided on the output end of the drive motor 50. The crank wheel 51 has a rotating coupling rod 51a extending toward the head of the hairdresser. A bent and extended fixed sheet metal frame 52 is also fixed on the inner surface of the cavity. One end of the fixed sheet metal frame 52 is fixed on the inner surface of the cavity, and the other end is connected to the hair clipper assembly 40. The fixed sheet metal frame 52 has a positioning hole (not shown in the figure), and the positioning protrusion 32b is engaged in the positioning hole, thereby realizing the stable positioning of the relative positional relationship between the shell body 31, the bottom fastening plate 32, and the hair clipper assembly 40.

[0044] The hair clipper assembly 40 is mounted on the distal housing 30. The hair clipper assembly 40 includes a fixed blade 41 and a movable blade 42 stacked along the mounting direction D1. like Figure 9 As shown, both the fixed blade 41 and the movable blade 42 have corresponding cutting portions 42b. The cutting portions 42b have multiple hair-cutting comb teeth 42c distributed along a predetermined straight direction D2. The predetermined straight direction D2 is perpendicular to the mounting direction D1. The sides of the hair-cutting comb teeth 42c form hair-cutting edge edges (not shown in the figure). The hair-cutting edge edges of the fixed blade 41 and the movable blade 42 correspond to each other and form hair-penetrating gaps (not shown in the figure). Thus, the cutting portions 42b of the fixed blade 41 and the movable blade 42 form multiple hair-penetrating gaps in a grid shape along the mounting direction D1. The passing direction of the hair-penetrating gaps extends along the mounting direction D1.

[0045] Specifically, both the fixed blade 41 and the movable blade 42 have an integrally formed blade holder 32a and a shearing part 42b. The blade holder 42a corresponds to the receiving cavity 30b, and the shearing part 42b corresponds to the suction cavity 30a.

[0046] The end face of the fixed blade 41 facing the target head is used as the mating end face (not shown in the figure). The mating end face is exposed through the bottom opening 32a and the mating end face faces the surface of the target head along the mounting direction D1. The cutting section 42b includes multiple hair-cutting comb teeth 42c, which are distributed along a predetermined straight direction D2. The sides of the hair-cutting comb teeth 42c form hair-cutting edge blades (not shown in the figure). The hair-cutting edge blades of the fixed blade 41 and the movable blade 42 correspond to each other and form hair-penetrating gaps. That is, the cutting section 42b of the fixed blade 41 and the movable blade 42 forms multiple hair-penetrating gaps in a grid shape along the mounting direction D1 (not shown in the figure). The lower end of the hair-passing pipe 21 is connected to the hair-penetrating gaps through the hair-suction chamber 30a. The hair-cutting edge blades are located at the edge of the air inlet 30d. The hair-suction chamber 30a is open to the target head through the hair-penetrating gaps, and the hair-penetrating gaps are located at the edge of the air inlet 30d. The hair-passing pipe 21 is connected to the hair-penetrating gaps through the hair-suction chamber 30a. Specifically, the cutting section 42b is in the shape of open comb teeth.

[0047] Specifically, the fixed blade 41 is fixed on the inner wall of the bottom fastening plate 32. The fixed blade 41 has a movable straight groove 41a facing the movable blade 42. The movable straight groove 41a extends along a predetermined straight direction D2. The fixed blade 41 is connected to the fixed sheet metal frame 52. The fixed sheet metal frame 52 is fixed on the inner surface of the cavity. The fixed blade 41 is fitted into the first area, thereby exposing the contact end face outward. The haircutting comb teeth 42c are located at the edge of the air inlet 30d and face outward. The lower surface of the fixed blade 41 is in contact with the head of the hairdresser, and the direction of the hair gap is perpendicular to the lower surface of the fixed blade 41.

[0048] Specifically, the movable blade 42 has a movable protrusion 423, a blade body 422, and a coupling entity 421 that are sequentially moved away from the fixed blade 41 along the mounting direction D1. The movable protrusion 423 and the coupling entity 421 are both injection molded parts, while the blade body 422 is a metal part. The blade body 422 has a welding through hole (not shown in the figure) extending along the mounting direction D1. The movable protrusion 423 and the coupling entity 421 are fused together through the welding through hole by a thermal fusion process. The movable protrusion 423 cooperates with the movable straight groove 321a, thereby enabling the movable blade 322 to move relative to the fixed blade 321 along a predetermined straight direction D2. The coupling entity 421 has a direct-motion coupling groove 421a and a limiting groove 421b. The extension direction of the direct-motion coupling groove 421a is perpendicular to the predetermined straight direction D2. The number of limiting grooves 421b is a pair, and the pair of limiting grooves 421b are arranged on opposite sides of the direct-motion coupling groove 421a along the predetermined straight direction D2.

[0049] The drive motor 50 drives the fixed blade 41 and the movable blade 42 to move repeatedly in opposite directions along a predetermined straight line D2, thereby causing the hair penetration gap to continuously open and close. When the hair penetration gap is open, the hair of the person being cut is inserted into the hair gap; when the hair penetration gap is closed, the hair inserted into the hair gap is cut off. Specifically, the rotary coupling rod 51a is inserted into the linear coupling groove 421a. When the drive motor 50 drives the crank wheel 51 to rotate, the rotary coupling rod 51a performs a circular motion, thereby driving the movable blade 42 to move back and forth along the predetermined straight line D2 through the coupling entity 421. After the hair penetration gap is closed and the hair is cut off, the cut hair is driven by the directional airflow between the exhaust fan 11 and the air inlet 30d, and is sucked away from the head surface of the person being cut through the hair suction chamber 30a and the hair passage pipe 21.

[0050] Specifically, during the haircutting process, the adaptive spacing between the head surface of the haircutting subject and the external moving platform depends on the adaptive component 20. That is, the adaptive effect is achieved through the retractability of the hair passage 21 and the three inter-end springs 22, rather than the external moving platform itself.

[0051] The hair clipper assembly 40 also includes a pair of two-dimensional elastic rods 43. One end of the two-dimensional elastic rod 43 is fixed to the fixed blade 41, and the other end is inserted into the limiting groove 421b. The two-dimensional elastic rod 43 has a first elastic direction and a second elastic direction. The first elastic direction is parallel to the predetermined straight line direction D2, and the second elastic direction is parallel to the mounting direction D1. The two-dimensional elastic rod 43 provides a buffer for the non-uniform speed movement of the movable blade 42 in the predetermined straight line direction D2 through the first elastic direction. The two-dimensional elastic rod 43 presses the movable blade 42 against the fixed blade 41 in the mounting direction D1 through the second elastic direction. Specifically, the pair of two-dimensional elastic rods 43 are an integral structure.

[0052] The sensor module 60 includes a sensor housing 61 and a position sensor 62.

[0053] The position sensor 62 is fixed on the remote housing 30. Specifically, the position sensor 62 is a gyroscope sensor. The position sensor 62 is fixed inside the sensor housing 61, and the sensor housing 61 is fixed on the guide part 31a.

[0054] like Figure 10 and Figure 11 As shown, the fine-tuning drive assembly 70 is used to drive the fine-tuning entity 80 to move closer to or away from the mating end face. The fine-tuning drive assembly 70 includes a cooperating electric lead screw 71 and a moving nut 72.

[0055] Specifically, the electric lead screw 71 and the moving nut 72 form a lead screw and nut structure. In this embodiment, the electric lead screw 71 has a lead screw motor 71a, a reduction gear set 71b and a lead lever body 71c coupled in sequence.

[0056] When the remote cover 30 moves on the target head, the position sensor 62 sends a fine-tuning signal, and the fine-tuning drive component 70 is activated based on the external command and the fine-tuning signal. In this embodiment, a control unit is provided on the mobile platform of the external hairdressing robot. The control unit is used to generate or receive external commands.

[0057] The fine-tuning entity 80 has a bent and integrally continuous fine-tuning base 81 and a fine-tuning comb plate 82.

[0058] The fine-tuning base 81 and the electric lead screw 71 are inserted from both ends of the guide channel 31b of the guide part 31a, respectively. The fine-tuning base 81 has a coupling channel 81a and an insertion through hole 81b that extend perpendicularly to each other and are connected.

[0059] The coupling channel 81a and the fine-tuning base 81 extend in the same direction and are open at both ends. The electric lead screw 71 is inserted into the coupling channel 81a, and the moving nut 72 is fitted into the insertion through hole 81b. The opposite sides of the moving nut 72 interfere with the inner wall of the insertion through hole 81b, so that the fine-tuning entity 80 is movably mounted on the guide part 31a through the fine-tuning base 81.

[0060] The fine-tuning comb plate 82 is disposed between the contact end face and the target head along the mounting direction D1. The fine-tuning comb plate 82 has a comb-card gap 82a, which corresponds to the hair penetration gap in the mounting direction D1. Specifically, the fine-tuning comb plate 82 is in the shape of an open comb tooth extending in the same direction as the hair cutting comb tooth 42c, and the extension length of the fine-tuning comb plate 82 is greater than the extension length of the hair cutting comb tooth 42c. When the fine-tuning drive component 70 is activated and drives the fine-tuning entity 80 to move, the fine-tuning comb plate 82 moves closer to or further away from the mating end face.

[0061] The above embodiments are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Various modifications or variations that can be made by those skilled in the art without creative effort within the scope of the appended claims are still within the scope of protection of this patent.

Claims

1. A layer-adjustable haircutting actuator, mounted on an external platform, with the head of the person being cut as the target head, the haircutting actuator being used to cut hair on the target head, characterized in that, include: The hair clipper assembly has a contact end face that faces the surface of the target head along the mounting direction. The hair clipper assembly has a hair-penetrating gap that extends along the mounting direction. The drive motor is coupled to the output of the hair-cutting blade assembly, thereby causing the hair-penetrating gap to continuously open and close. A fine-tuning comb plate is disposed between the mating end face and the target head along the mounting direction. A fine-tuning drive assembly is used to drive the fine-tuning comb plate to move closer to or further away from the mating end face. The fine-tuning comb plate has a comb-card gap, which corresponds to the hair penetration gap in the mounting direction.

2. The layer-adjustable haircutting actuator according to claim 1, characterized in that, Also includes: The distal end cover has a bottom opening and a guide portion. The hair clipper assembly is mounted on the distal end cover. The contact end face is exposed through the bottom opening, and the guide portion extends in a straight line. The fine-tuning entity has a bent and integrally continuous fine-tuning base and the fine-tuning comb plate. The fine-tuning base is movably disposed on the guide portion, so that when the fine-tuning drive assembly drives the fine-tuning entity to move, the fine-tuning comb plate moves closer to or further away from the mating end face.

3. The layer-adjustable haircutting actuator according to claim 2, characterized in that: in, A position sensor is also fixed on the distal cover. When the distal cover moves on the target head, the position sensor sends a fine-tuning signal, and the fine-tuning drive component is activated based on external commands and the fine-tuning signal.

4. The layer-adjustable haircutting actuator according to claim 2, characterized in that: in, The fine-tuning drive assembly includes a cooperating electric lead screw and a moving nut, the moving nut being coupled to the fine-tuning base.

5. The layer-adjustable haircutting actuator according to claim 4, characterized in that: in, The fine-tuning base has a coupling channel and an insertion through hole that extend in mutually perpendicular and interconnected directions. The coupling channel extends in the same direction as the fine-tuning base, the electric lead screw is inserted into the coupling channel, the movable nut is fitted into the insertion through hole, and the opposite sides of the movable nut interfere with the inner wall of the insertion through hole.

6. The layer-adjustable haircutting actuator according to claim 5, characterized in that: in, The guide portion has a guide channel that extends in the same direction as itself and is open at both ends, and the fine-tuning base and the electric lead screw are respectively inserted from both ends of the guide channel.

7. The layer-adjustable haircutting actuator according to claim 2, characterized in that, Also includes: A proximal housing, fixed to the external platform, is equipped with an exhaust fan. An adaptive component includes an over-draft conduit that is elastically retractable along the mounting direction, and the distal housing is disposed on the proximal housing via the adaptive component. The near-end housing, the adaptive component, and the far-end cover are sequentially coupled along the mounting direction, and the two ends of the over-generation pipe are respectively connected to the exhaust fan and the over-generation gap.

8. The layer-adjustable haircutting actuator according to claim 7, characterized in that: in, The distal casing and the hair-cutting blade together form a hair-suction chamber, which has an air inlet and a hair-passing outlet. The air inlet opens to the outside, and the hair-passing outlet opens to the hair-passing pipe. The hair-suction chamber opens to the target head through the hair-penetrating gap, and the hair-penetrating gap is located at the edge of the air inlet.

9. The layer-adjustable haircutting actuator according to claim 7, characterized in that: in, The adaptive component also includes three inter-end springs, the elastic direction of which is parallel to the mounting direction, and the extension axes of the three inter-end springs form three edges of a right triangular prism.

10. The layer-adjustable haircutting actuator according to claim 1, characterized in that: in, The hair clipper assembly includes fixed blades and movable blades stacked along the mounting direction, wherein the contact end face is the end face of the fixed blade facing the target head. Both the fixed blade and the movable blade have corresponding cutting sections. The cutting sections have multiple hair-cutting comb teeth distributed along a predetermined straight line direction, which is perpendicular to the mounting direction. The sides of the hair-cutting comb teeth form the hair-cutting edge. The hair-cutting edges of the fixed blade and the movable blade correspond to each other and form the hair-penetrating gap. The two cutting sections form a plurality of grid-like hair-penetrating gaps along the mounting direction.

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