CN111264995A - An Arbitrary Surface Recognition Nail Art System - Google Patents

Abstract

The invention discloses a nail art system for recognizing any curved surface. According to the curvature information and the position information of the nail, the surface recognition is carried out, the spray path of each nail area to be nailed is planned, and the spray path of each nail area is converted into the X-axis motion vector of the nail mechanism in the X-axis direction, The main control board of the Y-axis motion vector in the Y-axis direction, the Z-axis motion vector in the Z-axis direction, and the rotation vector of the area to be nailed, so as to realize the nail art direction of the nail mechanism perpendicular to the tangential direction of the area to be nailed. The range distance value performs curved manicure on the nails in the manicure area, so that the nails form more than one manicure layer. The nail art of the invention has high efficiency, high pattern resolution, high definition and no ink floating.

Description

An Arbitrary Surface Recognition Nail Art System

technical field

The invention relates to the technical field of nail art, in particular to an arbitrary curved surface recognition nail art system.

Background technique

With the increasing popularity of the nail art industry, nail art has become a fashionable behavior sought after by young ladies, and at the same time, it has formed a huge market prospect. Due to the use of plane inkjet technology in the current machine manicure operation, when the nail surface pattern is drawn, the pattern will be distorted, the pattern resolution will be reduced, the pattern clarity will be poor, and the ink will float. The effect of machine drawing is better than that of manicurists. The effect of manicure is much worse, but the efficiency of manicurists drawing manicures manually is relatively low, and the effect of manicure is directly related to the technical level of the manicurist. The same manicure pattern can be drawn by different manicurists. big difference. Therefore, there is an urgent need for those skilled in the art to provide a nail art technology with high nail art efficiency, high pattern resolution, high definition and no ink floating.

SUMMARY OF THE INVENTION

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

The technical scheme provided by the present invention is as follows:

An arbitrary curved surface recognition nail art system, comprising: a three-dimensional information acquisition mechanism for acquiring three-dimensional information of nails;

A driving mechanism for driving the movement of the nail art mechanism carrying the nail art object;

It is used to obtain the curvature information of the nail according to the three-dimensional information, plan the spray path of each nail area to be nailed according to the curvature information and the position information of the nail, and convert the spray path of each nail area into the nail art The main control board of the mechanism of the X-axis motion vector in the X-axis direction, the Y-axis motion vector in the Y-axis direction, the Z-axis motion vector in the Z-axis direction, and the rotation vector of the area to be nailed to realize the nail art The mechanism performs curved manicure on the nails in the manicure area along the manicure direction perpendicular to the tangent direction of the area to be manicured with a predetermined range of distance values, so that the nails form more than one manicure layer.

In the above technical solution, the nail art mechanism decorates the nail art object on the area to be nail art with a predetermined range of distance along the direction perpendicular to the area to be nail art, so that the nail art mechanism rotates around each nail to adapt to the radian of the nail and the nail art process is the same as that of the nail art. The distance of the nail is stably within the preset range, so that each area of the nail to be nailed can be drawn vertically with the surface tangent, avoiding the distortion and distortion of the pattern, low pattern resolution, poor pattern definition, floating ink, decorations Oblique and unreliable adhesion, poor user experience and other undesirable phenomena, thus ensuring that the pattern is more three-dimensional and realistic, high-resolution, high-definition, no floating ink phenomenon, and the nail art object is decorated in a direction perpendicular to the nail. The nail art area ensures the accuracy and verticality of the placement of the nail art objects, and ensures the three-dimensional, aesthetic and firmness of the installation of the decorations, thereby ensuring the nail art effect and user experience; more preferably, the present invention is an intelligent nail art, Manicure can be carried out according to the real condition of each nail, which is more scientific and reasonable, not only efficient, but also ensures excellent manicure effect and consistency of manicure effect.

Further, the drive mechanism includes an X-axis drive mechanism that drives the nail art mechanism to move according to the X-axis motion vector, a Y-axis drive mechanism that drives the nail art mechanism to move according to the Y-axis motion vector, and a Z-axis drive mechanism that drives the nail art mechanism to move according to the Y-axis motion vector. A Z-axis drive mechanism that drives the manicure mechanism to move by a motion vector, and a rotation mechanism that drives the manicure mechanism to rotate around the nail according to the rotation vector; the X-axis drive mechanism, the Y-axis drive mechanism, and the Z-axis At least one of the driving mechanisms is a synchronous transmission assembly, the synchronous transmission assembly includes a guide rail, a driving wheel, a driven wheel and a motor 1, the driving wheel and the driven wheel are sequentially installed in the same direction, and the synchronizing member is respectively connected with each other. The driving wheel and the driven wheel are tensioned and connected, and the motor drives the driving wheel to rotate; the Z-axis driving mechanism is installed on the X-axis driving mechanism to realize that the X-axis driving mechanism drives the Z-axis The drive mechanism reciprocates along the X-axis direction, and the Y-axis drive mechanism is installed on the Z-axis drive mechanism to realize that the Z-axis drive mechanism drives the Y-axis drive mechanism to reciprocate along the Z-axis direction. The mechanism is installed on the Y-axis drive mechanism to realize that the Y-axis drive mechanism drives the manicure mechanism to reciprocate along the Y-axis direction, so as to realize the manicure mechanism in the X-axis direction, the Y-axis direction and the Z-axis direction respectively. Reciprocating movement; the first motor is connected with the main control board.

In the above technical solution, the linearity of the movement direction is ensured by the guide rail, and the driving of the nail art mechanism is realized by the synchronizing piece, and the operation is more accurate, stable and firm.

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

The X-axis drive mechanism includes an X-axis guide rail extending along the X-axis direction, an X-axis driving wheel, an X-axis driven wheel, an X-axis synchronizing member and an X-axis motor; the X-axis driving wheel and the X-axis driven wheel are along The X-axis directions are arranged in sequence, the X-axis synchronizing members are respectively tensioned with the X-axis driving wheel and the X-axis driven wheel, and the X-axis motor drives the X-axis driving wheel to rotate;

The Y-axis drive mechanism includes a Y-axis guide rail extending along the Y-axis direction, a Y-axis driving wheel, a Y-axis driven wheel, a Y-axis synchronizing member and a Y-axis motor; the Y-axis driving wheel and the Y-axis driven wheel are along the The Y-axis directions are arranged in sequence, the Y-axis synchronizing members are respectively tensioned with the Y-axis driving wheel and the Y-axis driven wheel, and the Y-axis motor drives the Y-axis driving wheel to rotate;

The Z-axis drive mechanism includes a Z-axis guide rail extending along the Z-axis direction, a Z-axis driving wheel, a Z-axis driven wheel, a Z-axis synchronizing member and a Z-axis motor; the Z-axis driving wheel and the Z-axis driven wheel are along the The Z-axis directions are arranged in sequence, the Z-axis synchronizing elements are respectively tensioned with the Z-axis driving wheel and the Z-axis driven wheel, and the Z-axis motor drives the Z-axis driving wheel to rotate;

The Z-axis guide rail is slidably connected with the X-axis guide rail, the Z-axis guide rail is connected with the X-axis synchronizing member; the Y-axis guide rail is slidably connected with the Z-axis guide rail, and the Y-axis guide rail is connected with the X-axis guide rail. The Z-axis synchronizing member is connected; the nail art mechanism is connected with the Y-axis synchronizing member; the nail art mechanism is slidably connected with the Y-axis guide rail; the X-axis motor, the Y-axis motor and the Z-axis motor are all connected Connect with the main control board;

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

The rotating mechanism includes a rotating shaft and a rotating shaft sliding bearing seat;

The Y-axis guide rail includes a left end and a right end, the left end of the Y-axis guide rail is pivotably installed on the Z-axis synchronization member of the left Z-axis drive mechanism, and the right end of the Y-axis guide rail is pivotably installed. The Z-axis synchronizing member of the right Z-axis drive mechanism; the Y-axis guide rail is directly or indirectly connected to the rotating shaft sliding bearing seat through the rotating shaft, and the rotating shaft is located between the left Z-axis drive mechanism and the rotating shaft. Between the left Z-axis drive mechanism; the left Z-axis drive mechanism and the right Z-axis drive mechanism drive the Y-axis guide rail to move in the Z-axis direction in opposite directions, so that the Y-axis guide rail rotates around the rotation axis , so as to drive the manicure mechanism to rotate.

In the above technical solution, the lifting and lowering of the nail art mechanism is realized, and the rotation of the nail art mechanism around the nail is also realized, which greatly simplifies the structure of the driving mechanism, improves the integration of the present invention, and reduces the space occupancy rate of the present invention.

Further, the drive mechanism includes an X-axis drive mechanism that drives the nail art mechanism to move according to the X-axis motion vector, a Y-axis drive mechanism that drives the nail art mechanism to move according to the Y-axis motion vector, and a Z-axis drive mechanism that drives the nail art mechanism to move according to the Y-axis motion vector. A Z-axis drive mechanism that drives the manicure mechanism to move by a motion vector, and a rotation mechanism that drives the manicure mechanism to rotate around the nail according to the rotation vector; the X-axis drive mechanism, the Y-axis drive mechanism, and the Z-axis At least one of the driving mechanisms is a meshing transmission assembly, the meshing transmission assembly includes a driving gear, a linear rack and a second motor, the driving gear is meshed with the linear rack, and the second motor drives the driving gear to rotate The Z-axis drive mechanism is mounted on the X-axis drive mechanism to realize that the X-axis drive mechanism drives the Z-axis drive mechanism to reciprocate along the X-axis direction, and the Y-axis drive mechanism is mounted on the Z-axis The driving mechanism is to realize that the Z-axis driving mechanism drives the Y-axis driving mechanism to reciprocate along the Z-axis direction, and the nail art mechanism is installed on the Y-axis driving mechanism to realize that the Y-axis driving mechanism drives the nail art mechanism Reciprocating motion is performed along the Y-axis direction, so that the manicure mechanism can reciprocate in the X-axis direction, the Y-axis direction and the Z-axis direction respectively; the second motor is connected to the main control board.

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

Further, the drive mechanism includes an X-axis drive mechanism that drives the nail art mechanism to move according to the X-axis motion vector, a Y-axis drive mechanism that drives the nail art mechanism to move according to the Y-axis motion vector, and a Z-axis drive mechanism that drives the nail art mechanism to move according to the Y-axis motion vector. A Z-axis drive mechanism that drives the manicure mechanism to move by motion vector, and a rotating mechanism that drives the manicure mechanism to rotate around the nail according to the rotation vector; the rotating mechanism includes a second rotating shaft and a steering gear, and the manicure mechanism and the The steering gear is connected, the steering gear is connected to the Y-axis drive mechanism through the two shafts of the rotating shaft, and the steering gear is connected with the main control board.

In the above technical solution, the rotation of the steering gear is relatively low and precise, the transmission efficiency is high, and the response is timely.

Further, the nail art mechanism includes a nozzle, a plurality of ink sacs, a plurality of ink tanks and a mounting bracket; the nozzle is provided with a variety of nozzles arranged at intervals along the width direction of the nail, one of the ink tank, one of the The ink bag and one of the nozzles are communicated in turn and form an inkjet path for circulating a primary color of spray material; the nozzle is arranged towards the nail; the nozzle and the ink bag are both installed on the mounting bracket; The mounting bracket is installed on the drive mechanism; and/or, the nail art mechanism includes a vacuum pump, an electromagnetic reversing valve and a suction nozzle for picking up and placing decorations that are sequentially communicated through an airflow duct, and the electromagnetic reversing valve is configured to between the vacuum pump and the suction nozzle; the suction nozzle is connected with the drive mechanism.

In the above technical solution, a plurality of nozzles are arranged at intervals along the width direction of the nail, so that the area to be nailed that has been sprayed with the spray material of more than one base color can be selectively sprayed again by the subsequent nozzles moving to the upper side. The spray materials of other base colors will form a new spray color after mixing two or more spray materials sprayed on the same area to be nailed. Therefore, each area to be nailed arranged in sequence along the width of the nail can be combined according to the arrangement and combination of this device. The depth of the same spraying color is further refined, realizing the diversification of spraying colors, and because the same nail or different nails can be sprayed with the same or different spraying colors, as well as the division, quantity and location of the same nail and different nails to be nailed It can be the same or different, which greatly enriches the nail art pattern. The increase of the color greatly reduces the color difference of the nail art color, and the color saturation, clarity and effect consistency are greatly improved.

In the above technical solution, the decorations used for nail art are sucked by pneumatic means to be suitable for picking and placing various irregular shaped decorations, so that the decorations are just placed to fit the irregular curved surfaces of the nails, and the connection between the decorations and the nails is ensured. The utility model can obtain firmness without causing damage to the decorations, thereby improving the scope of application and practicability of picking and placing decorations.

The three-dimensional information acquisition mechanism includes a first camera and a second camera installed on the driving mechanism, and the first camera and the second camera are located above the area to be manicured; the first camera is directed above the nail. Image acquisition, the second camera is facing the side of the nail to perform image acquisition.

The three-dimensional information acquisition mechanism is a stereo camera or a 3D camera installed on the driving mechanism, and the stereo camera is located above the area to be nailed.

In the above technical solution, the two cameras or stereo cameras realize the acquisition of the real-time position and real-time shape of the nail, so as to adapt to the separate acquisition of data of different sizes, shapes, and each nail, and ensure that the present invention can provide accurate positioning of the nail and nail art. accuracy. It is worth noting that, in practical applications, when there is no camera for separately collecting position information, the position information of the nail can also designate a nail resting area for resting the nail.

Specifically, the three-dimensional information acquisition mechanism is a third camera and a sensor installed on the driving structure, and the third camera and the sensor are located above the area to be nail art; wherein, the third camera acquires the information of the nail. The sensor obtains the curved surface data of the nail; the third camera is directly or indirectly connected to the sensor in communication.

Specifically, the sensor is a dot-matrix laser sensor, and its dot-matrix laser beam area can cover the nail; the driving mechanism drives the dot-matrix laser sensor to move directly above the nail to realize the range of motion of the dot-matrix laser sensor Cover the nails to get the nail surface information in one go.

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

Specifically, the sensor is a line source laser sensor, and the line length of the line source is greater than or equal to the length or width of the fingernail, and the driving mechanism drives the line source laser sensor to perform one-dimensional motion, so that the The range of motion covers the nail to obtain information on the surface of the nail.

In the above technical solution, the three-dimensional information of each nail can be obtained in various ways, which greatly increases the product types of the present invention and meets different customers or application scenarios.

Further, it also includes a nail art request acquiring mechanism for acquiring nail art requirements, the nail art acquiring mechanism is connected to the main control board; and/or a curing mechanism for curing the nail art layer.

In the above technical solution, the user can choose the manicure requirements independently to realize self-service manicure, which greatly improves the application scenarios of the present invention, such as nail shops or streets, so as to realize the free, independent and self-service functions of manicure.

Further, it also includes a payment institution for collecting payment from the user, and the payment institution is connected to the main control board.

In the above technical solution, the manicure charges are self-service and independent, which greatly improves the application scenarios and places of the present invention, thereby realizing manicure at any time and anywhere, and providing good users for users who like manicures but do not want to go to nail salons for manicures. experience.

Compared with the prior art, the beneficial effects of the arbitrary curved surface recognition nail art system are:

It is realized that each nail area to be nailed is drawn on a plane with a predetermined distance range value, which ensures that the nail art pattern is more three-dimensional and realistic, high-resolution, high-definition, and has no ink floating phenomenon, and the decorations are perpendicular to the nails. The direction of the nail is decorated in the area to be nailed, which ensures the accuracy and verticality of the decoration, and ensures the three-dimensional, aesthetic and firmness of the installation of the decoration, thereby ensuring the nail effect and user experience; more preferably, the present invention For intelligent manicure, manicure can be carried out according to the real condition of each nail, manicure is more scientific and reasonable, not only the efficiency of manicure is high, but also the excellent manicure effect and the consistency of manicure effect are guaranteed.

Description of drawings

In the following, in a clear and easy-to-understand manner, the preferred embodiments will be described with reference to the accompanying drawings, and the above-mentioned characteristics, technical features, advantages and implementation methods of an arbitrary curved surface recognition nail art system will be further described.

1 is a schematic structural diagram of an embodiment of the present invention;

Fig. 2 is a kind of perspective structure schematic diagram of Fig. 1;

Fig. 3 is another perspective structure schematic diagram of Fig. 1;

4 is a schematic structural diagram of another embodiment of the present invention;

FIG. 5 is a schematic diagram of a viewing angle structure of FIG. 4 .

Description of reference numbers:

1111.Z-axis motor, 1112.Z-axis driving wheel, 1113.Z-axis bearing seat, 1114.Z-axis driven wheel, 1115.Z-axis guide rail, 1116.Z-axis slider, 1117.Z-axis synchronization piece fixing block, 1118 .Slider fixing plate, 1121.Y-axis guide rail, 1122.Y-axis driven wheel, 1123.Y-axis slider, 1124.Y-axis fixing frame, 1125.Y-axis driving wheel, 1126.Y-axis motor, 1131.X-axis Slider, 1132.X-axis guide rail, 1133.X-axis bearing seat, 1134.X-axis driven wheel, 1135.X-axis synchronization piece fixing block, 1136.X-axis driving wheel, 1137.X-axis motor, 1141. Shaft connection joint , 1142. Rotating shaft sliding bearing seat, 1143. Rotating shaft, 12. Fixed bottom plate, 131. Ink bag, 132. Nozzle, 133. Mounting bracket, 14. 3D dot matrix laser sensor, 15. Finger groove, 151. Sub-finger Slot, 16. Main control board, 17. Image collector 1, 181. Ultraviolet lamp, 182. Mounting plate, 183. Vertical bracket, 184. Horizontal bracket.

Detailed ways

In the following description, for the purpose of illustration rather than limitation, specific details such as a specific system structure and technology are set forth in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It is to be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described feature, integer, step, operation, element and/or component, but does not exclude one or more other The presence or addition of features, integers, steps, operations, elements, components and/or collections.

In order to keep the drawings concise, the drawings only schematically show the parts related to the present invention, and they do not represent its actual structure as a product. In addition, in order to make the drawings concise and easy to understand, in some drawings, only one of the components having the same structure or function is schematically shown, or only one of them is marked. As used herein, "one" not only means "only one", but also "more than one". In this article, it should be noted that, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection, or It can be connected in one piece; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations. It should also be further understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items . For convenience of description, the description of the present application defines the X-axis direction as the length direction of the nail, the Y-axis direction as the width direction of the nail, and the Z-axis direction as the height direction, but in practical applications, it is not limited to this.

In an embodiment of the present invention, as shown in Figures 1-5, a nail art system for recognizing any curved surface includes: a three-dimensional information acquisition mechanism for acquiring three-dimensional information of a nail; a nail art mechanism for driving a manicured object Moving drive mechanism; used to obtain the curvature information of the nail according to the three-dimensional information, plan the spray path of each nail area to be nailed according to the curvature information and the position information of the nail, and convert the spray path of each nail area into a nail mechanism The main control board 16 of the X-axis motion vector in the X-axis direction, the Y-axis motion vector in the Y-axis direction, the Z-axis motion vector in the Z-axis direction, and the rotation vector of the area to be nailed to realize the nail mechanism along the vertical direction. The nail art direction in the tangential direction of the area to be nail art decorates the area to be nail art with a predetermined range of distance values, so that the nails form more than one nail art layer.

In practical applications, the manicure direction of the nail manicure mechanism along the tangential direction perpendicular to the area to be manicured is the center of the sphere of the area to be manicured whose manicure direction is over the curved surface. The driving mechanism realizes the movement of the nail art mechanism according to the X-axis motion vector, the Y-axis motion vector, the Z-axis motion vector, and the rotation vector, so as to realize the nail art mechanism along the nail art direction perpendicular to each area to be nail art and with a predetermined range distance value. The object is decorated on the corresponding area to be nailed, so as to realize the plane drawing of each area to be nailed, and to ensure that the distance between the nail mechanism and each area to be nailed is in a stable value when the same decoration is decorated in each area to be nailed. Within the distance range, it is worth noting that the distance values in the predetermined range of different nail art objects or areas to be nail art can be the same or different, and the setting is based on ensuring the nail art effect. The technician can set the nail art object through experience or experimental results. The distance value in the predetermined range is not repeated here. The position information of the nail can be obtained by acquiring image frames of the nail according to the image collector-17 to confirm the coordinates and shape of the nail. The position information of the nail can also be obtained according to the coordinate system set in advance based on the area where the nail is placed. The shape of the fingernail can be provided by the three-dimensional information acquisition mechanism. Nail art can be sprays of different base colors for spray patterns and/or decorations for nail decoration (such as patches, beads, pattern decorations in various shapes, etc.) and/or for nail protection or protection Nail art spray. It is worth noting that the manicure layer can be formed by any of the above-mentioned manicure objects, and the number of layers of the manicure layer can be one or more layers. Then proceed to the next layer of nail art decoration. The nail art objects decorated in different nail art areas can be the same or different, the number of layers of nail art layers can be the same or different, and the nail art objects decorated in different nail art areas on the same layer of nail art layer can be the same or different, depending on the user’s nail art requirements: allow. The to-be-manicured area of the nail is preferably divided by the curvature information, that is, the nail area with the same curvature and adjacently arranged, or it can be divided equally according to the width direction or the length direction of the nail, and can be divided according to actual needs.

In another embodiment of the present invention, as shown in FIGS. 1-5 , a system for recognizing nail art with any curved surface includes: a three-dimensional information acquisition mechanism for acquiring three-dimensional information of nails; a nail art for driving nail art objects The driving mechanism for the movement of the mechanism; it is used to obtain the curvature information of the nail according to the three-dimensional information and plan the spray path of each nail area to be nailed according to the curvature information and the position information of the nail, and convert the spray path of each nail area into a drive The main control board 16 of the mechanism is the X-axis motion vector in the X-axis direction, the Y-axis motion vector in the Y-axis direction, the Z-axis motion vector in the Z-axis direction, and the rotation vector of the area to be nailed, so as to realize the vertical direction of the nail mechanism. In the nail art direction of the tangential direction of the nail art area, the nail art object is decorated on the nail art area with a predetermined range distance value, so that the nails form more than one layer of nail art layer; Mechanism, the Y-axis drive mechanism that drives the nail mechanism to move according to the Y-axis motion vector, the Z-axis drive mechanism that drives the nail mechanism to move according to the Z-axis motion vector, and the rotation mechanism that drives the nail mechanism to rotate around the nail according to the rotation vector; X-axis drive mechanism , At least one of the Y-axis drive mechanism and the Z-axis drive mechanism is a synchronous transmission assembly. The synchronous transmission assembly includes a guide rail, a driving wheel, a passive wheel and a motor one. The driving wheel and the passive wheel are arranged in turn in the same direction. The wheel and the driven wheel are tensioned and connected, and the motor drives the driving wheel to rotate; the X-axis drive mechanism drives the Z-axis drive mechanism to reciprocate along the X-axis direction, the Z-axis drive mechanism drives the Y-axis drive mechanism to reciprocate along the Z-axis direction, and the Y-axis drive mechanism drives the reciprocating motion along the Z-axis direction. The shaft driving mechanism drives the manicure mechanism to reciprocate along the Y-axis direction; the first motor is connected to the main control board 16 . Preferably, both the driving wheel and the driven wheel are installed by bearings to reduce their wear and prolong their service life.

Exemplarily, as shown in Figures 1-3, the X-axis drive mechanism includes an X-axis guide rail 1132 extending along the X-axis direction, an X-axis driving wheel 1136, an X-axis driven wheel 1134, an X-axis synchronizing member and an X-axis motor 1137; The X-axis driving wheel 1136 and the X-axis driven wheel 1134 are arranged in sequence along the X-axis direction, the X-axis synchronizing member is respectively connected with the X-axis driving wheel 1136 and the X-axis driving wheel 1134 in tension, and the X-axis motor 1137 drives the X-axis driving wheel 1136 to rotate The Y-axis drive mechanism includes a Y-axis guide rail 1121, a Y-axis driving wheel 1125, a Y-axis driven wheel 1122, a Y-axis synchronizing member and a Y-axis motor 1126 extending along the Y-axis direction; the Y-axis driving wheel 1125 and the Y-axis driven wheel 1122 Arranged in sequence along the Y-axis direction, the Y-axis synchronizing members are respectively tensioned with the Y-axis driving wheel 1125 and the Y-axis driven wheel 1122, and the Y-axis motor 1126 drives the Y-axis driving wheel 1125 to rotate; the Z-axis driving mechanism includes extending along the Z-axis direction. Z-axis guide rail 1115, Z-axis driving wheel 1112, Z-axis driven wheel 1114, Z-axis synchronization member and Z-axis motor 1111; The Z-axis driving wheel 1112 and the Z-axis driven wheel 1114 are respectively tensioned and connected, the Z-axis motor 1111 drives the Z-axis driving wheel 1112 to rotate; the Z-axis guide rail 1115 is slidingly connected with the X-axis guide rail 1132, and the Z-axis guide rail 1115 is connected with the X-axis synchronization part. connection; the Y-axis guide rail 1121 is slidably connected with the Z-axis guide rail 1115, and the Y-axis guide rail 1121 is connected with the Z-axis synchronization part; the nail art mechanism is connected with the Y-axis synchronization part; the X-axis motor 1137, the Y-axis motor 1126 and the Z-axis motor 1111 are all connected with The main control board 16 is connected. Preferably, the Z-axis guide rail 1115 is slidably mounted on the X-axis guide rail 1132 through the X-axis slide block 1131 slidably connected to the X-axis guide rail 1132 , and the X-axis guide rail 1132 and the X-axis slide block 1131 are concave-convex matched, that is, the X-axis guide rail 1132 is provided with a concave-convex guide. If there is a groove, the X slider is provided with a protrusion that matches the groove, and vice versa; of course, the X-axis guide rail 1132 can also be a rod or a plate, and the X-axis slider 1131 corresponding to the X-axis guide rail 1132 is provided with a The X-axis guide rail 1132 runs through the through groove to realize the sliding of the X-axis slider 1131 on the X-axis guide rail 1132; it is worth noting that the same structure is also applicable to the Y-axis drive mechanism and the Z-axis drive mechanism, but for The Y-axis drive mechanism needs to decorate the nails above the nails. Therefore, the Y-axis drive mechanism preferably realizes sliding connection through T-shaped grooves and T-shaped protrusions, or through the through groove of the Y-axis guide rail 1121 through the Y-axis slider 1123. . The number of guide rails and the number of sliders are both one or more. The nail art mechanism can be mounted on the Y-axis slider 1123 of the Y-axis drive mechanism, and the Y-axis guide rail 1121 of the Y-axis drive mechanism is mounted on the Z-axis slider 1116 of the Z-axis drive mechanism. Preferably, the Z-axis guide rail 1115 is connected to the X-axis synchronizing member through the X-axis synchronizing member fixing block 1135 , the Z-axis sliding block 1116 is connected to the Z-axis synchronizing member fixing block through the Z-axis synchronizing member fixing block 1117 , and the Y-axis sliding block 1123 Connect directly to the Y-axis synchronizer. Preferably, the X-axis slider 1131 is connected to the Z-axis guide rail 1115 through the slider fixing plate 1118 , the Z-axis driven wheel 1114 is installed on the slider fixing plate 1118 through the Z-axis bearing seat 1113 ; the X-axis guide rail 1132 is installed on a fixed bottom plate 12 , the X-axis driven wheel 1134 is installed on the fixed base plate 12 through the X-axis bearing seat 1133; the Y-axis motor 1126 is installed on the Y-axis fixing frame 1124, the Y-axis fixing frame 1124 is connected with the Y-axis guide rail 1121, and the Y-axis driving wheel 1125 is connected to the Y-axis The passive wheels 1122 are also installed on the Y-axis fixing frame 1124. The Y-axis fixing frame 1124 is preferably a U-shaped plate with its opening facing the side of the human body. 1116 is connected, the Y-axis driving wheel 1125 and the Y-axis driven wheel 1122 are installed on the bottom plate of the U-shaped plate on the side close to the human body, and the Y-axis motor 1126 is installed on the surface of the U-shaped plate on the side away from the human body. Preferably, in order to ensure the linearity of the driving mechanism, the guide rails (X-axis guide rail 1132, Y-axis guide rail 1121, Z-axis guide rail 1115) and sliders (X-axis slider 1131, Y-axis slider 1123, There are two Z-axis sliders 1116), and the two guide rails are parallel and spaced apart. Driving wheel (X-axis driving wheel 1136, Y-axis driving wheel 1125, Z-axis driving wheel 1112), passive wheel (X-axis driving wheel 1134, Y-axis driving wheel 1122, Z-axis driving wheel 1114) and motor (X-axis motor 1137 , Y-axis motor 1126, Z-axis motor 1111) can be set to more than one group. It is worth noting that the installation relationship of the X-axis driving mechanism, the Y-axis driving mechanism and the Z-axis driving mechanism can be adjusted in response, and the driving mechanism drives the nail art mechanism to achieve three-dimensional movement.

Preferably, the image collector 1 17 for acquiring the position information of the nail is installed above the nail through a supporting mechanism, and the supporting mechanism includes a vertical bracket 183 extending along the Z-axis direction and a lateral bracket 184 extending along the Y-axis direction. The bracket 184 is installed on the upper end of the vertical bracket 183 . The image capturer 1 17 can be fixedly installed on the lateral bracket 184 or slidably installed on the lateral bracket 184 , so that the image capture device 1 17 is disposed toward the nail from top to bottom. Preferably, the two vertical brackets 183 are located on both sides of the nail, one end of the horizontal bracket 184 is connected to the upper end of one of the two vertical brackets 183, and the other end of the horizontal bracket 184 is connected to the two vertical brackets 183. Connect to the upper end of the other vertical bracket 183 in the brackets 183 , so that the horizontal bracket 184 is erected on the image collector 1 17 . Preferably, a curing mechanism for curing the nail art layer is also included, and the curing mechanism is mounted on the lateral support 184 or the mounting plate 182. In practical applications, the curing mechanism may be an ultraviolet curing mechanism or a hot air curing mechanism, wherein the ultraviolet curing mechanism includes multiple The hot air curing mechanism includes a plurality of air outlets for blowing hot air to the nails. The air outlets are of conical structure, and the large diameter section of the air outlet is arranged close to the nail. Of course, the curing mechanism can also be installed on the driving mechanism, so that each nail art layer to be cured can be cured by the curing mechanism in time after the decoration is completed, thereby shortening the time-consuming of nail art and improving the efficiency of nail art. Therefore, the curing mechanism and the nail art mechanism can be installed on the Y-axis slider 1123 at the same time, but the curing mechanism is provided at the rear end of the nail art path of the nail art mechanism. Of course, the curing mechanism and the image acquisition device-17 can also be installed independently, but they should also belong to the protection scope of the present invention.

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

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

Preferably, the nail art mechanism includes a nozzle 132, a plurality of ink sacs 131, a plurality of ink tanks, and a mounting bracket 133; It is connected with a nozzle in turn and forms an inkjet path for circulating a primary color of spray material; the nozzle is arranged towards the nail; the nozzle 132 and the ink bag 131 are installed on the mounting bracket 133; the mounting bracket 133 is installed on the driving mechanism, the nozzle 132 Connect with the main control board 16 . Specifically, the mounting bracket 133 is mounted on the Y-axis slider 1123 . Preferably, the manicure mechanism includes a vacuum air pump, an electromagnetic reversing valve and a suction nozzle for picking up and placing decorations that are sequentially communicated through an air flow pipe, and the electromagnetic reversing valve is arranged between the vacuum air pump and the suction nozzle; the suction nozzle is connected to the driving mechanism , both the vacuum air pump and the electromagnetic reversing valve are connected to the main control board 16 , preferably, a throttle valve is arranged between the vacuum air pump and the electromagnetic reversing valve. It is worth noting that the nail art mechanism can only have the function of inkjet spraying or only decorative decorations, and the nail art mechanism can also have both the function of inkjet spraying and decorative decorations, which can be set according to actual needs. , the suction nozzle and the nozzle can both be installed on the mounting bracket 133, of course, the suction nozzle and the nozzle can also be installed at different positions of the Y-axis slider 1123, and even the suction nozzle and the nozzle can be moved by two sets of driving mechanisms. The ink tank is installed on the fixed bottom plate 12 through the ink tank bracket, and the ink tank and the ink bag 131 are communicated one by one through a hose or a telescopic tube. Preferably, it also includes a decoration box for storing decorations, the decoration box is provided with independent storage areas corresponding to each decoration, and the decoration box is placed on the fixed bottom plate 12 and located within the working range of the driving mechanism. It is worth noting that when the driving mechanism is a mechanical arm, it is also the protection scope of the present invention, and when the driving mechanism is a mechanical arm, the X-axis motion vector, the Y-axis motion vector, the Z-axis motion vector, and the rotation vector are the various components of the robotic arm. Motion vector sum.

In practical applications, the number of primary colors can be three primary colors (such as cyan, magenta, yellow or such as red, yellow, blue), four primary colors (such as cyan, magenta, yellow, black or such as red, yellow, blue) , black), six primary colors (such as cyan, light cyan, magenta, light red, yellow, black or such as red, light red, yellow, blue, light blue, black), eight primary colors (purple, blue, cyan , light green, yellow-green, yellow, dark red, red), etc., an inkjet channel is set corresponding to the spray material of each base color, and the driving mechanism drives the nozzle 132 to move to realize that the same area to be nailed is sprayed with more than one base color in turn. material. In practical applications, during the movement of the six-color spray head 132 along the width of the nail, the six nozzles can selectively spray one base color spray material on the same area of the nail to be nailed, because the six nozzles are along the width of the nail. Arranged at intervals in sequence, so that the area to be nailed that has been sprayed with more than one base color spray material can be selectively sprayed with other base color spray materials by the subsequent nozzles moving to the top of it again, and sprayed successively on the same nail area to be nailed. After two or more spray materials are mixed, a new spray color will be formed. Therefore, according to the arrangement and combination of each nail area to be nailed arranged in sequence along the width direction of the nail, the device can further refine the depth of the same spray color and realize the spray color. Diversification, and because the same nail or different nails can be sprayed with the same or different spray colors, and the division, quantity, and position of the nail art area of the same nail and different nails can be the same or different, thus greatly enriching the nail art patterns and colors. The increase in nail color chromatic aberration is greatly reduced, and the color saturation and clarity are greatly improved. When the number of nozzles corresponding to each base color is more than two, the two or more nozzles are arranged at intervals along the length of the nail in order to improve the efficiency of nail art. It is worth noting that the manicure mechanism can also achieve manicure along the length of the nail. For the specific implementation method, please refer to the nail mechanism to achieve the manicure along the width of the nail. The difference is that the installation method of the nozzle is changed by setting it at intervals along the width of the nail. They are arranged at intervals along the length of the nail, and the installation modes of the X-axis driving mechanism, the Y-axis driving mechanism and the Z-axis driving mechanism of the driving mechanism can be unchanged or changed.

Preferably, the suction nozzle includes a suction nozzle body, a ball joint and a screw part; the screw part includes a threaded section and a connecting section, the screw section is screwed with the mounting bracket 133, the connecting section is provided with a accommodating cavity, and the ball joint includes The ball head end and the connecting end, the ball head end of the ball head connecting piece is movably accommodated in the accommodating cavity, and the connecting end of the ball head connecting piece is connected with the suction nozzle body; Preferably, the suction nozzle body is an elastic piece, such as a rubber suction nozzle. In practical applications, the threaded section can be a screw or a nut. Correspondingly, the mounting bracket 133 is provided with a nut or a screw that is screwed with the screwed section; The connection is realized by the connecting piece, and the direction of the decoration can be realized by the rotation of the motor-driven mounting bracket 133 at this time.

Preferably, the three-dimensional information information acquisition mechanism is a three-dimensional lattice laser sensor 14, and the three-dimensional lattice laser sensor 14 is disposed toward the nail from top to bottom. The 3D lattice laser sensor 14 directly emits a dot matrix laser to obtain the curvature information and shape and size information of the nail. The size of the lattice laser area of the 3D lattice laser sensor 14 is larger than that of the nail, and the shape and size of the nail can be quickly and accurately obtained at one time. , the curvature information, combined with the image collector 17 to identify the edge area of the nail. When the curvature recognition of multiple nails is performed, the relative position information of the multiple nails needs to be recognized by the image collector 1 17, and then the 3D lattice laser sensor 14 is controlled to move to a designated position for data information acquisition (the 3D lattice laser sensor 14 is installed It can be realized by the Y-axis slider 1123 ), or a plurality of 3D lattice laser sensors 14 corresponding to a plurality of fingernails (ie, the sub-finger grooves 151 ), then there is no need to move the 3D lattice laser sensors 14 at this time.

In another embodiment of the present invention, different from the above-mentioned embodiments, at least one of the X-axis driving mechanism, the Y-axis driving mechanism and the Z-axis driving mechanism in this embodiment is a meshing transmission assembly, and the meshing transmission assembly includes a drive Gear, linear rack and motor 2, the driving gear is meshed with the linear rack, and the motor 2 drives the driving gear to rotate; the X-axis drive mechanism drives the Z-axis drive mechanism to reciprocate along the X-axis direction, and the Z-axis drive mechanism drives the Y-axis drive. The mechanism reciprocates along the Z-axis direction, and the Y-axis drive mechanism drives the nail art mechanism to reciprocate along the Y-axis direction; the second motor is connected to the main control board 16 . Preferably, the side of the linear rack is provided with a guide rail that is slidably connected to the linear rack, the guide rail and the linear rack are arranged in parallel, and the connection between the guide rail and the linear rack can be the same as the connection between the guide rail and the slider above, through the concave and convex The matching or linear rack is provided with a through slot for the guide rail to penetrate, so as to ensure the linearity of the reciprocating motion of the linear rack. When the X-axis drive mechanism, the Y-axis drive mechanism, and the Z-axis drive mechanism are all meshing transmission components, the Z-axis drive mechanism can be installed on the linear rack of the X-axis drive mechanism through a mounting piece or directly, and the Y-axis drive mechanism can be installed through the Mounting parts or directly mounted on the linear rack of the Z-axis drive mechanism.

In another embodiment of the present invention, different from any of the above-mentioned embodiments, the rotating mechanism of this embodiment includes a second rotating shaft and a steering gear, the nail art mechanism is connected to the steering gear, and the steering gear is connected to the Y-axis through the second rotating shaft The driving mechanism and the steering gear are connected to the main control board 16 . In practical applications, the steering gear is connected to the Y-axis slider 1123 through two shafts, and the steering gear rotates to drive the spray head 132 and/or the suction nozzle to rotate. Preferably, the steering gear is connected to a driving gear, the mounting bracket 133 is connected to an arc-shaped rack, and the driving gear is meshed with the arc-shaped rack, so that the steering gear drives the driving gear to rotate, thereby realizing that the arc-shaped rack drives the mounting bracket 133 is rotated, thereby realizing the rotation of the suction nozzle and/or the spray head 132 . Of course, in another embodiment of the present invention, the steering gear can also be directly connected to the mounting bracket 133 through a connecting piece. Or in another embodiment of the present invention, the steering gear is connected to a driving wheel, the mounting bracket 133 is connected to the outer peripheral wall of a driven wheel, the driving gear is meshed with the driven gear, and the driving wheel is driven to rotate by the steering gear. The driven wheel is driven to rotate to realize the rotation of the mounting bracket 133 connected with the driven wheel, thereby realizing the rotation of the spray head 132 and/or the suction nozzle. Preferably, the Z-axis driving wheel 1112 and the Z-axis motor 1111 are directly connected with the shaft hole, the Z-axis driving wheel 1112 and the Z-axis driven wheel 1114 are connected through the Z-axis timing belt, and the Z-axis timing belt is connected with the Z-axis slider 1116. The Z-axis slider 1116 is slidably connected to the Z-axis guide rail 1115, thereby driving the Y-axis fixing frame 1124 to move up and down in the Z-axis direction; the X-axis motor 1137 and the X-axis driving wheel 1136 are directly connected to the shaft hole, and the X-axis motor 1137 driving wheel It is connected with the X-axis driven wheel 1134 through the X-axis timing belt, and the X-axis timing belt is also fixed on the X-axis slider 1131. The X-axis motor 1137 drives the X-axis slider 1131 to move on the X-axis guide rail 1132, thereby driving the Y-axis The fixing frame 1124 reciprocates in the X-axis direction, thereby driving the nozzle 132 and/or the suction nozzle to reciprocate in the X-axis direction; the Y-axis driving wheel 1125 and the Y-axis passive wheel 1122 are connected by the Y-axis synchronous belt, and the Y-axis is synchronized at the same time The belt is fixed on the Y-axis slider 1123, and the Y-axis motor 1126 drives the Y-axis driving wheel 1125 to rotate, thereby driving the Y-axis slider 1123 to reciprocate in the Y-axis direction, thereby driving the spray head 132 and/or the suction nozzle along the Y-axis direction Reciprocating motion; the rotational movement of the spray head 132 is fixed inside the mounting bracket 133 with the spray head 132 and/or the suction nozzle through the steering gear, the steering gear shaft is connected to the Y-axis slider 1123, and the steering gear rotates to drive the spray head 132 and/or Nozzle rotates. It is worth noting that the synchronizing element can also be a synchronizing chain in addition to a synchronizing belt.

In practical applications, when the nail needs to be spray painted, the human finger is placed in the corresponding finger groove 15, and the image collector 1 17 takes pictures to obtain the plane coordinate information of the nail, and then the data is transmitted to the main control board 16 for data processing. The analysis is converted into the movement of the X-axis motor 1137, the movement of the Y-axis motor 1126, and then the movement of the three-dimensional lattice laser sensor 14 connected to the Y-axis slider 1123 is controlled. The nail acquires three-dimensional information and transmits it to the main control board 16, and then obtains the curvature information of the nail through the main control board 16, and then combines the position information obtained by the image collector 1 17 for data analysis and processing, and converts it into an X-axis motor 1137 (via The rotation of the X-axis motor 1137 can realize the X-axis motion vector of the nozzle 132 in the X-axis direction), the Y-axis motor 1126 (the Y-axis motion vector of the nozzle 132 in the Y-axis direction can be achieved by the rotation of the Y-axis motor 1126), the Z-axis The movement of the motor 1111 (the Z-axis motion vector of the nozzle 132 in the Z-axis direction can be realized by the rotation of the Z-axis motor 1111) and the rotational movement of the steering gear connected with the mounting bracket 133 can control the nail mechanism where the nozzle 132 is located to move up and down. movement, side-to-side movement, forward-backward movement, and rotational movement of the spray head 132 . The movement of the Y-axis motor 1126 can control the movement of the nozzle 132 to different nails, and can control the X-axis movement of the nozzle 132 relative to the nail when printing on the same nail, so as to adapt to the length of the nail for painting, and the movement of the Y-axis motor 1126 can control The spray head 132 moves left and right relative to the nail to adapt to the width of the nail, and performs a reciprocating motion in the Y-axis direction for spray painting. The movement of the Z-axis motor 1111 can control the height of the nozzle 132 relative to the fingernail, so as to print at a precise predetermined height, avoid the problem of floating ink, and improve the quality of the print pattern. The mounting bracket 133 and the Y-axis slider 1123 are connected by a steering gear. The steering gear can control the rotation of the mounting bracket 133 to realize the rotation of the nozzle 132 so as to adapt to the irregular curved surface of the fingernail for printing. The spraying angle of the nozzle 132 always passes through the driving mechanism. The movement of the nail is adjusted to an angle perpendicular to the area to be sprayed on the nail, and the height of the spray head 132 is adjusted to be within a predetermined range according to the height of the area to be sprayed, so as to improve the precision and quality of printing, avoid ink floating and pattern deformation and distortion, and improve clarity.

In another embodiment of the present invention, different from any of the above-mentioned embodiments, the three-dimensional information acquisition mechanism of this embodiment is the second image collector, and the second image collector is set from the front of the nail to the back of the nail toward the nail, to obtain a cross-sectional profile of the nail. In practical applications, in order to facilitate the second image collector to smoothly capture the cross-sectional profile of the nail, the second image collector is located on the side of the nail far from the human body, and each sub-finger groove 151 is a channel, and the second image collector can A camera with a working range covering each sub-finger slot 151 is set up, and the second image collector can also be provided with one corresponding to each sub-finger slot 151, or when the second image collector is one, the second image collector can reciprocate along the Y-axis direction. Move, so that the second image acquisition device can perform image acquisition on each nail by moving, preferably, the image acquisition device is installed on the Y-axis drive mechanism. The top image of the nail is collected by the image collector 1 17 installed at an angle of 90°, and the side image of the nail is collected by the image collector 2. Through the image analysis of the main control board 16, the curvature information and position information of the nail (that is, the curved surface) can be obtained. parameters, size shape, and 3D coordinates).

In another embodiment of the present invention, different from any of the above-mentioned embodiments, the three-dimensional information acquisition mechanism of this embodiment is a point source laser sensor, the point source laser sensor is installed on the driving mechanism, and the driving mechanism drives the point source laser sensor Move to achieve the range of motion of the point source laser sensor to cover the nail. Specifically, the point source laser sensor can be installed on the Y-axis drive mechanism, or even on the mounting bracket 133, through the Y-axis drive mechanism and the X-axis drive mechanism, the two-dimensional movement of the point source laser sensor (that is, the movement in the horizontal direction can be realized) ) to obtain the curvature information of the nail by scanning the nail. Therefore, the point source laser sensor can be mounted on the Y-axis slider 1123 . In another embodiment of the present invention, the point source laser sensor may not be provided in the driving mechanism, as long as the working range of the point source laser sensor (ie, the optical path of the point source laser sensor) covers the nail.

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

In another embodiment of the present invention, different from any of the above-mentioned embodiments, the three-dimensional information acquisition mechanism of this embodiment is a three-dimensional image collector, and the three-dimensional image collector is arranged from top to bottom toward the nail. In this case, the image collector 1 17 and the three-dimensional information acquisition mechanism can be integrated into a three-dimensional image collector, which simultaneously realizes the acquisition of the nail curvature information and the position information. Of course, the image acquisition device 17 and the three-dimensional information acquisition mechanism can also be two independent components.

In another embodiment of the present invention, different from any of the above-mentioned embodiments, the three-dimensional information acquisition mechanism of this embodiment is a contact probe, the contact probe is installed on the driving mechanism, and the driving mechanism drives the contact probe to contact the fingernail and Make the range of motion of the touch probe cover the fingernail. Specifically, the contact probe may be a one-dimensional point probe, which contacts the nail and obtains the curvature information and shape and size information of the nail relative to the movement of the nail in the X-axis direction and the Y-axis direction. The probe can be mounted on the Y-axis slider 1123 or the mounting bracket 133 . The contact probe can be a two-dimensional linear array probe to obtain the curvature information of the nail directly by touching the fingernail in a certain axis relative to the nail, then the two-dimensional linear array probe can be installed on the X-axis slider 1131 or the Y-axis on the slider 1123. The contact probe can be a three-dimensional planar array of probes to obtain the nail curvature information and shape and size information directly by contacting the nail. At this time, the three-dimensional planar discharge probe array can be directly installed on the finger groove 15 or the fixed bottom plate 12, or Can be installed on the drive mechanism.

In another embodiment of the present invention, on the basis of any of the above-mentioned embodiments, a nail art request acquisition mechanism for acquiring nail art requirements is further included, and the nail art acquisition mechanism is connected to the main control board 16 . The manicure request acquisition mechanism is preferably equipped with a display screen and touch points, and the user or manicure staff selects or designs according to the manicure requirements to form the user's manicure requirements, so that the main control board 16 controls the image acquisition device 17, 17, The three-dimensional information acquisition mechanism, driving mechanism (X-axis driving mechanism, Y-axis driving mechanism, Z-axis driving mechanism, rotating mechanism), nail art mechanism and curing mechanism work in an orderly manner to complete the nail art. The decoration sequence and curing requirements of the nail art layer can be set according to actual experience, such as the operation sequence of the nail art layer. Then the polishing layer is sprayed, and finally the decoration is posted. For example, the operation sequence of the manicure layer in the second example: when there is no need to post decorations, the last step (the decoration of the decoration) can be removed as in the operation sequence of the nail layer in the example one. Example 3: First, the nails are sprayed with the protective layer, then dried, then the nail art layer is sprayed, then dried, then the protective nail layer is sprayed, then dried, and then the adhesion layer for adhering the decoration is sprayed spraying, sticking of decorations, drying, etc. When the nail art requirement is to realize the set nail art package, it can be controlled according to the pre-set nail art order of the nail art package. Of course, it can also be set according to the spraying requirements corresponding to each decoration, so that the corresponding operations can be performed when decorating different decorations.

Preferably, it also includes a payment institution for collecting user payment fees, and the payment institution is connected to the main control board 16 . The payment institution can calculate the user's payment fee according to the requirements of manicure. When the user pays the corresponding user's payment fee, the manicure operation will be opened for the user. This operation mode is suitable for unmanned manicure technology, that is, the present invention can be placed in shopping malls, nail shops, etc. Or the streets and other places, to achieve user autonomy and self-manicure. Of course, the payment institution can also collect the user's payment fee after the user's manicure is completed. This operation method is suitable for the user to place an order in the nail salon or through the APP and other conditions under the supervision of the manicure staff.

It should be noted that, the X-axis driving mechanism, the Y-axis driving mechanism and the Z-axis driving mechanism in the above embodiments may be the same or different, and may be selected according to actual needs. The above embodiments can be freely combined as required. The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made. It should be regarded as the protection scope of the present invention.

Claims (10)

1. an arbitrary curved surface recognition manicure system, is characterized in that, comprises: A three-dimensional information acquisition mechanism for acquiring three-dimensional information of the nail; A driving mechanism for driving the movement of the nail art mechanism carrying the nail art object; It is used to obtain the curvature information of the nail according to the three-dimensional information, plan the spray path of each nail area to be nailed according to the curvature information and the position information of the nail, and convert the spray path of each nail area into the nail art The main control board of the mechanism of the X-axis motion vector in the X-axis direction, the Y-axis motion vector in the Y-axis direction, the Z-axis motion vector in the Z-axis direction, and the rotation vector of the area to be nailed to realize the nail art The mechanism performs curved manicure on the nails in the manicure area along the manicure direction perpendicular to the tangent direction of the area to be manicured with a predetermined range of distance values, so that the nails form more than one manicure layer. 2. any curved surface recognition nail art system as claimed in claim 1, is characterized in that: The drive mechanism includes an X-axis drive mechanism that drives the nail art mechanism to move according to the X-axis motion vector, a Y-axis drive mechanism that drives the nail art mechanism to move according to the Y-axis motion vector, and a Z-axis motion vector. A Z-axis drive mechanism that drives the nail art mechanism to move, and a rotation mechanism that drives the nail art mechanism to rotate around the nail according to the rotation vector; the X-axis drive mechanism, the Y-axis drive mechanism, and the Z-axis drive mechanism At least one of the mechanisms is a synchronous transmission assembly, the synchronous transmission assembly includes a guide rail, a driving wheel, a driven wheel and a motor, the driving wheel and the driven wheel are sequentially arranged in the same direction, and the synchronizing member is respectively connected with the driving wheel. The wheel and the driven wheel are tensioned and connected, and the motor drives the driving wheel to rotate; the Z-axis driving mechanism is installed on the X-axis driving mechanism to realize that the X-axis driving mechanism drives the Z-axis driving mechanism Reciprocating motion along the X-axis direction, the Y-axis drive mechanism is installed on the Z-axis drive mechanism to realize that the Z-axis drive mechanism drives the Y-axis drive mechanism to reciprocate along the Z-axis direction, and the nail art mechanism is installed In the Y-axis driving mechanism, the Y-axis driving mechanism drives the manicure mechanism to reciprocate along the Y-axis direction, so as to realize the reciprocating motion of the manicure mechanism in the X-axis direction, the Y-axis direction and the Z-axis direction respectively. ; The first motor is connected to the main control board. 3. any curved surface recognition nail art system as claimed in claim 2, is characterized in that: The X-axis driving mechanism, the Y-axis driving mechanism and the Z-axis driving mechanism are all the synchronous transmission components; The X-axis drive mechanism includes an X-axis guide rail extending along the X-axis direction, an X-axis driving wheel, an X-axis driven wheel, an X-axis synchronizing member and an X-axis motor; the X-axis driving wheel and the X-axis driven wheel are along The X-axis directions are arranged in sequence, the X-axis synchronizing members are respectively tensioned with the X-axis driving wheel and the X-axis driven wheel, and the X-axis motor drives the X-axis driving wheel to rotate; The Y-axis drive mechanism includes a Y-axis guide rail, a Y-axis driving wheel, a Y-axis driven wheel, a Y-axis synchronizing member and a Y-axis motor matched along the Y-axis direction; the Y-axis driving wheel and the Y-axis driven wheel are along the The Y-axis directions are installed in sequence, the Y-axis synchronizing member is respectively tensioned with the Y-axis driving wheel and the Y-axis driven wheel, and the Y-axis motor drives the Y-axis driving wheel to rotate; The Z-axis drive mechanism includes a Z-axis guide rail extending along the Z-axis direction, a Z-axis driving wheel, a Z-axis driven wheel, a Z-axis synchronizing member and a Z-axis motor; the Z-axis driving wheel and the Z-axis driven wheel are along the The Z-axis directions are arranged in sequence, the Z-axis synchronizing elements are respectively tensioned with the Z-axis driving wheel and the Z-axis driven wheel, and the Z-axis motor drives the Z-axis driving wheel to rotate; The Z-axis guide rail is slidably connected with the X-axis guide rail, the Z-axis guide rail is connected with the X-axis synchronizing member; the Y-axis guide rail is slidably connected with the Z-axis guide rail, and the Y-axis guide rail is connected with the X-axis guide rail. The Z-axis synchronizing member is connected; the nail art mechanism is connected with the Y-axis synchronizing member; the nail art mechanism is slidably connected with the Y-axis guide rail; the X-axis motor, the Y-axis motor and the Z-axis motor are all connected Connect with the main control board; The two sets of the X-axis drive mechanisms are located on both sides of the nail along the Y-axis direction to form a left X-axis drive mechanism and a right X-axis drive mechanism. The X-axis drive mechanism carries and installs the Z-axis drive mechanism so that the The Z-axis driving mechanism of the left X-axis driving mechanism is a left Z-axis driving mechanism, so that the Z-axis driving mechanism installed on the right X-axis driving mechanism is a right Z-axis driving mechanism; The rotating mechanism includes a rotating shaft and a sliding bearing on the rotating shaft, and a sliding bearing seat for installing the sliding bearing; The Y-axis guide rail includes a left end and a right end, the left end of the Y-axis guide rail is rotatably installed on the Z-axis synchronization member of the left Z-axis drive mechanism, and the right end of the Y-axis guide rail is pivotably installed on the The Z-axis synchronizing member of the right Z-axis drive mechanism; the Y-axis guide rail is directly or indirectly connected to the rotating shaft sliding bearing seat through the rotating shaft, and the rotating shaft is located between the left Z-axis drive mechanism and the left Between the Z-axis drive mechanisms; the left Z-axis drive mechanism and the right Z-axis drive mechanism drive the Y-axis guide rail to move in the Z-axis direction in opposite directions, so that the Y-axis guide rail rotates around the rotation axis, to drive the manicure mechanism to rotate. 4. any curved surface recognition nail art system as claimed in claim 1, is characterized in that: The drive mechanism includes a coordinated X-axis drive mechanism that drives the manicure mechanism to move according to the X-axis motion vector, a Y-axis drive mechanism that drives the nail mechanism to move according to the Y-axis motion vector, and moves according to the Z-axis The Z-axis driving mechanism for vector driving the nail mechanism to move, and the rotation mechanism for driving the nail mechanism to rotate around the nail according to the rotation vector; the X-axis driving mechanism, the Y-axis driving mechanism and the Z-axis driving mechanism At least one of the mechanisms is a meshing transmission assembly, the meshing transmission assembly includes a driving gear, a linear rack and a second motor, the driving gear is meshed with the linear rack, and the second motor drives the driving gear to rotate; The Z-axis driving mechanism is installed on the X-axis driving mechanism to realize that the X-axis driving mechanism drives the Z-axis driving mechanism to reciprocate along the X-axis direction, and the Y-axis driving mechanism is mounted on the Z-axis driving mechanism. Mechanism to realize that the Z-axis drive mechanism drives the Y-axis drive mechanism to reciprocate along the Z-axis direction, and the nail art mechanism is installed on the Y-axis drive mechanism to realize that the Y-axis drive mechanism drives the nail art mechanism along the Z axis. The reciprocating motion is performed in the Y-axis direction, so that the manicure mechanism can reciprocate in the X-axis direction, the Y-axis direction and the Z-axis direction respectively; the second motor is connected to the main control board. 5. any curved surface recognition nail art system as claimed in claim 2, is characterized in that: The drive mechanism includes an X-axis drive mechanism that drives the nail art mechanism to move according to the X-axis motion vector, a Y-axis drive mechanism that drives the nail art mechanism to move according to the Y-axis motion vector, and a Z-axis motion vector. A Z-axis drive mechanism that drives the nail art mechanism to move, and a rotating mechanism that drives the nail art mechanism to rotate around the nail according to the rotation vector; the rotating mechanism includes a second rotating shaft and a steering gear, and the nail art mechanism and the steering gear The steering gear is connected to the Y-axis drive mechanism through the two shafts of the rotating shaft, and the steering gear is connected to the main control board. 6. the arbitrary curved surface recognition nail art system as described in any one of claim 1-3, is characterized in that: The manicure mechanism includes a nozzle, a plurality of ink sacs, a plurality of ink silos and a mounting bracket; the nozzle is provided with a variety of nozzles arranged at intervals along the width direction of the nail, one of the ink silo, one of the ink sacs The nozzle is connected with one of the nozzles in turn to form an inkjet passage for circulating a primary color of spray material; the nozzle is arranged towards the nail; the nozzle and the ink bag are installed on the installation bracket; the installation a bracket mounted to the drive mechanism; and/or, The manicure mechanism includes a vacuum air pump, an electromagnetic reversing valve and a suction nozzle for picking up and placing decorations that are sequentially communicated through an air flow pipe, and the electromagnetic reversing valve is arranged between the vacuum air pump and the suction nozzle; The suction nozzle is connected with the driving mechanism. 7. the arbitrary curved surface recognition nail art system as described in any one of claim 1-3, is characterized in that: The three-dimensional information acquisition mechanism includes a first camera and a second camera installed on the driving mechanism, and the first camera and the second camera are respectively located above and to the side of the area to be nailed; The camera is installed above the nail position to look down on the nail to collect images, and the second camera faces the side of the nail to collect images; and / or; The three-dimensional information acquisition mechanism is a stereo camera or a 3D camera installed on the driving mechanism, and the stereo camera is located above the area to be nailed. 8. the arbitrary curved surface recognition manicure system as described in any one of claim 1-3, is characterized in that: The three-dimensional information acquisition mechanism is a sensor and a third camera installed on the driving structure, and the third camera and the sensor are located above the area to be manicured; wherein, the third camera acquires the position of the nail, so the The sensor acquires the curved surface data of the nail; the third camera is directly or indirectly connected in communication with the sensor. 9. The manicure system for recognizing any curved surface of claim 8, wherein: The sensor is a dot-matrix laser sensor, and its dot-matrix laser beam area can cover the nail; the driving mechanism drives the dot-matrix laser sensor to move directly above the nail, so that the detection range of the dot-matrix laser sensor completely covers the nail , to obtain the nail surface information at one time; or; The sensor is a point source laser sensor, and the driving mechanism drives the point source laser sensor to move two-dimensionally, so that the range of motion of the point source laser sensor covers the nail, so as to obtain the nail surface information; or; The sensor is a line source laser sensor, and the line length of the line source is greater than or equal to the length or width of the fingernail, and the driving mechanism drives the line source laser sensor to do one-dimensional movement, so that the range of activity of the line source laser sensor is covered. nails to get the nail surface information. 10. The arbitrary curved surface recognition nail art system according to any one of claims 1-3, characterized in that, further comprising: a manicure request acquisition mechanism for acquiring nail manicure requirements, the nail acquisition mechanism being connected to the main control board; and/or, a curing mechanism for curing said nail art layer; and/or; A payment institution for collecting user payment fees, and the payment institution is in communication connection with the main control board.

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