CN108938363A - A kind of double mechanical arms work compound cupping glass bed - Google Patents
A kind of double mechanical arms work compound cupping glass bed Download PDFInfo
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- CN108938363A CN108938363A CN201810903082.9A CN201810903082A CN108938363A CN 108938363 A CN108938363 A CN 108938363A CN 201810903082 A CN201810903082 A CN 201810903082A CN 108938363 A CN108938363 A CN 108938363A
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- series connection
- fixedly mounted
- mechanical arm
- fixedly installed
- balcony
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- 239000011521 glass Substances 0.000 title claims abstract description 27
- 150000001875 compounds Chemical class 0.000 title claims abstract description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 22
- 239000000446 fuel Substances 0.000 claims description 12
- 239000002737 fuel gas Substances 0.000 claims description 9
- 239000000567 combustion gas Substances 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 4
- 239000007788 liquid Substances 0.000 claims description 3
- 238000002560 therapeutic procedure Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 230000003678 scratch resistant effect Effects 0.000 description 2
- 235000009161 Espostoa lanata Nutrition 0.000 description 1
- 240000001624 Espostoa lanata Species 0.000 description 1
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 1
- 206010041591 Spinal osteoarthritis Diseases 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 230000017531 blood circulation Effects 0.000 description 1
- 208000036319 cervical spondylosis Diseases 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000023597 hemostasis Effects 0.000 description 1
- 230000036407 pain Effects 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 208000005801 spondylosis Diseases 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H9/00—Pneumatic or hydraulic massage
- A61H9/005—Pneumatic massage
- A61H9/0057—Suction
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M1/00—Suction or pumping devices for medical purposes; Devices for carrying-off, for treatment of, or for carrying-over, body-liquids; Drainage systems
- A61M1/08—Cupping glasses, i.e. for enhancing blood circulation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0142—Beds
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Biomedical Technology (AREA)
- Engineering & Computer Science (AREA)
- Vascular Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of double mechanical arms work compound cupping glass bed, including 3-dimensional freedom platform, series connection collaboration arm, work head, back work head, the first lead screw, the first support, the first stepper motor, lathe bed, bedstead, leg disc, pillow, the first guide rod.Three-coordinate type 3-dimensional freedom platform two conjunction with mechanical arms of series connection constitute cupping glass mechanism and auxiliary body.Seven freedom cupping glass mechanism cooperates with six degree of freedom auxiliary body, and working space is big, controls flexibly intelligence, and can imitate a variety of (Chinese) cupping therapy.Camera can scan human body and ranging, for determining cupping glass position, planning track.Cupping glass is automated, any position of whole body can be pulled out, and save manpower.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of double mechanical arms work compound cupping glass bed.
Background technique
Cupping is to generate negative pressure using tank as tool using the methods of combustion fire, pumping, be allowed to be adsorbed in body surface, cause part
Hemostasis, therapy the effects of to reach clearing and activating the channels and collaterals, the promoting flow of qi and blood circulation, swelling and pain relieving, expelling wind and clearing away cold.Cupping therapy has in China
Long history, early at book in the book copied on silk " 52 Bingfang " in Western Han Dynastry's period just about the record of " horn cupping ", horn cupping is just
Similar to the cupping therapy of later age.And external ancient Greek, ancient rome era also once cupping therapy prevailing.Flash-fire cupping cupping operation
Main points: it is lighted with tweezers folder cotton ball soaked in alcohol, is extracted out again in tank around a circle；Tank, which is covered on, rapidly to pull out on position, can be sucked.
Several applications of cupping stay tank, walk tank, dodge tank and pricking and cupping.To save manpower and normalized operation, it is badly in need of a kind of automatic
Cupping glass device.As Patent No. CN201711200197.3 provides a kind of " Special Automatic cupping glass physical therapy of orthopaedics cervical spondylosis
Massage apparatus ", including roof supporting, pushing suction means, two massage machines and rotating machinery arm device etc., its advantage is that knot
Structure is simple, is automatically performed neck cupping glass process；The disadvantage is that intelligence degree is low, and it is confined to the cupping of neck.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of double mechanical arms work compound cupping glass bed, Three-coordinate type Three Degree Of Freedom
Platform two conjunction with mechanical arms of series connection constitute cupping glass mechanism and auxiliary body.Seven freedom cupping glass mechanism cooperates with six degree of freedom auxiliary
Mechanism is helped, working space is big, controls flexibly intelligence, and can imitate a variety of (Chinese) cupping therapy.Camera can scan human body and ranging,
For determining cupping glass position, planning track.Cupping glass is automated, any position of whole body can be pulled out, and save manpower.
Technical solution used in the present invention is: a kind of double mechanical arms work compound cupping glass bed, including Three Degree Of Freedom is flat
Platform, series connection collaboration arm, work head, back work head, the first lead screw, the first support, the first stepper motor, lathe bed, bedstead, stabilizer blade
Disk, pillow, the first guide rod, there are four first supports, is fixedly mounted on lathe bed upper bottom surface quadrangle；Pillow is fixedly mounted on
Lathe bed upper bottom surface one end, bedstead is fixedly mounted on lathe bed bottom surface, and four overhanging shaft ends are respectively fixedly installed with a leg disc；The
One lead screw both ends are hinged on two first supports of right side, and one end support outer is fixedly installed with one first stepper motor, motor
Output shaft is connect with lead screw；First guide rod is fixedly mounted on two first supports of left side；3-dimensional freedom platform two sides are mounted on
On one lead screw and the first guide rod；Series connection collaboration arm is fixedly mounted on 3-dimensional freedom platform；Work head and back work head difference
It is fixedly mounted on two mechanical arms on series connection collaboration arm.
The 3-dimensional freedom platform include the first sliding block, big cupping jar, the first balcony, the second guide rod, second stepper motor,
Second lead screw, the second balcony, the first electric pushrod, first servo motor, third balcony, the first camera, the second sliding block, small fire
Tank, first harmonic decelerator, counter flange, the first sliding block internal thread hole and the first lead screw above-mentioned cooperate, and are placed with thereon
Three big cupping jar；The inner hole of second sliding block and the first guide rod above-mentioned cooperate, and there are three small cuppings for placement thereon；First balcony
Two sides are respectively and fixedly installed on the first sliding block and the second sliding block；Second guide rod is fixedly mounted on front side of the first balcony on support；
Second lead screw both ends are hinged on rear side of the first balcony on support；Second stepper motor is fixedly mounted on rear side of the first balcony on support
And output shaft is connect with the second lead screw；The second balcony both ends are separately mounted on the second guide rod and the second lead screw；First
There are two electric pushrods, is respectively and fixedly installed to the second balcony upper bottom surface two sides；The third balcony upper bottom surface is fixedly mounted
In the push rod end of two the first electric pushrods；First servomotor is fixedly mounted on third balcony upper bottom surface；First camera
There are two, it is respectively hinged at beam column two sides on the upside of the first balcony；First harmonic decelerator is fixedly mounted on third balcony bottom surface,
Its input shaft and first servo motor export axis connection；Counter flange is fixedly mounted on first harmonic decelerator output end.
The series connection collaboration arm includes chassis, the second support, the second servo motor, second harmonic retarder, the first string
Join mechanical arm, third servo motor, third harmonic retarder, the second series connection mechanical arm, the 4th harmonic speed reducer, third cascade machine
Tool arm, the 4th series connection mechanical arm, the 4th servo motor, second camera, chassis are fixedly mounted on counter flange above-mentioned,
On be fixedly installed with a second camera；There are two second supports, is respectively and fixedly installed to chassis two sides；Each second support two
Side is fixedly installed with one second servo motor and second harmonic retarder respectively, and motor shaft is connect with reducer output shaft；It is left
Side second harmonic retarder output end is fixedly installed with one first series connection mechanical arm, and right side second harmonic retarder output end is fixed
One the 4th series connection mechanical arm is installed；First series connection mechanical arm other end two sides be fixedly installed with respectively a third servo motor and
Third harmonic retarder, and motor shaft is connect with reducer output shaft；4th series connection mechanical arm other end two sides are fixed respectively to pacify
Equipped with a third servo motor and third harmonic retarder, and motor shaft is connect with reducer output shaft；Second series connection mechanical arm
The third harmonic retarder output end being fixedly mounted on the first series connection mechanical arm；Third series connection mechanical arm is fixedly mounted on the 4th
The third harmonic retarder output end connected on mechanical arm；Third series connection mechanical arm other end two sides are fixedly installed with one the respectively
Four servo motors and the 4th harmonic speed reducer, and motor shaft is connect with reducer output shaft.
The work head includes the 5th series connection mechanical arm, the 5th servo motor, screw rod, third support, handgrip, rubber
Pad, connecting rod, nut, the 5th series connection mechanical arm are fixedly mounted on the 4th harmonic speed reducer output end above-mentioned；5th servo motor
It is fixedly mounted on the 5th series connection mechanical arm, and is fixedly installed with a screw rod on its output shaft；There are six third supports, and two one
Group is uniformly fixedly mounted on the 5th mechanical series arm, and a handgrip is hinged on every group of third support, and each handgrip grasping end is solid
Dingan County is equipped with a rubber pad, and rubber pad has elasticity, for anti-skidding scratch resistant when grabbing cupping jar；There are six the connecting rods, often
Two one group, every group of connecting rod one end is hinged on handgrip overhanging end, and the other end is hinged on nut；The nut is matched with screw rod
It closes and constitutes a screw pair.
Further, the back work head includes support plate, bracket, nozzle, fork plate, needle, the second electric pushrod, combustion
Gas tank, fuel gas conduit, pipe sleeve, support plate are fixedly mounted on the second series connection mechanical arm above-mentioned；It is fixedly installed on front side of support plate
One bracket, a fork plate and second electric pushrod, pressing cupping jar edge skin is deflated when fork plate is for removing cupping jar；Institute
The needle stated is fixedly mounted on the second electric pushrod push rod end；The nozzle is fixedly mounted on bracket, is used for flame；Support plate
Rear side is fixedly installed with a fuel cartridge and a pipe sleeve, stores liquid combustion gas in fuel cartridge；The fuel gas conduit both ends are solid
On fuel cartridge and nozzle, middle part passes through pipe sleeve for Dingan County, is used for delivery of fuel gas.
Since present invention employs above-mentioned technical proposals, the invention has the following advantages that (1) seven freedom cupping glass mechanism
Six degree of freedom auxiliary body is cooperateed with, working space is big, controls flexibly intelligence, and can imitate a variety of (Chinese) cupping therapy；(2) camera can
To scan human body and ranging, for determining cupping glass position, planning track: (3) automate cupping glass, and it is any can to pull out whole body
Position, and save manpower.
Detailed description of the invention
Fig. 1, Fig. 2, Fig. 3 are overall structure diagram of the invention.
Fig. 4, Fig. 5 are 3-dimensional freedom platform structural schematic diagram of the invention.
Fig. 6, Fig. 7 are that series connection of the invention cooperates with arm configuration schematic diagram.
Fig. 8 is working head structure schematic diagram of the invention.
Fig. 9, Figure 10 are back work header structure schematic diagram of the invention.
Figure 11 is nut part structural schematic diagram of the invention.
Drawing reference numeral: 1- 3-dimensional freedom platform；2- series connection collaboration arm；3- work head；4- back work head；5- first
Thick stick；The first support of 6-；The first stepper motor of 7-；8- lathe bed；9- bedstead；10- leg disc；11- pillow；The first guide rod of 12-；101-
First sliding block；The big cupping jar of 102-；The first balcony of 103-；The second guide rod of 104-；105- second stepper motor；The second lead screw of 106-；
The second balcony of 107-；The first electric pushrod of 108-；109- first servo motor；110- third balcony；The first camera of 111-；
The second sliding block of 112-；113- small cupping；114- first harmonic decelerator；115- counter flange；The chassis 201-；202- second
Seat；The second servo motor of 203-；204- second harmonic retarder；The series connection mechanical arm of 205- first；206- third servo motor；
207- third harmonic retarder；The series connection mechanical arm of 208- second；The 4th harmonic speed reducer of 209-；210- third series connection mechanical arm；
The series connection mechanical arm of 211- the 4th；The 4th servo motor of 212-；213- second camera；The series connection mechanical arm of 301- the 5th；302-
Five servo motors；303- screw rod；304- third support；305- handgrip；306- rubber pad；307- connecting rod；308- nut；401- branch
Fagging；402- bracket；403- nozzle；404- fork plate；405- needle；The second electric pushrod of 406-；407- fuel cartridge；408- combustion gas
Pipe；409- pipe sleeve.
Specific embodiment
The invention will be further described combined with specific embodiments below, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1, Figure 2, a kind of double mechanical arms collaboration shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11
Operation cupping glass bed, including 3-dimensional freedom platform 1, series connection collaboration arm 2, work head 3, back work head 4, the first lead screw 5, first
Support 6, the first stepper motor 7, lathe bed 8, bedstead 9, leg disc 10, pillow 11, the first guide rod 12, there are four the first supports 6, Gu
Dingan County is mounted in 8 upper bottom surface quadrangle of lathe bed.Pillow 11 is fixedly mounted on 8 upper bottom surface one end of lathe bed, and bedstead 9 is fixedly mounted on lathe bed 8
Bottom surface, and four overhanging shaft ends are respectively fixedly installed with a leg disc 10.First lead screw, 5 both ends are hinged on two first supports of right side
On 6, and one end support outer is fixedly installed with one first stepper motor 7, and motor output shaft is connect with lead screw.First guide rod 12 is solid
Dingan County is on two first support 6 of left side.1 two sides of 3-dimensional freedom platform are mounted on the first lead screw 5 and the first guide rod 12.Series connection
Collaboration arm 2 is fixedly mounted on 3-dimensional freedom platform 1.Work head 3 and back work head 4 are respectively and fixedly installed to series connection collaboration arm
On two mechanical arms on 2.
3-dimensional freedom platform 1 includes the first sliding block 101, big cupping jar 102, the first balcony 103, the second guide rod 104, second step
Into motor 105, the second lead screw 106, the second balcony 107, the first electric pushrod 108, first servo motor 109, third balcony
110, the first camera 111, the second sliding block 112, small cupping 113, first harmonic decelerator 114, counter flange 115, first is sliding
101 internal thread hole of block and the first lead screw 5 above-mentioned cooperate, and there are three big cupping jar 102 for placement thereon.Second sliding block 112 it is interior
Hole and the first guide rod 12 above-mentioned cooperate, and there are three small cuppings 113 for placement thereon.First balcony, 103 two sides are fixed respectively to pacify
On the first sliding block 101 and the second sliding block 112.Second guide rod 104 is fixedly mounted on 103 front side support of the first balcony.The
Two lead screws, 106 both ends are hinged on 103 rear side support of the first balcony.Second stepper motor 105 is fixedly mounted on the first balcony 103
On rear side support and output shaft is connect with the second lead screw 106.Second balcony, 107 both ends are separately mounted to the second guide rod 104 and
On two lead screws 106.There are two first electric pushrods 108, is respectively and fixedly installed to 107 upper bottom surface two sides of the second balcony.Third day
110 upper bottom surface of platform is fixedly mounted on the push rod end of two the first electric pushrods 108.First servo motor 109 is fixedly mounted on
Three balconies, 110 upper bottom surface.There are two first cameras 111, is respectively hinged at 103 upside beam column two sides of the first balcony.First is humorous
Wave retarder 114 is fixedly mounted on 110 bottom surface of third balcony, and input shaft and first servo motor 109 export axis connection.It crosses
It crosses flange 115 and is fixedly mounted on 114 output end of first harmonic decelerator.
Series connection collaboration arm 2 include chassis 201, the second support 202, the second servo motor 203, second harmonic retarder 204,
First series connection mechanical arm 205, third servo motor 206, the series connection mechanical arm the 208, the 4th of third harmonic retarder 207, second are humorous
Wave retarder 209, third series connection mechanical arm the 210, the 4th series connection mechanical arm 211, the 4th servo motor 212, second camera
213, chassis 201 is fixedly mounted on counter flange 115 above-mentioned, is fixedly installed with a second camera 213 thereon.Second
There are two seats 202, is respectively and fixedly installed to 201 two sides of chassis.Each second support, 202 two sides are fixedly installed with one second respectively
Servo motor 203 and second harmonic retarder 204, and motor shaft is connect with reducer output shaft.Left side second harmonic retarder
204 output ends are fixedly installed with one first series connection mechanical arm 205, and second harmonic retarder 204 output end in right side is fixedly installed with
One the 4th series connection mechanical arm 211.First series connection 205 other end two sides of mechanical arm are fixedly installed with a third servo motor respectively
206 and third harmonic retarder 207, and motor shaft is connect with reducer output shaft.4th series connection 211 other end two sides of mechanical arm
It is fixedly installed with a third servo motor 206 and third harmonic retarder 207 respectively, and motor shaft and reducer output shaft connect
It connects.Second series connection mechanical arm 208 is fixedly mounted on 207 output end of third harmonic retarder on the first series connection mechanical arm 205.The
Three series connection mechanical arms 210 are fixedly mounted on 207 output end of third harmonic retarder on the 4th series connection mechanical arm 211.Third string
Connection 210 other end two sides of mechanical arm are fixedly installed with one the 4th servo motor 212 and the 4th harmonic speed reducer 209, and electricity respectively
Arbor is connect with reducer output shaft.
Work head 3 includes the 5th series connection mechanical arm 301, the 5th servo motor 302, screw rod 303, third support 304, handgrip
305, rubber pad 306, connecting rod 307, nut 308, the 5th series connection mechanical arm 301 are fixedly mounted on the 4th harmonic speed reducer above-mentioned
209 output ends.5th servo motor 302 is fixedly mounted on the 5th series connection mechanical arm 301, and is fixedly installed on its output shaft
One screw rod 303.There are six third supports 304, two one group, is uniformly fixedly mounted on the 5th mechanical series arm 301, and every group
A handgrip 305 is hinged on three abutments 304, each 305 grasping end of handgrip is fixedly installed with a rubber pad 306, and rubber pad 306 has
It is flexible, for anti-skidding scratch resistant when grabbing cupping jar.There are six connecting rods 307, and one group of every two, every group of 307 one end of connecting rod is hinged
On 305 overhanging end of handgrip, the other end is hinged on nut 308.Nut 308 and the cooperation of screw rod 303 constitute a screw pair.
Back work head 4 includes support plate 401, bracket 402, nozzle 403, fork plate 404, needle 405, the second electric pushrod
406, fuel cartridge 407, fuel gas conduit 408, pipe sleeve 409, support plate 401 are fixedly mounted on the second series connection mechanical arm 208 above-mentioned.
402, fork plates 404 of a bracket and second electric pushrod 406 are fixedly installed on front side of support plate 401, fork plate 404 is used
Cupping jar edge skin is pressed when removing cupping jar to deflate.Needle 405 is fixedly mounted on 406 push rod end of the second electric pushrod.Nozzle 403
It is fixedly mounted on bracket 402, is used for flame.A fuel cartridge 407 and a pipe sleeve are fixedly installed on rear side of support plate 401
409, liquid combustion gas is store in fuel cartridge 407.408 both ends of fuel gas conduit are fixedly mounted on fuel cartridge 407 and nozzle 403, in
Portion passes through pipe sleeve 409, is used for delivery of fuel gas.
Working principle of the present invention: executing agency of the present invention is the series connection series connection collaboration arm 2 of 3-dimensional freedom platform 1, and series connection association
With the work head 3 and back work head 4 on arm 2.Wherein 3-dimensional freedom platform 1, work head 3 and series connection connected to it cooperate with arm
A mechanical arm on 2 constitutes seven freedom cupping glass mechanism.3-dimensional freedom platform 1, back work head 4 and string connected to it
Another mechanical arm on connection collaboration arm 2 constitutes six degree of freedom and assists cupping glass mechanism.
The 7 degree of freedom of cupping glass mechanism is specific as follows, the three degree of freedom of 3-dimensional freedom platform 1 are as follows: the first stepping electricity
The first moving along X-axis of balcony 103 that machine 7 controls.The second moving along Y-axis of balcony 107 that second stepper motor 105 controls.
The moving along Z axis of third balcony 110 of two electric pushrods 108 control.Four freedom degrees of series connection four-degree-of-freedom mechanical arm are as follows:
Rotation of the chassis 201 that first servo motor 109 controls around central shaft.4th cascade machine of the second servo motor 203 control
Rotation of the tool arm 211 around 204 central axis of second harmonic retarder.The third series connection mechanical arm 210 that third servo motor 206 controls
Around the rotation of 207 central axis of third harmonic retarder.5th series connection mechanical arm 301 of the 4th servo motor 212 control is around the 4th
The rotation of 209 central axis of harmonic speed reducer.
Assist the six-freedom degree of cupping glass mechanism specific as follows, the three degree of freedom of 3-dimensional freedom platform 1 above-mentioned.String
Join the three degree of freedom of Three Degree Of Freedom auxiliary mechanical arm are as follows: the chassis 201 that first servo motor 109 controls turns around central shaft
It is dynamic.Rotation of the first series connection mechanical arm 205 of the second servo motor 203 control around 204 central axis of second harmonic retarder.Third
Rotation of the second series connection mechanical arm 208 that servo motor 206 controls around 207 central axis of third harmonic retarder.
The working principle of work head 3 is that the 5th servo motor 302 driving screw rod 303 carrys out back rotation, drives nut 308 past
Multiple mobile, three groups of connecting rods 307 of 308 3 side of nut move.The driving of every group of connecting rod 307 therewith hinged handgrip 305 around the
It is rotated at 304 hinge of three abutments, realizes the handgrip folding on three directions.
The working principle of back work head 4 is that nozzle 403 is used for flame.Fork plate 404 removes cupping jar for pulling out cupping jar
When, pressing cupping jar side skin is deflated, convenient for pulling up cupping jar.Needle 405 is used for peronium skin bloodletting when pricking and cupping, electronic by second
Push rod 406 controls.
Double mechanical arms collaborative work principle is, cupping mechanism controls work head 3 is got fire tank, then and in auxiliary cupping mechanism
Back work head cooperation, cupping jar is placed on nozzle 403,403 flame of nozzle, air in heating tank is then quick by cupping jar
Specified skin site is moved to, if you need to pricking and cupping, then assists cupping mechanism first to pierce in specified skin site needle, then cupping machine
The cupping jar of heating is placed on above by structure.When needing tank to operate, cupping mechanism can drive cupping jar to carry out away tank.Finally, when needing
When removing cupping jar, auxiliary cupping mechanism drives fork plate 404, and pressing cupping jar side skin is deflated, while cupping mechanism drives handgrip
305, grab lower cupping jar.
Two the first cameras 111, for passing image data back in real time, for analysis distance, are pulled out with second camera 213
Cupping jar position and calculating cupping glass track.
Claims (1)
1. a kind of double mechanical arms work compound cupping glass bed, including 3-dimensional freedom platform (1), series connection collaboration arm (2), work head
(3), back work head (4), the first lead screw (5), the first support (6), the first stepper motor (7), lathe bed (8), bedstead (9), branch
Foot disk (10), pillow (11), the first guide rod (12), it is characterised in that: there are four first supports (6), is fixedly mounted on
Lathe bed (8) upper bottom surface quadrangle；Pillow (11) is fixedly mounted on lathe bed (8) upper bottom surface one end, and bedstead (9) is fixedly mounted on lathe bed
(8) bottom surface, and four overhanging shaft ends are respectively fixedly installed with a leg disc (10)；First lead screw (5) both ends are hinged on right side two
On first support (6), and one end support outer is fixedly installed with one first stepper motor (7), and motor output shaft is connect with lead screw；
First guide rod (12) is fixedly mounted on two first supports (6) of left side；3-dimensional freedom platform (1) two sides are mounted on the first lead screw
(5) and on the first guide rod (12)；Series connection collaboration arm (2) is fixedly mounted on 3-dimensional freedom platform (1)；Work head (3) and auxiliary
Work head (4) is respectively and fixedly installed on two mechanical arms in series connection collaboration arm (2)；
The 3-dimensional freedom platform (1) includes the first sliding block (101), big cupping jar (102), the first balcony (103), the second guide rod
(104), second stepper motor (105), the second lead screw (106), the second balcony (107), the first electric pushrod (108), first are watched
Take motor (109), third balcony (110), the first camera (111), the second sliding block (112), small cupping (113), first harmonic
Retarder (114), counter flange (115), the first sliding block (101) internal thread hole and the first lead screw (5) above-mentioned cooperate, and thereon
There are three placing big cupping jar (102)；The inner hole of second sliding block (112) and the first guide rod (12) above-mentioned cooperate, and place thereon
There are three small cupping (113)；First balcony (103) two sides are respectively and fixedly installed to the first sliding block (101) and the second sliding block (112)
On；Second guide rod (104) is fixedly mounted on front side of the first balcony (103) on support；Second lead screw (106) both ends are hinged on first
On rear side of balcony (103) on support；Second stepper motor (105) is fixedly mounted on rear side of the first balcony (103) on support and exports
Axis is connect with the second lead screw (106)；Described the second balcony (107) both ends are separately mounted to the second guide rod (104) and second
On thick stick (106)；There are two first electric pushrods (108), is respectively and fixedly installed to the second balcony (107) upper bottom surface two sides；It is described
Third balcony (110) upper bottom surface be fixedly mounted on the push rod ends of two the first electric pushrods (108)；First servo motor
(109) it is fixedly mounted on third balcony (110) upper bottom surface；There are two first cameras (111), is respectively hinged at the first balcony
(103) upside beam column two sides；First harmonic decelerator (114) is fixedly mounted on third balcony (110) bottom surface, input shaft with
First servo motor (109) exports axis connection；Counter flange (115) is fixedly mounted on first harmonic decelerator (114) output end；
Series connection collaboration arm (2) includes chassis (201), the second support (202), the second servo motor (203), second harmonic
Retarder (204), the first series connection mechanical arm (205), third servo motor (206), third harmonic retarder (207), the second string
Join mechanical arm (208), the 4th harmonic speed reducer (209), third series connection mechanical arm (210), the 4th series connection mechanical arm (211), the
Four servo motors (212), second camera (213), chassis (201) are fixedly mounted on counter flange above-mentioned (115), thereon
It is fixedly installed with a second camera (213)；There are two second supports (202), is respectively and fixedly installed to chassis (201) two sides；
Each second support (202) two sides are fixedly installed with one second servo motor (203) and second harmonic retarder (204) respectively,
And motor shaft is connect with reducer output shaft；Left side second harmonic retarder (204) output end is fixedly installed with one first series connection
Mechanical arm (205), right side second harmonic retarder (204) output end are fixedly installed with one the 4th series connection mechanical arm (211)；First
Series connection mechanical arm (205) other end two sides are fixedly installed with a third servo motor (206) and third harmonic retarder respectively
(207), and motor shaft is connect with reducer output shaft；4th series connection mechanical arm (211) other end two sides are fixedly installed with respectively
One third servo motor (206) and third harmonic retarder (207), and motor shaft is connect with reducer output shaft；Second series connection
Mechanical arm (208) is fixedly mounted on third harmonic retarder (207) output end on the first series connection mechanical arm (205)；Third string
Connection mechanical arm (210) is fixedly mounted on third harmonic retarder (207) output end in the 4th series connection mechanical arm (211)；Third
Series connection mechanical arm (210) other end two sides are fixedly installed with one the 4th servo motor (212) and the 4th harmonic speed reducer respectively
(209), and motor shaft is connect with reducer output shaft；
The work head (3) includes the 5th series connection mechanical arm (301), the 5th servo motor (302), screw rod (303), third branch
Seat (304), handgrip (305), rubber pad (306), connecting rod (307), nut (308), the 5th series connection mechanical arm (301) are fixedly mounted
In the 4th harmonic speed reducer (209) output end above-mentioned；5th servo motor (302) is fixedly mounted on the 5th series connection mechanical arm
(301) screw rod (303) are fixedly installed on, and on its output shaft；There are six third supports (304), two one group, uniformly distributed solid
Dingan County is hinged with a handgrip (305), each handgrip on every group of third support (304) on the 5th mechanical series arm (301)
(305) grasping end is fixedly installed with a rubber pad (306), and rubber pad (306) has elasticity, for anti-skidding anti-when grabbing cupping jar
It scrapes；There are six the connecting rods (307), and one group of every two, every group of connecting rod (307) one end is hinged on handgrip (305) overhanging end,
The other end is hinged on nut (308)；The nut (308) and screw rod (303) cooperation constitute a screw pair；
The back work head (4) include support plate (401), bracket (402), nozzle (403), fork plate (404), needle (405),
Second electric pushrod (406), fuel cartridge (407), fuel gas conduit (408), pipe sleeve (409), support plate (401) are fixedly mounted on aforementioned
Second series connection mechanical arm (208) on；A bracket (402), a fork plate (404) are fixedly installed on front side of support plate (401)
With second electric pushrod (406), pressing cupping jar edge skin is deflated when fork plate (404) is for removing cupping jar；The needle
(405) it is fixedly mounted on the second electric pushrod (406) push rod end；The nozzle (403) is fixedly mounted on bracket (402),
For flame；A fuel cartridge (407) and a pipe sleeve (409), fuel cartridge (407) are fixedly installed on rear side of support plate (401)
In store liquid combustion gas；Described fuel gas conduit (408) both ends are fixedly mounted on fuel cartridge (407) and nozzle (403), middle part
Across pipe sleeve (409), it to be used for delivery of fuel gas.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810903082.9A CN108938363B (en) | 2018-08-09 | 2018-08-09 | Cupping jar bed is pulled out in operation in coordination of two arms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810903082.9A CN108938363B (en) | 2018-08-09 | 2018-08-09 | Cupping jar bed is pulled out in operation in coordination of two arms |
Publications (2)
| Publication Number | Publication Date |
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| CN108938363A true CN108938363A (en) | 2018-12-07 |
| CN108938363B CN108938363B (en) | 2020-10-13 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109646264A (en) * | 2019-02-15 | 2019-04-19 | 西安雁塔天佑儿童医院有限公司 | A kind of paediatrics Massage Manipulator of gravitational load formula laser three-D positioning |
| CN110812702A (en) * | 2019-09-25 | 2020-02-21 | 苏州皇宫绣量子科技有限公司 | Intelligent adsorption physiotherapy instrument based on far infrared ray and magnetic field cutting and physiotherapy method thereof |
| CN111110536A (en) * | 2020-01-14 | 2020-05-08 | 董昊 | Instrument operation platform for rheumatism and immunity department |
| CN111632212A (en) * | 2020-06-16 | 2020-09-08 | 临海迪萨智能技术有限公司 | Medical cupping robot |
| CN112618824A (en) * | 2021-01-04 | 2021-04-09 | 许煌难 | Intelligent cupping robot |
| CN113397710A (en) * | 2020-03-17 | 2021-09-17 | 上海奥朋医疗科技有限公司 | Biplane mechanical arm device suitable for vascular intervention operation |
| CN114404900A (en) * | 2021-12-31 | 2022-04-29 | 燕山大学 | Multi-joint upper limb rehabilitation device |
| CN114601704A (en) * | 2022-03-14 | 2022-06-10 | 桂林理工大学 | Synchronous cupping chair |
| CN114699296A (en) * | 2022-03-15 | 2022-07-05 | 河南翔宇医疗设备股份有限公司 | Multifunctional traditional Chinese medicine treatment equipment and treatment method |
| US12048498B2 (en) | 2020-03-17 | 2024-07-30 | Shanghai Operation Robot Co., Ltd. | Bi-planar robotic arm device for vascular interventional surgery |
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| CN109646264A (en) * | 2019-02-15 | 2019-04-19 | 西安雁塔天佑儿童医院有限公司 | A kind of paediatrics Massage Manipulator of gravitational load formula laser three-D positioning |
| CN110812702A (en) * | 2019-09-25 | 2020-02-21 | 苏州皇宫绣量子科技有限公司 | Intelligent adsorption physiotherapy instrument based on far infrared ray and magnetic field cutting and physiotherapy method thereof |
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| US12048498B2 (en) | 2020-03-17 | 2024-07-30 | Shanghai Operation Robot Co., Ltd. | Bi-planar robotic arm device for vascular interventional surgery |
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| CN114601704A (en) * | 2022-03-14 | 2022-06-10 | 桂林理工大学 | Synchronous cupping chair |
| CN114601704B (en) * | 2022-03-14 | 2024-02-13 | 桂林理工大学 | Synchronous cupping chair |
| CN114699296A (en) * | 2022-03-15 | 2022-07-05 | 河南翔宇医疗设备股份有限公司 | Multifunctional traditional Chinese medicine treatment equipment and treatment method |
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