CN108938363B

CN108938363B - Cupping jar bed is pulled out in operation in coordination of two arms

Info

Publication number: CN108938363B
Application number: CN201810903082.9A
Authority: CN
Inventors: 吕家环; 其他发明人请求不公开姓名
Original assignee: Suzhou Yuanlian Technology Pioneer Park Management Co ltd
Current assignee: Suzhou Yuanlian Technology Pioneer Park Management Co.,Ltd.
Priority date: 2018-08-09
Filing date: 2018-08-09
Publication date: 2020-10-13
Anticipated expiration: 2038-08-09
Also published as: CN108938363A

Abstract

The invention discloses a cupping glass bed with two mechanical arms working cooperatively, which comprises a three-degree-of-freedom platform, a serial cooperative arm, a working head, an auxiliary working head, a first lead screw, a first support, a first stepping motor, a lathe bed, a bedstead, a support foot plate, a pillow and a first guide rod. The three-coordinate type three-degree-of-freedom platform is connected with two cooperative mechanical arms in series to form a cupping mechanism and an auxiliary mechanism. The seven-degree-of-freedom cupping mechanism is cooperated with the six-degree-of-freedom auxiliary mechanism, so that the working space is large, the control is flexible and intelligent, and various cupping therapies can be simulated. The camera can scan the human body and range for confirm cupping glass position, planning work orbit. The automatic cupping glass can be used for cupping any position of the whole body, and the labor is saved.

Description

Cupping jar bed is pulled out in operation in coordination of two arms

Technical Field

The invention relates to the technical field of robots, in particular to a cupping glass bed with two mechanical arms working cooperatively.

Background

The cupping is a therapy which takes a cup as a tool and generates negative pressure by using methods of fire burning, air extraction and the like to cause the negative pressure to be adsorbed on the body surface to cause local blood stasis so as to achieve the effects of clearing and activating the channels and collaterals, promoting qi and activating blood circulation, relieving swelling and pain, expelling wind and removing cold and the like. Cupping therapy has a long history in China, and the book of silk book fifty two diseases in Western Han dynasty records the 'angle method', which is similar to the coming cupping therapy. The ancient Greece and the ancient Roman times abroad have also been popular cupping therapy. The cupping operation key points of the flash fire method are as follows: clamping alcohol cotton balls by using tweezers to ignite, and drawing out after winding a circle in the tank; the can is quickly covered on the part to be pulled, and then the can be sucked. Several applications of cupping include cupping, cupping and vein-pricking cupping. In order to save manpower and standardize operation, an automatic cupping device is urgently needed. For example, patent No. CN201711200197.3 provides an automatic cupping therapy massage device special for orthopedic cervical spondylosis, which comprises a supporting top plate, a downward pressing suction device, two massage devices, a rotary manipulator device and the like, and has the advantages of simple structure and capability of automatically completing the cupping process of the neck; the defects are that the degree of intellectualization is low, and the cupping is only limited to the neck.

Disclosure of Invention

In order to solve the above problems, the present invention provides a cupping glass bed with two cooperating arms, wherein a three-dimensional three-degree-of-freedom platform is connected in series with the two cooperating arms to form a cupping glass mechanism and an auxiliary mechanism. The seven-degree-of-freedom cupping mechanism is cooperated with the six-degree-of-freedom auxiliary mechanism, so that the working space is large, the control is flexible and intelligent, and various cupping therapies can be simulated. The camera can scan the human body and range for confirm cupping glass position, planning work orbit. The automatic cupping glass can be used for cupping any position of the whole body, and the labor is saved.

The technical scheme adopted by the invention is as follows: a cupping glass bed with two mechanical arms working cooperatively comprises a three-degree-of-freedom platform, a series cooperative arm, working heads, auxiliary working heads, a first lead screw, a first support, a first stepping motor, a bed body, a bed frame, a foot supporting plate, a pillow and first guide rods, wherein four first support are fixedly arranged at four corners of the bottom surface of the bed body; the pillow is fixedly arranged at one end of the bottom surface of the bed body, the bed frame is fixedly arranged at the lower bottom surface of the bed body, and a leg plate is fixedly arranged at each of the four outward extending shaft ends; two ends of the first lead screw are hinged to the two first supports on the right side, a first stepping motor is fixedly installed on the outer side of the support at one end, and an output shaft of the motor is connected with the lead screw; the first guide rod is fixedly arranged on the two first supports on the left side; two sides of the three-degree-of-freedom platform are arranged on the first lead screw and the first guide rod; the series cooperative arm is fixedly arranged on the three-degree-of-freedom platform; the working head and the auxiliary working head are respectively and fixedly arranged on the two mechanical arms which are connected in series with the cooperative arm.

The three-degree-of-freedom platform comprises a first sliding block, a large cupping jar, a first zenith, a second guide rod, a second stepping motor, a second lead screw, a second zenith, a first electric push rod, a first servo motor, a third zenith, a first camera, a second sliding block, a small cupping jar, a first harmonic reducer and a transition flange, wherein an internal threaded hole of the first sliding block is matched with the first lead screw, and three large cupping jars are placed on the internal threaded hole; the inner hole of the second sliding block is matched with the first guide rod, and three small cupping jars are placed on the second sliding block; two sides of the first antenna platform are fixedly arranged on the first sliding block and the second sliding block respectively; the second guide rod is fixedly arranged on the front side support of the first antenna; two ends of a second lead screw are hinged on the first balcony rear side support; the second stepping motor is fixedly arranged on the support at the rear side of the first balcony, and an output shaft of the second stepping motor is connected with the second screw rod; two ends of the second balcony are respectively arranged on the second guide rod and the second lead screw; two first electric push rods are respectively and fixedly arranged on two sides of the upper bottom surface of the second balcony; the upper bottom surface of the third balcony is fixedly arranged at the push rod ends of the two first electric push rods; the first servo motor is fixedly arranged on the upper bottom surface of the third balcony; the two first cameras are respectively hinged to two sides of the beam column on the upper side of the first antenna; the first harmonic reducer is fixedly arranged on the lower bottom surface of the third stage, and an input shaft of the first harmonic reducer is connected with an output shaft of the first servo motor; the transition flange is fixedly arranged at the output end of the first harmonic reducer.

The series coordination arm comprises a chassis, a second support, a second servo motor, a second harmonic reducer, a first series mechanical arm, a third servo motor, a third harmonic reducer, a second series mechanical arm, a fourth harmonic reducer, a third series mechanical arm, a fourth servo motor and a second camera, wherein the chassis is fixedly arranged on the transition flange, and a second camera is fixedly arranged on the chassis; two second supports are respectively and fixedly arranged on two sides of the chassis; a second servo motor and a second harmonic reducer are respectively and fixedly installed on two sides of each second support, and a motor shaft is connected with an output shaft of the reducer; a first series mechanical arm is fixedly installed at the output end of the left second harmonic reducer, and a fourth series mechanical arm is fixedly installed at the output end of the right second harmonic reducer; a third servo motor and a third harmonic reducer are respectively and fixedly installed on two sides of the other end of the first series-connection mechanical arm, and a motor shaft is connected with an output shaft of the reducer; a third servo motor and a third harmonic reducer are respectively and fixedly installed on two sides of the other end of the fourth serial mechanical arm, and a motor shaft is connected with an output shaft of the reducer; the second serial mechanical arm is fixedly arranged at the output end of the third harmonic reducer on the first serial mechanical arm; the third serial mechanical arm is fixedly arranged at the output end of a third harmonic reducer on the fourth serial mechanical arm; and a fourth servo motor and a fourth harmonic reducer are respectively and fixedly installed on two sides of the other end of the third serial mechanical arm, and a motor shaft is connected with an output shaft of the reducer.

The working head comprises a fifth serial mechanical arm, a fifth servo motor, a screw, a third support, a gripper, a rubber pad, a connecting rod and a nut, and the fifth serial mechanical arm is fixedly arranged at the output end of the fourth harmonic reducer; the fifth servo motor is fixedly arranged on the fifth serial mechanical arm, and an output shaft of the fifth servo motor is fixedly provided with a screw rod; the six third supports are divided into two groups, the six third supports are uniformly and fixedly arranged on a fifth mechanical series arm, each group of third supports is hinged with a gripper, a rubber pad is fixedly arranged at the gripping end of each gripper, and the rubber pads have elasticity and are used for preventing skidding and scraping when the cupping jar is gripped; the number of the connecting rods is six, each two connecting rods form a group, one end of each group of connecting rods is hinged to the extending end of the gripper, and the other end of each group of connecting rods is hinged to the nut; the nut and the screw rod are matched to form a screw pair.

Furthermore, the auxiliary working head comprises a supporting plate, a bracket, a nozzle, a fork plate, a needle, a second electric push rod, a gas tank, a gas pipe and a pipe sleeve, wherein the supporting plate is fixedly arranged on the second serial mechanical arm; a bracket, a fork plate and a second electric push rod are fixedly arranged on the front side of the supporting plate, and the fork plate is used for pressing the skin at the edge of the cupping jar to deflate when the cupping jar is taken down; the needle is fixedly arranged at the end of the second electric push rod; the nozzle is fixedly arranged on the bracket and used for flaming; a gas tank and a pipe sleeve are fixedly arranged at the rear side of the supporting plate, and liquid gas is stored in the gas tank; two ends of the gas pipe are fixedly arranged on the gas tank and the nozzle, and the middle part of the gas pipe penetrates through the pipe sleeve and is used for conveying gas.

Due to the adoption of the technical scheme, the invention has the following advantages: (1) the seven-degree-of-freedom cupping mechanism is cooperated with the six-degree-of-freedom auxiliary mechanism, so that the working space is large, the control is flexible and intelligent, and various cupping therapies can be simulated; (2) the camera can scan the human body and range finding for confirm to pull out cupping jar position, planning work orbit: (3) the automatic cupping glass can be used for cupping any position of the whole body, and the labor is saved.

Drawings

Fig. 1, 2 and 3 are schematic overall structural diagrams of the present invention.

Fig. 4 and 5 are schematic structural diagrams of the three-degree-of-freedom platform of the present invention.

Fig. 6 and 7 are schematic structural diagrams of the series-connection cooperative arm of the present invention.

Fig. 8 is a schematic structural diagram of the working head of the present invention.

Fig. 9 and 10 are schematic structural views of the auxiliary working head of the present invention.

Fig. 11 is a schematic structural view of a nut component of the present invention.

Reference numerals: 1-a three-degree-of-freedom platform; 2-tandem coordination arm; 3-working head; 4-auxiliary working head; 5-a first lead screw; 6-a first support; 7-a first stepper motor; 8-a lathe bed; 9-bed frame; 10-a leg plate; 11-a pillow; 12-a first guide bar; 101-a first slider; 102-big cupping jar; 103-a first balcony; 104-a second guide bar; 105-a second stepper motor; 106-second lead screw; 107-second balcony; 108-a first electric putter; 109-a first servomotor; 110-third balcony; 111-a first camera; 112-a second slider; 113-small cupping jar; 114-first harmonic reducer; 115-a transition flange; 201-a chassis; 202-a second support; 203-a second servo motor; 204-a second harmonic reducer; 205-a first serial robot; 206-a third servomotor; 207-third harmonic reducer; 208-a second tandem robot arm; 209-fourth harmonic reducer; 210-a third tandem robot arm; 211-a fourth tandem robot arm; 212-a fourth servo motor; 213-a second camera; 301-fifth tandem arm; 302-fifth servomotor; 303-screw rod; 304-a third mount; 305-a gripper; 306-rubber pad; 307-connecting rod; 308-a nut; 401-a support plate; 402-a stent; 403-a nozzle; 404-fork plate; 405-needle; 406-a second electric putter; 407-gas tank; 408-a gas pipe; 409-pipe sleeve.

Detailed Description

The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.

As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, fig. 9, fig. 10, and fig. 11, the cupping glass bed with two robot arms cooperating with each other includes a three-degree-of-freedom platform 1, a serial cooperating arm 2, a working head 3, an auxiliary working head 4, a first lead screw 5, a first support 6, a first stepping motor 7, a bed body 8, a bed frame 9, a leg plate 10, a pillow 11, and a first guide rod 12, wherein the number of the first support 6 is four, and the four first supports are fixedly mounted at four corners of the upper bottom surface of the bed body 8. The pillow 11 is fixedly arranged at one end of the upper bottom surface of the bed body 8, the bed frame 9 is fixedly arranged at the lower bottom surface of the bed body 8, and a support plate 10 is fixedly arranged at each of the four extending shaft ends. Two ends of the first lead screw 5 are hinged to the two first supports 6 on the right side, a first stepping motor 7 is fixedly mounted on the outer side of the support at one end, and an output shaft of the motor is connected with the lead screw. The first guide rod 12 is fixedly arranged on the two first supports 6 on the left side. Two sides of the three-degree-of-freedom platform 1 are arranged on the first lead screw 5 and the first guide rod 12. The series cooperative arm 2 is fixedly arranged on the three-degree-of-freedom platform 1. The working head 3 and the auxiliary working head 4 are respectively and fixedly arranged on two mechanical arms on the tandem cooperation arm 2.

The three-degree-of-freedom platform 1 comprises a first sliding block 101, a large cupping jar 102, a first balcony 103, a second guide rod 104, a second stepping motor 105, a second lead screw 106, a second balcony 107, a first electric push rod 108, a first servo motor 109, a third balcony 110, a first camera 111, a second sliding block 112, a small cupping jar 113, a first harmonic reducer 114 and a transition flange 115, wherein an internal threaded hole of the first sliding block 101 is matched with the first lead screw 5, and three large cupping jars 102 are placed on the internal threaded hole. The inner hole of the second slider 112 is fitted with the first guide rod 12 and three small cupping jars 113 are placed thereon. Two sides of the first antenna platform 103 are respectively and fixedly arranged on the first sliding block 101 and the second sliding block 112. The second guide rod 104 is fixedly mounted on the front side support of the first balcony 103. The two ends of the second lead screw 106 are hinged on the rear side support of the first antenna platform 103. The second stepping motor 105 is fixedly mounted on the rear side support of the first antenna 103 and the output shaft is connected with the second lead screw 106. Two ends of the second balcony 107 are respectively arranged on the second guide rod 104 and the second lead screw 106. Two first electric push rods 108 are fixedly arranged on two sides of the upper bottom surface of the second balcony 107 respectively. The upper bottom surface of the third balcony 110 is fixedly arranged at the push rod ends of the two first electric push rods 108. The first servo motor 109 is fixedly installed on the upper bottom surface of the third ceiling 110. The number of the first cameras 111 is two, and the two first cameras are respectively hinged to two sides of the side beam column on the first balcony 103. A first harmonic reducer 114 is fixedly installed on the lower bottom surface of the third balcony 110, and an input shaft thereof is connected to an output shaft of the first servo motor 109. And a transition flange 115 is fixedly arranged at the output end of the first harmonic reducer 114.

The tandem coordination arm 2 includes a chassis 201, a second support 202, a second servo motor 203, a second harmonic reducer 204, a first tandem robot arm 205, a third servo motor 206, a third harmonic reducer 207, a second tandem robot arm 208, a fourth harmonic reducer 209, a third tandem robot arm 210, a fourth tandem robot arm 211, a fourth servo motor 212, and a second camera 213, where the chassis 201 is fixedly mounted on the transition flange 115, and a second camera 213 is fixedly mounted thereon. The number of the second supports 202 is two, and the two second supports are respectively fixedly installed at two sides of the chassis 201. A second servo motor 203 and a second harmonic reducer 204 are respectively fixedly mounted on two sides of each second support 202, and a motor shaft is connected with an output shaft of the reducer. A first tandem mechanical arm 205 is fixedly installed at the output end of the left second harmonic reducer 204, and a fourth tandem mechanical arm 211 is fixedly installed at the output end of the right second harmonic reducer 204. A third servo motor 206 and a third harmonic reducer 207 are respectively and fixedly mounted on two sides of the other end of the first serial mechanical arm 205, and a motor shaft is connected with an output shaft of the reducer. A third servo motor 206 and a third harmonic reducer 207 are respectively and fixedly mounted on two sides of the other end of the fourth serial mechanical arm 211, and a motor shaft is connected with an output shaft of the reducer. The second tandem robot 208 is fixedly mounted to the output of the third harmonic reducer 207 on the first tandem robot 205. The third tandem arm 210 is fixedly mounted to the output of the third harmonic reducer 207 on the fourth tandem arm 211. A fourth servo motor 212 and a fourth harmonic reducer 209 are respectively and fixedly installed on two sides of the other end of the third serial mechanical arm 210, and a motor shaft is connected with an output shaft of the reducer.

The working head 3 comprises a fifth serial mechanical arm 301, a fifth servo motor 302, a screw 303, a third support 304, a gripper 305, a rubber pad 306, a connecting rod 307 and a nut 308, wherein the fifth serial mechanical arm 301 is fixedly arranged at the output end of the fourth harmonic reducer 209. The fifth servomotor 302 is fixedly mounted on the fifth tandem robot arm 301, and a screw 303 is fixedly mounted on an output shaft thereof. The third support 304 has six, two are a set of, and the equipartition is fixed mounting on fifth mechanical series arm 301, and it has a tongs 305 to articulate on every third support 304, and every tongs 305 grabbing end fixed mounting has a rubber pad 306, and rubber pad 306 has elasticity for antiskid when snatching the cupping jar is prevented scraping. The links 307 are in groups of six, two each, each group of links 307 being hinged at one end to the outward extending end of the hand grip 305 and at the other end to the nut 308. The nut 308 cooperates with the screw 303 to form a screw pair.

The auxiliary working head 4 comprises a support plate 401, a bracket 402, a nozzle 403, a fork plate 404, a needle 405, a second electric push rod 406, a gas tank 407, a gas pipe 408 and a pipe sleeve 409, wherein the support plate 401 is fixedly mounted on the second tandem robot arm 208. A bracket 402, a fork plate 404 and a second electric push rod 406 are fixedly arranged on the front side of the supporting plate 401, and the fork plate 404 is used for pressing the skin at the edge of the cupping jar to deflate when the cupping jar is taken down. The needle 405 is fixedly mounted on the push rod end of the second electric push rod 406. The nozzle 403 is fixedly mounted on the bracket 402 for blasting. A gas tank 407 and a pipe sleeve 409 are fixedly mounted on the rear side of the supporting plate 401, and liquid gas is stored in the gas tank 407. The gas pipe 408 is fixedly installed at both ends on the gas tank 407 and the nozzle 403, and the middle portion thereof passes through the pipe sleeve 409 for conveying gas.

The working principle of the invention is as follows: the actuating mechanism of the invention is that a three-degree-of-freedom platform 1 is connected in series with a series-connection cooperative arm 2, and a working head 3 and an auxiliary working head 4 on the series-connection cooperative arm 2. The three-degree-of-freedom platform 1, the working head 3 and the mechanical arm connected with the working head and arranged on the serial cooperative arm 2 form the seven-degree-of-freedom cupping mechanism. The three-freedom-degree platform 1, the auxiliary working head 4 and the other mechanical arm connected with the three-freedom-degree platform and arranged on the serial cooperative arm 2 form a six-freedom-degree auxiliary cupping glass mechanism.

The seven degrees of freedom of the cupping mechanism are specifically as follows, and the three degrees of freedom of the three-degree-of-freedom platform 1 are as follows: the first antenna stage 103 is moved along the X-axis by the first stepping motor 7. The movement of the second zenith 107 along the Y-axis is controlled by the second stepping motor 105. Movement of a third zenith 110 along the Z-axis is controlled by two electric pushers 108. The four degrees of freedom of the series four-degree-of-freedom mechanical arm are as follows: the chassis 201 is controlled by a first servomotor 109 for rotation about its central axis. The fourth tandem robot arm 211 controlled by the second servo motor 203 rotates around the central axis of the second harmonic reducer 204. Rotation of a third tandem robot arm 210 about the central axis of a third harmonic reducer 207 is controlled by a third servomotor 206. Rotation of fifth tandem robot arm 301 about the central axis of fourth harmonic reducer 209, controlled by fourth servomotor 212.

The six degrees of freedom of the auxiliary cupping mechanism are specifically as follows, namely the three degrees of freedom of the three-degree-of-freedom platform 1. The three degrees of freedom of the series three-degree-of-freedom auxiliary mechanical arm are as follows: the chassis 201 is controlled by a first servomotor 109 for rotation about its central axis. The first series-connection mechanical arm 205 controlled by the second servo motor 203 rotates around the central axis of the second harmonic reducer 204. Rotation of a second tandem robot arm 208 about the central axis of a third harmonic reducer 207 is controlled by a third servomotor 206.

The working principle of the working head 3 is that the fifth servo motor 302 drives the screw 303 to rotate back and forth to drive the nut 308 to reciprocate, and the three groups of connecting rods 307 on three sides of the nut 308 move along with the nut 308. Each group of connecting rods 307 drives the hand grip 305 hinged with the connecting rods to rotate around the hinge of the third support 304, so that the hand grip can be opened and closed in three directions.

The auxiliary working head 4 works on the principle that the nozzle 403 is used for flame projecting. The fork plate 404 is used for pulling out the cupping jar, and when the cupping jar is taken down, the skin on one side of the cupping jar is pressed to deflate, so that the cupping jar is convenient to pull out. The needle 405 is used for pricking skin and discharging blood when pricking and cupping, and is controlled by the second electric push rod 406.

The two mechanical arms work cooperatively, the cupping mechanism controls the working head 3 to take a cupping jar, then the cupping jar is matched with an auxiliary working head on the auxiliary cupping mechanism, the cupping jar is placed on the nozzle 403, the nozzle 403 sprays fire to heat air in the jar, then the cupping jar is quickly moved to a specified skin position, if cupping is needed, the auxiliary cupping mechanism firstly pricks the skin position, and then the cupping mechanism places the heated cupping jar on the cupping jar. When the cupping jar needs to be moved, the cupping mechanism can drive the cupping jar to move into the cupping jar. Finally, when the cupping jar needs to be taken down, the auxiliary cupping mechanism drives the fork plate 404 to press the skin on one side of the cupping jar to deflate, and meanwhile, the cupping mechanism drives the gripper 305 to grip the lower cupping jar.

The two first cameras 111 and the second camera 213 are used for transmitting back image data in real time, and are used for analyzing the distance, the cupping glass part and calculating the cupping glass track.

Claims

1. The utility model provides a cupping jar bed is pulled out in double-mechanical-arm collaborative operation, includes three degree of freedom platforms (1), establishes ties in coordination arm (2), working head (3), supplementary working head (4), first lead screw (5), first support (6), first step motor (7), lathe bed (8), bedstead (9), leg dish (10), pillow (11), first guide arm (12), its characterized in that: four first supports (6) are fixedly arranged at four corners of the upper bottom surface of the lathe bed (8); the pillow (11) is fixedly arranged at one end of the upper bottom surface of the bed body (8), the bed frame (9) is fixedly arranged at the lower bottom surface of the bed body (8), and a leg plate (10) is fixedly arranged at each of the four outward extending shaft ends; two ends of a first lead screw (5) are hinged to two first supports (6) on the right side, a first stepping motor (7) is fixedly mounted on the outer side of the support at one end, and a motor output shaft of the first stepping motor (7) is connected with the first lead screw (5); the first guide rod (12) is fixedly arranged on the two first supports (6) on the left side; two sides of the three-degree-of-freedom platform (1) are arranged on the first lead screw (5) and the first guide rod (12); the series cooperative arm (2) is fixedly arranged on the three-degree-of-freedom platform (1); the working head (3) and the auxiliary working head (4) are respectively and fixedly arranged on the two mechanical arms on the serial cooperative arm (2);

the three-degree-of-freedom platform (1) comprises a first sliding block (101), a large cupping jar (102), a first balcony (103), a second guide rod (104), a second stepping motor (105), a second lead screw (106), a second balcony (107), a first electric push rod (108), a first servo motor (109), a third balcony (110), a first camera (111), a second sliding block (112), a small cupping jar (113), a first harmonic reducer (114) and a transition flange (115), wherein an internal threaded hole of the first sliding block (101) is matched with the first lead screw (5), and three large cupping jars (102) are placed on the internal threaded hole; the inner hole of the second sliding block (112) is matched with the first guide rod (12), and three small cupping jars (113) are placed on the inner hole; two sides of the first balcony (103) are respectively and fixedly arranged on the first sliding block (101) and the second sliding block (112); the second guide rod (104) is fixedly arranged on a support at the front side of the first balcony (103); two ends of a second lead screw (106) are hinged on a support at the rear side of the first balcony (103); the second stepping motor (105) is fixedly arranged on a rear side support of the first balcony (103), and an output shaft of the second stepping motor is connected with the second lead screw (106); two ends of the second balcony (107) are respectively arranged on the second guide rod (104) and the second lead screw (106); two first electric push rods (108) are respectively and fixedly arranged on two sides of the upper bottom surface of the second balcony (107); the upper bottom surface of the third balcony (110) is fixedly arranged at the push rod ends of the two first electric push rods (108); the first servo motor (109) is fixedly arranged on the upper bottom surface of the third balcony (110); two first cameras (111) are respectively hinged to two sides of the side beam column on the first balcony (103); the first harmonic reducer (114) is fixedly arranged on the lower bottom surface of the third balcony (110), and an input shaft of the first harmonic reducer is connected with an output shaft of the first servo motor (109); the transition flange (115) is fixedly arranged at the output end of the first harmonic reducer (114);

the series coordination arm (2) comprises a chassis (201), a second support (202), a second servo motor (203), a second harmonic reducer (204), a first series mechanical arm (205), a third servo motor (206), a third harmonic reducer (207), a second series mechanical arm (208), a fourth harmonic reducer (209), a third series mechanical arm (210), a fourth series mechanical arm (211), a fourth servo motor (212) and a second camera (213), wherein the chassis (201) is fixedly arranged on the transition flange (115), and a second camera (213) is fixedly arranged on the chassis; two second supports (202) are respectively and fixedly arranged on two sides of the chassis (201); a second servo motor (203) and a second harmonic reducer (204) are respectively fixedly mounted on two sides of each second support (202), and a shaft of the second servo motor (203) is connected with an output shaft of the second harmonic reducer; a first series mechanical arm (205) is fixedly installed at the output end of the left second harmonic reducer (204), and a fourth series mechanical arm (211) is fixedly installed at the output end of the right second harmonic reducer (204); a third servo motor (206) and a third harmonic reducer (207) are fixedly mounted on two sides of the other end of the first serial mechanical arm (205), and a shaft of the third servo motor (206) is connected with an output shaft of the third harmonic reducer (207); a third servo motor (206) and a third harmonic reducer (207) are respectively and fixedly mounted on two sides of the other end of the fourth serial mechanical arm (211), and a shaft of the third servo motor (206) is connected with an output shaft of the third harmonic reducer (207); the second tandem mechanical arm (208) is fixedly arranged at the output end of a third harmonic reducer (207) on the first tandem mechanical arm (205); the third serial mechanical arm (210) is fixedly arranged at the output end of a third harmonic reducer (207) on the fourth serial mechanical arm (211); a fourth servo motor (212) and a fourth harmonic reducer (209) are respectively and fixedly installed on two sides of the other end of the third serial mechanical arm (210), and a shaft of the fourth servo motor (212) is connected with an output shaft of the fourth harmonic reducer (209);

the working head (3) comprises a fifth serial mechanical arm (301), a fifth servo motor (302), a screw (303), a third support (304), a gripper (305), a rubber pad (306), a connecting rod (307) and a nut (308), and the fifth serial mechanical arm (301) is fixedly arranged at the output end of the fourth harmonic reducer (209); a fifth servo motor (302) is fixedly arranged on the fifth serial mechanical arm (301), and an output shaft of the fifth servo motor is fixedly provided with a screw (303); six third supports (304) are uniformly and fixedly arranged on a fifth mechanical series arm (301), one group of the third supports (304) is composed of two third supports, each group of the third supports (304) is hinged with a gripper (305), each gripper (305) is fixedly provided with a rubber pad (306), and the rubber pads (306) have elasticity and are used for preventing skidding and scraping when the cupping jar is gripped; six connecting rods (307) are arranged, each two connecting rods form a group, one end of each group of connecting rods (307) is hinged to the extending end of the handle (305), and the other end of each group of connecting rods (307) is hinged to the nut (308); the nut (308) is matched with the screw rod (303) to form a screw pair;

the auxiliary working head (4) comprises a supporting plate (401), a bracket (402), a nozzle (403), a fork plate (404), a needle (405), a second electric push rod (406), a gas tank (407), a gas pipe (408) and a pipe sleeve (409), wherein the supporting plate (401) is fixedly arranged on the second serial mechanical arm (208); a bracket (402), a fork plate (404) and a second electric push rod (406) are fixedly arranged on the front side of the supporting plate (401), and the fork plate (404) is used for pressing the skin at the edge of the cupping jar to deflate when the cupping jar is taken down; the needle (405) is fixedly arranged at the push rod end of the second electric push rod (406); the nozzle (403) is fixedly arranged on the bracket (402) and is used for spraying fire; a gas tank (407) and a pipe sleeve (409) are fixedly arranged at the rear side of the supporting plate (401), and liquid gas is stored in the gas tank (407); two ends of the gas pipe (408) are fixedly arranged on the gas tank (407) and the nozzle (403), and the middle part of the gas pipe penetrates through the pipe sleeve (409) and is used for conveying gas.