CN105662838A

CN105662838A - Intelligent acupoint-pressing manipulator

Info

Publication number: CN105662838A
Application number: CN201610137634.0A
Authority: CN
Inventors: 程瑜
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-03-10
Filing date: 2016-03-10
Publication date: 2016-06-15
Also published as: CN106890082A

Abstract

An intelligent acupoint-pressing manipulator comprises a telescopic bionic finger, a rotating bionic finger, a fixed bionic finger and a vibrating sheet. The telescopic bionic finger is driven by a telescopic motor through a linear transmission mechanism, the telescopic motor is provided with an intelligent controller for control, and the intelligent controller is connected with a terminal through an interface. The rotating bionic finger is directly driven by a rotating motor to rotate, and the rotating motor is connected with the intelligent controller. The fixed bionic finger and the telescopic bionic finger form a pair of holding and releasing bionic fingers in a corresponding mode. The vibrating sheet is arranged in the fixed bionic finger to a form a vibrating bionic finger, and the vibrating sheet is connected with the intelligent controller. Due to the fact that the motors are adopted as power, the stretching and retracting speed and distance of the manipulator can be controlled through the intelligent controller, and the stretching speed and retracting speed can be different; in addition, the bionic fingers are made from resin, have certain elasticity and simulate the fingers of a real person, and then manipulation is fine, smooth and standard without errors; as a result, it is possible to conduct multiple kinds of acupoint-pressing manipulation on the acupoints of a human body, a good treatment effect can be achieved, and physical power of doctors is saved.

Description

A kind of intelligence is attacked a vital point mechanical hand

Technical field

The present invention relates to one to attack a vital point mechanical hand, especially relate to a kind of intelligence and attack a vital point mechanical hand.

Background technology

Attack a vital point be with finger on human acupoint by rubbing, press, point, the manipulation disease such as beat, the traditional Chinese medical science is thought and is implemented multiple maneuver of attacking a vital point on human acupoint, it is possible to reach good therapeutic effect.

Attack a vital point and differ primarily in that with massage: acupoint selection is different, maneuver is different. Attacking a vital point based on the point-like acupuncture point of little area, massage is then based on the linear acupuncture point of strip or large-area body surface; Both maneuver also a great differences, attack a vital point and turn and press rubbing, being twisted in acupuncture and slotting propose operation of simulation, and massage mainly to push away, to take, the maneuver such as fortune. Existing massage equipment is a lot, but equipment of attacking a vital point is little.

Manually attacking a vital point and can accomplish various maneuvers, but different people's maneuvers is nonstandard, easily make mistakes, therapeutic effect varies with each individual, cannot ensure, and expends a large amount of manpower.

Existing electronic acupoint device is to adopt electric magnet suction to put the iron core column with end of attacking a vital point to realize attacking a vital point, although saving manpower, but do not accomplish multiple maneuver, and maneuver is coarse, start and stop are too unexpected, and the maneuver with artificial smooth has bigger gap. Therefore, desirable therapeutic effect is not reached. And, electronic acupoint equipment does not have intelligent controller, it is impossible to connects with terminal (computer, flat board or mobile phone etc.), cannot realize Remote and attack a vital point.

It addition, the end of attacking a vital point on existing acupoint pressing device is all spherical or column mostly, feeling of attacking a vital point from finger is different.

Summary of the invention

The technical problem to be solved, it is simply that providing a kind of intelligence to attack a vital point mechanical hand, it can accomplish multiple maneuver of attacking a vital point, and can accomplish with the same smooth of artificial maneuver, more can than artificial maneuver standard, do not make mistakes; Even, what some artificial maneuver was difficult to also can realize; Can also connect with terminal on this basis, do corresponding maneuver according to instruction.

Solving above-mentioned technical problem, the technical solution used in the present invention is as follows:

A kind of intelligence is attacked a vital point mechanical hand, it is characterized in that including: a flexible bionic finger, it is driven by linear transmission mechanism by telescope motor, and described telescope motor is provided with intelligent controller control, and intelligent controller is connected to terminal by interface.

On the basis of the above, the present invention can also have following various remodeling:

Also including a rotation bionic finger, it is directly with by rotary electric machine and turns, and described rotary electric machine connects described intelligent controller.

Described flexible bionic finger has two opposing bionic fingers, attacks a vital point for flexible for one, and another composition one is pinched and put bionic finger; Also include pinching putting bionic finger, with described flexible bionic finger pinch that to put bionic finger corresponding in opposite directions, constitute a pair of and pinch and put bionic finger.

Described pinch that to put bionic finger be the bionic finger being fixed on housing.

Described pinching puts bionic finger and described flexible bionic finger by telescope motor by having the linear transmission mechanism drive of positive and negative transmission agency.

Described pinch to put be provided with vibrating plate in bionic finger, form vibration bionic finger, described vibrating plate connects intelligent controller.

Described linear transmission mechanism is leading screw and nut mechanism, and described motor and leading screw and nut mechanism are bearing in a housing.

Described intelligent controller, by controlling module and driving module to form, controls module and receives the instruction of terminal and convert the control signal to corresponding motor to, drive module to carry out drive motor according to motor control signal.

Described bionic finger has certain elastic human simulation finger for adopting to be made of resin.

Described motor is motor.

Work process:

Intelligent controller initializes and standby after connecting terminal;

Terminal sends attack a vital point maneuver and number of times instruction, and intelligent controller receives instruction;

Intelligent controller, according to instruction, controls maneuver and number of times that corresponding bionic finger completes to specify: if rotating the maneuver rubbing cave, then control corresponding bionic finger and rotate predetermined number of times; If pressing the maneuver attacked a vital point, then control the flexible predetermined number of times of corresponding bionic finger; If pinching the maneuver put, then control corresponding bionic finger and open Guan Bi predetermined number of times; If the maneuver of vibration, then control corresponding bionic finger vibration predetermined number of times;

After completing instruction, intelligent controller sends successful information and standby to terminal.

Beneficial effect: what due to the fact that employing is motor as power, can control that it is flexible by the intelligent controller speed of (namely attack a vital point press) and distance, it is also possible to accomplish to stretch different with the speed of contracting; It is adjustable that rotary electric machine can also control its rotating speed speed; For adopting to be made of resin, there is certain elastic human simulation finger plus bionic finger, just can accomplish maneuver smooth, standard, not make mistakes, this makes to implement multiple maneuver of attacking a vital point on human acupoint and is possibly realized, and not only can reach good therapeutic effect, and save the muscle power of doctor.

Accompanying drawing explanation

Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:

Fig. 1 is composition and the annexation schematic diagram of the embodiment of the present invention one;

Fig. 2 is composition and the annexation schematic diagram of the embodiment of the present invention two;

Fig. 3 is composition and the annexation schematic diagram of the embodiment of the present invention three;

Fig. 4 is composition and the annexation schematic diagram of the embodiment of the present invention four;

Fig. 5 is the FB(flow block) of the method for the present invention.

Accompanying drawing labelling in Fig. 1 is expressed as follows: 1-rotates bionic finger, and 2-flexible bionic finger A, 3-flexible bionic finger B, 4-pinch to be put, vibrate bionic finger, 5-vibrating reed, 6-telescope motor, 7-rotary electric machine, 8-intelligent controller, 9-interface.

Detailed description of the invention

Referring to Fig. 1, the intelligence of the present invention is attacked a vital point mechanical hand embodiment one, including a flexible bionic finger 2, it is driven by feed screw nut by telescope motor 6, motor and leading screw and nut mechanism are bearing in a housing, and the nut setting linear transmission mechanism in flexible bionic finger lower end coordinates with screw mandrel, the upper end bionic finger as exposing;Telescope motor is provided with intelligent controller 8 and controls, and intelligent controller is connected to terminal by interface 9.

Intelligent controller, by controlling module and driving module to form, controls module and receives the instruction of terminal and convert the control signal to corresponding motor to, drive module to carry out drive motor according to motor control signal, and the motor of the present embodiment is motor.

Embodiment two as shown in Figure 2, is different in that with embodiment one and also includes a rotation bionic finger 1, and it is directly with by rotary electric machine 7 and turns, and rotaty step motor 7 is provided with control line and connects aforementioned intelligent controller.

Embodiment three as shown in Figure 3, flexible bionic finger has two opposing bionic fingers 2 and 3, and bionic finger 2 is attacked a vital point for flexible, another bionic finger 3, and pinches that to put bionic finger 4 corresponding in opposite directions, constitutes a pair of and pinches and put bionic finger; Pinching and put bionic finger and be fixed on housing, bionic finger points to the reverse of flexible bionic finger.

Embodiment four as shown in Figure 4, the place different from embodiment three is that to pinch puts bionic hand 4 refers to flexible bionic finger 3 it is all driven by having the linear transmission mechanism of positive and negative transmission agency by telescope motor 6, and the nut specific to the leading screw and two positive and negative teeth that have positive and negative tooth exactly the present embodiment is combined.

Pinching to put and be also provided with vibrating plate 5 in bionic finger 4, form vibration bionic finger, vibrating plate connects intelligent controller.

All of bionic finger is all adopted to be made of resin has certain elastic human simulation finger.

The control flow of the present invention is as shown in Figure 5:

S1, controller initialize, and control driven by motor bionic finger and reset.

S2, controller are standby, wait that terminal sends instruction.

S3, controller receive the instruction that terminal sends, and are analyzed instruction judging, obtain the maneuver and number of times to do.

S4, controller control maneuver and the number of times that corresponding bionic finger completes to specify, and concrete steps include:

S41, controller control module convert instructions into the control signal to corresponding motor, drive module to carry out drive motor according to motor control signal.

Controlling module and control electric machine rotation, have the process of " startup-acceleration-constant speed operating-slow down-stop ", this makes the action smooth of puma manipulator bionic finger.

Some artificial maneuver is difficult to, for instance in short distance, the slow play of fast pressure and slow pressure are put soon, controls module by adjusting the rotating speed of motor so that puma manipulator also can be accomplished.

S42 if rotating the maneuver rubbing cave, then controls corresponding motor and drives bionic finger to rotate predetermined number of times;

S43 if pressing the maneuver attacked a vital point, then controls corresponding motor and drives the flexible predetermined number of times of bionic finger by linear transmission mechanism;

S44 if pinching the maneuver put, then controls corresponding motor and drives bionic finger to open Guan Bi predetermined number of times by linear transmission mechanism;

S45 if the maneuver of vibration, then controls corresponding vibration sheet and drives bionic finger vibration predetermined number of times.

S5, controller return to S2 after sending successful information to terminal.

Claims

1. intelligence is attacked a vital point a mechanical hand, it is characterized in that including: a flexible bionic finger, it is driven by linear transmission mechanism by telescope motor, and described telescope motor is provided with intelligent controller control, and intelligent controller is connected to terminal by interface.

2. intelligence according to claim 1 is attacked a vital point mechanical hand, it is characterized in that: also include a rotation bionic finger, and it is directly with by rotary electric machine and turns, and described rotary electric machine connects described intelligent controller.

3. intelligence according to claim 2 is attacked a vital point mechanical hand, it is characterized in that: also include pinching and put bionic finger; Simultaneously described flexible bionic finger has two opposing bionic fingers, attacks a vital point for flexible for one, and another is put with described pinching, and bionic finger is corresponding to be constituted a pair of in opposite directions and pinch and put bionic finger.

4. intelligence according to claim 3 is attacked a vital point mechanical hand, it is characterized in that: it is the bionic finger being fixed on housing that bionic finger is put in described pinching.

5. intelligence according to claim 3 is attacked a vital point mechanical hand, it is characterized in that: described pinching is put bionic finger and driven by having the linear transmission mechanism of positive and negative transmission agency by telescope motor with described flexible bionic finger.

6. the intelligence according to claim 4 or 5 is attacked a vital point mechanical hand, it is characterized in that: described pinching is put and be provided with vibrating plate in bionic finger, forms vibration bionic finger, and described vibrating plate connects intelligent controller.

7. intelligence according to claim 6 is attacked a vital point mechanical hand, it is characterized in that: described linear transmission mechanism is leading screw and nut mechanism, and described motor and leading screw and nut mechanism are bearing in a housing.

8. intelligence according to claim 7 is attacked a vital point mechanical hand, it is characterized in that: described intelligent controller is by controlling module and driving module to form, control module receive the instruction of terminal and convert the control signal to corresponding motor to, drive module to carry out drive motor according to motor control signal.

9. intelligence according to claim 8 is attacked a vital point mechanical hand, it is characterized in that: described bionic finger has elastic human simulation finger for adopting to be made of resin.

10. intelligence according to claim 9 is attacked a vital point mechanical hand, it is characterized in that: described motor is motor.