CN105963132A - Automatic acupuncture and moxibustion equipment - Google Patents
Automatic acupuncture and moxibustion equipment Download PDFInfo
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- CN105963132A CN105963132A CN201610537519.2A CN201610537519A CN105963132A CN 105963132 A CN105963132 A CN 105963132A CN 201610537519 A CN201610537519 A CN 201610537519A CN 105963132 A CN105963132 A CN 105963132A
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- needle guard
- acupuncture device
- automatic
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- 238000004891 communication Methods 0.000 claims description 25
- 230000001954 sterilising effect Effects 0.000 claims description 19
- 238000006073 displacement reaction Methods 0.000 claims description 17
- 239000004065 semiconductor Substances 0.000 claims description 17
- 238000004659 sterilization and disinfection Methods 0.000 claims description 17
- 230000005611 electricity Effects 0.000 claims description 12
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- 241000252254 Catostomidae Species 0.000 claims description 5
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- 229910001566 austenite Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 229910017052 cobalt Inorganic materials 0.000 description 1
- 239000010941 cobalt Substances 0.000 description 1
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 description 1
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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
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/08—Devices for applying needles to such points, i.e. for acupuncture ; Acupuncture needles or accessories therefor
-
- 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
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/02—Devices for locating such points
-
- 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
-
- 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
- A61H2201/5058—Sensors or detectors
- A61H2201/5064—Position sensors
-
- 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
- A61H2201/5097—Control means thereof wireless
-
- 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
- A61H2205/00—Devices for specific parts of the body
Landscapes
- Health & Medical Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Finger-Pressure Massage (AREA)
Abstract
Automatic acupuncture and moxibustion equipment comprises a positioning device, a power device, an acupuncture and moxibustion device, a base, an unmanned aerial vehicle and a control device. The positioning device is arranged at the bottom of the base, the unmanned aerial vehicle is arranged at the top of the base, the power device is connected with the base, the acupuncture and moxibustion device is connected with the power device, and the positioning device, the power device, the acupuncture and moxibustion device and the unmanned aerial vehicle are all connected with the control device. The automatic acupuncture and moxibustion equipment can automatically position acupuncture points and automatically perform acupuncture, and is convenient and fast to use.
Description
Technical field
The present invention relates to a kind of acupuncture device automatically.
Background technology
Acupuncture is the general name of the skill of handling needles and moxibustion therapy.It it is a kind of preventing and treating being widely used in traditional natural therapy
The method of disease, acupuncture and moxibustion treatment has adaptability widely to can be applicable to inside and outside, woman, Er Deng section office,
Particularly to pain, articular dyskinesia, nerve function lesion, the mental status curative effect of disease rapid
Bright, operational approach is simple and easy to do, medical expense economy, few side effect, deeply by the whole world mankind's
Like, for ensureing that the life and health of the whole mankind has played huge effect.
But the existing acupoint selection of acupuncture and the process of acupuncture all need manual operation, process operation is complicated,
Waste time and energy.
Summary of the invention
It is an object of the invention to provide a kind of acupuncture device automatically, it can be automatically performed acupoint selection and pin
Thorn, enormously simplify traditional acupuncture pattern so that it is convenient, quick.
Embodiments of the invention are achieved in that
A kind of acupuncture device automatically, it include positioner, power set, acupuncture device, base,
Unmanned plane and control device.Positioner is arranged on the bottom of base, and unmanned plane is arranged on the top of base
Portion, power set are connected with base, and acupuncture device is connected with power set.Positioner, power fill
Put, acupuncture device, unmanned plane are all connected with control device.
Controlling device manipulation unmanned plane drives whole automatic acupuncture device to take off, and makes automatic acupuncture device fly
Going near user, positioner positions the position at corresponding acupuncture point simultaneously, and so automatic acupuncture sets
For just falling on corresponding acupuncture point.Control device controls power set again makes acupuncture device can oneself
Move acupuncture, automatically exit from.After acupuncture terminates, control device control unmanned plane and make automatic acupuncture device rise
Fly away from out user.The process of the most whole acupuncture all achieves automatization, solves tradition side
The inconvenience that formula manual operation brings, enormously simplify acupuncture process, facilitates use.
In an embodiment of the present invention, automatic acupuncture device also includes sucker, and sucker is arranged on the end
The bottom of seat.
In an embodiment of the present invention, sucker is multiple, and multiple suckers are evenly distributed in acupuncture
Around device.
In an embodiment of the present invention, automatic acupuncture device also includes multiple sterilization shower nozzle, multiple
Sterilization shower nozzle is arranged on the bottom of base, and is looped around around acupuncture device.
In an embodiment of the present invention, acupuncture device includes acupuncture needle and needle guard, and acupuncture needle is arranged
In needle guard, needle guard is connected with power set.
In an embodiment of the present invention, needle guard also includes the first spacing ring being arranged on needle guard top
With the second spacing ring being arranged on bottom needle guard.Acupuncture needle includes acupuncture portion and rotating part.Automatically acupuncture
Equipment also includes armature coil, revolving part, commutative ring, brush, the first power supply, the first Magnet and
The rotary apparatus that two Magnet are constituted.First Magnet and the second Magnet are oppositely disposed at the medial surface of needle guard
Upper and the first Magnet and the second Magnet magnetic pole is relative.Armature coil, revolving part, commutative ring, electricity
Brush, the first power supply are arranged in needle guard.The two ends of brush are connected with the both positive and negative polarity of the first power supply.Commutation
One end of ring electrically connects with brush.The other end of commutative ring electrically connects with armature coil.Armature coil position
In the middle of the first Magnet and the second Magnet.Revolving part is fixing with armature coil to be connected.The rotation of acupuncture needle
Portion is removably disposed in revolving part.One end of revolving part is connected on the first spacing ring, the other end
It is connected on the second spacing ring.
In an embodiment of the present invention, automatic acupuncture device also includes semiconductor chilling plate and the 3rd
Power supply, semiconductor chilling plate is arranged on inside needle guard, semiconductor chilling plate and the electrical connection of the 3rd power supply.
In an embodiment of the present invention, automatic acupuncture device also includes displacement transducer, and displacement passes
Sensor is connected with acupuncture device.
In an embodiment of the present invention, displacement transducer include resistance wire, slide plate, second source,
Galvanometer, communication device.The insulated bottom being arranged on base of resistance wire, slide plate is insulated to be arranged on
The outer surface of acupuncture device is also slidably connected with resistance wire, the both positive and negative polarity of second source respectively with electricity
Resistance silk and slide plate electrical connection.Resistance wire, slide plate, second source form electricity loop, and galvanometer is connected on
In electricity loop.Galvanometer is connected with communication device, and communication device is connected with controlling device.
In an embodiment of the present invention, control device and include wireless communication apparatus and remote controllers.
Positioner, power set, acupuncture device, unmanned plane are all connected with wireless communication apparatus.Channel radio
News device is connected with remote controllers.
The embodiment of the present invention provides the benefit that:
Control device and can control work and the stopping of unmanned plane, control rising of automatic acupuncture device therewith
Fly and landing；With timed unit manipulation positioner to the location at corresponding acupuncture point, indicating, make automatically
Acupuncture device can fall corresponding acupuncture point exactly；On the other hand fall accordingly when automatic acupuncture device
Acupuncture point after control device control power set make acupuncture device complete acupuncture and/or exit.Acupuncture terminates
After, control device control unmanned plane makes automatic acupuncture device take off and leaves user.Whole process is whole
Completing by controlling device, eliminate that manual operation brings is complicated, the process making acupuncture is convenient,
Fast.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below will be to required in embodiment
Accompanying drawing to be used is briefly described, it will be appreciated that the following drawings illustrate only some of the present invention
Embodiment, is therefore not construed as the restriction to scope, for those of ordinary skill in the art,
On the premise of not paying creative work, it is also possible to obtain other relevant accompanying drawings according to these accompanying drawings.
Fig. 1 is the structural representation at automatic the first visual angle of acupuncture device in the embodiment of the present invention 1；
Fig. 2 is the structural representation of unmanned plane in the embodiment of the present invention 1；
Fig. 3 is the structure of acupuncture device, rotary apparatus and semiconductor chilling plate in the embodiment of the present invention 1
Schematic diagram；
Fig. 4 is the structural representation of rotary apparatus in the embodiment of the present invention 1；
Fig. 5 is the structural representation at automatic acupuncture device the second visual angle in the embodiment of the present invention 1；
Fig. 6 is the structural representation of shower nozzle of sterilizing in the embodiment of the present invention 1；
Fig. 7 is the Local map of displacement transducer in the embodiment of the present invention 1；
Fig. 8 is the workflow diagram controlling device in the embodiment of the present invention 1.
Wherein, the parts title that reference is corresponding is as follows:
The automatic acupuncture device of 100-, 110-positioner, 111-scanheads, 112-scan control section,
120-power set, 121-linear electric motors, 122-the 4th power supply, 123-force control section, 130-pin
Moxibustion device, 131-acupuncture needle, 1311-acupuncture portion, 1312-rotating part, 132-needle guard, 1321-first
Spacing ring, 1322-the second spacing ring, 140-base, 141-blind round hole, 150-unmanned plane, 151-
Body, 152-flight portion, 153-link, 154-flight control portion, 160-controls device, 170-
Sucker, 180-sterilizes shower nozzle, 181-nozzle, 182-holding part, 183-piston, 184-piston rod,
185-driver, 186-sterilizes control portion, 190-rotary apparatus, 191-armature coil, and 192-rotates
Part, 193-commutative ring, 194-brush, 195-the first power supply, 196-the first Magnet, 197-the second magnetic
Ferrum, 198-connector, 199-the first control portion, 210-semiconductor chilling plate, 220-the 3rd power supply,
230-displacement transducer, 231-resistance wire, 232-slide plate, 233-second source, 234-galvanometer,
235-communication device, 236-insulated sleeve, 240-quasiconductor control portion.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with this
Accompanying drawing in inventive embodiments, clearly and completely retouches the technical scheme in the embodiment of the present invention
State, it is clear that described embodiment is a part of embodiment of the present invention rather than whole embodiments.
Generally herein described in accompanying drawing and the assembly of the embodiment of the present invention that illustrates can be with various different joining
Put and arrange and design.
Therefore, detailed description to the embodiments of the invention provided in the accompanying drawings is not intended to limit below
The scope of claimed invention processed, but it is merely representative of the selected embodiment of the present invention.Based on this
Embodiment in invention, those of ordinary skill in the art are obtained under not making creative work premise
The every other embodiment obtained, broadly falls into the scope of protection of the invention.
It should also be noted that similar label and letter represent similar terms, therefore, one in following accompanying drawing
A certain Xiang Yi the accompanying drawing of denier is defined, then need not it is carried out further in accompanying drawing subsequently
Definition and explanation.
In describing the invention, it should be noted that term " middle ", " on ", D score etc. refers to
The orientation shown or position relationship are based on orientation shown in the drawings or position relationship, or this invention is produced
The orientation usually put during product use or position relationship, be for only for ease of the description present invention and simplification is retouched
State rather than indicate or imply that the device of indication or element must have specific orientation, with specifically
Azimuth configuration and operation, be therefore not considered as limiting the invention.Additionally, term " first ",
" second ", " the 3rd ", " the 4th " etc. are only used for distinguishing and describe, and it is not intended that indicate or hint
Relative importance.
In describing the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited,
Term " is arranged ", " connection " should be interpreted broadly, and connects for example, it may be fixing, it is also possible to
It is to removably connect, or is integrally connected；Can be to be mechanically connected, it is also possible to be electrical connection；Permissible
It is to be joined directly together, it is also possible to be indirectly connected to by intermediary, can be the connection of two element internals.
For the ordinary skill in the art, above-mentioned term can be understood in the present invention with concrete condition
Concrete meaning.
Embodiment 1
Refer to Fig. 1, the present embodiment provides a kind of acupuncture device 100 automatically, it include positioner 110,
Power set 120, acupuncture device 130, base 140, unmanned plane 150, sucker 170, sterilization shower nozzle
180, displacement transducer 230, armature coil 191, revolving part 192, commutative ring 193, brush 194,
First power supply the 195, first Magnet the 196, second Magnet 197, semiconductor chilling plate the 210, the 3rd electricity
Source 220 and control device 160.
With reference to Fig. 2, unmanned plane 150, unmanned plane 150 is four rotary wind type unmanned planes 150.Unmanned plane 150
There is body 151, flight portion 152, flight control portion 154, link 153.Flight portion 152 sets
Putting on the top of body 151, it is internal that flight control portion 154 is built in body 151, link 153
It is arranged on the bottom of body 151.Flight control portion 154 is connected with flight portion 152.Flight control portion
154 offline mode that can manipulate flight portion 152, make unmanned plane 150 can realize taking off, shift,
Landing.Flight control portion 154 is connected with controlling device 160.
Base 140, base 140 be shaped as cylinder, base 140 is made up of ABS plastic.Base
The bottom of 140 offers blind round hole 141.The link 153 of unmanned plane 150 and the top of base 140
Portion is fixing to be connected.
Power set 120, power set 120 are by force control section 123, linear electric motors 121 and the 4th
Power supply 122 forms.Specifically, linear electric motors 121 are DC stepper motor, linear electric motors 121 with
4th power supply 122 connects, and linear electric motors 121 have the push rod that can do linear reciprocating motion.Power
Device 120 is arranged in the blind round hole 141 bottom base 140.Force control section 123 and straight line
Motor 121 connects.The push rod that force control section 123 manipulates linear electric motors 121 is protruding or inside
Retract.Force control section 123 is connected with controlling device 160.
With reference to Fig. 3, acupuncture device 130 includes acupuncture needle 131 and needle guard 132.
Acupuncture needle 131 includes acupuncture portion 1311 and rotating part 1312.Acupuncture needle 131 is austenite stainless
The acupuncture needle that steel is made.Acupuncture needle has the point of transitions smooth and outer peripheral face is the terminal part that copper wire is wound around.
This terminal part is rotating part 1312, and acupuncture needle 131 is acupuncture portion except the remainder of rotating part 1312
1311。
Needle guard 132 is hollow cylindrical structure.Needle guard 132 has airtight top and the bottom opened wide.
Have the first spacing ring 1321 at the top of needle guard 132, the base plate of needle guard 132 has the second spacing ring
1322.The end face diameter of needle guard 132 is slightly less than the blind round hole 141 of base 140, i.e. needle guard 132 with
Blind round hole 141 matched in clearance.
First spacing ring 1321 is the circular cylindrical body being arranged on needle guard 132 inside top.First is spacing
Ring 1321 has the inner chamber of hollow.
Second spacing ring 1322 is to be arranged on the thin lid of the cylinder bottom needle guard 132.Second spacing ring
The basal diameter of 1322 and needle guard 132 end face equal diameters, the i.e. second spacing ring 1322 and needle guard 132
Bottom coordinates.The central authorities of the second spacing ring 1322 offer circular the passing through passed through for acupuncture needle 131
Hole.Corresponding by hole on the inner chamber of the first spacing ring 1321 and the second spacing ring 1322.
The top of needle guard 132 is fixing with the push rod of power set 120 to be connected.Needle guard 132 is set in the end
In the blind round hole 141 of seat 140.
With reference to Fig. 4, rotary apparatus 190 include armature coil 191, revolving part 192, commutative ring 193,
Brush the 194, first power supply the 195, first Magnet the 196, second Magnet 197.
Armature coil 191 is coiled into rectangular ring for many copper wires.Wherein at rectangular ring, there are two
The narrow end portion that relative wide end is relative with two.One of them narrow end portion has an open circuit opening,
This open circuit opening has the first relative end and the second end.
The tubular structure that revolving part 192 is made for insulant.Revolving part 192 has and passes through from its end face
Through hole through bottom surface.Specifically, the cylinder-like structure that revolving part 192 is made for ABS plastic.
Revolving part 192 is connected with the narrow end portion of armature coil 191 by connector 198.Revolving part 192
One end is connected in the hollow cavity of the first spacing ring 1321, and the other end is connected to the second spacing ring 1322
By hole around, and through hole is corresponding with by hole.
Commutative ring 193 is two pieces and is oppositely arranged ground commutator segment.This commutator segment is half-round metal sheet.Electricity
First end of pivot coil 191 is connected with the center of the inner peripheral surface of one piece of commutator segment by the first lead-in wire, electricity
Second end of pivot coil 191 is connected with the center of the inner peripheral surface of another block commutator segment by the second lead-in wire.
Brush 194 is two pieces of electrographite brushes being oppositely arranged.Brush 194 and the appearance of commutative ring 193
Face good contact.Brush 194 is arranged on needle guard 132 top by support.
First power supply 195 is minisize dc power supply.First power supply 195 has positive pole and negative pole.First
Power supply 195 is connected with brush 194.First power supply 195 is arranged on needle guard 132 top.
The permanent magnet that first Magnet 196 and the second Magnet 197 are made for permanent magnet material.Specifically,
One Magnet 196 and the second Magnet 197 are the permanent magnet that siderochrome cobalt system permanent-magnet alloy is made.
First Magnet 196 and the second Magnet 197 are oppositely disposed on needle guard 132 inwall, and first
Magnet 196 is relative with the magnetic pole of the second Magnet 197.Armature coil 191 is positioned at the first Magnet 196 He
The centre of the second Magnet 197.
First control portion 199 is connected with the first power supply 195.First control portion 199 is by the signal of telecommunication
Change and change being switched on or switched off of the first power supply 195 and brush 194.
3rd power supply 220 is the DC source being arranged on needle guard 132 top.
Semiconductor chilling plate 210 be arranged on needle guard 132 inwall and with the first Magnet 196 and the second Magnet
197 is spaced, to avoid unnecessary interference.Semiconductor chilling plate 210 has positive and negative terminals,
Positive and negative terminals both positive and negative polarity with the 3rd power supply 220 respectively is connected.
Quasiconductor control portion 240 is connected with the 3rd power supply 220.Quasiconductor control portion 240 passes through telecommunications
Number change and change positive and negative terminals and the both positive and negative polarity of the 3rd power supply 220 of semiconductor chilling plate 210
Connection status, i.e. semiconductor chilling plate 210 positive and negative wiring head end and the 3rd power supply 220 both positive and negative polarity are just
Connect or reversal connection.
Positioner 110 includes three scanheadss 111 and three scan control section 112.Scanheads
111 pop one's head in for noctovisor scan.Positioner 110 is arranged on the bottom of base 140.Specifically, sweep
Retouching probe 111 to be connected with scan control section 112, scan control section 112 is arranged on the end of base 140
Portion.Scan control section 112 can control the work of scanheads 111.Scan control section 112 and control
Device 160 processed connects.
With reference to Fig. 5, sucker 170, sucker 170 is for make with nitrile rubber.Being shaped as of sucker 170
Plate-like circular, umbilicate.Sucker 170 is arranged on the bottom of base 140.
Automatically acupuncture device 100 has three suckers 170, and three suckers 170 are evenly distributed in acupuncture
Around, specifically, three suckers 170 are distributed in symmetrically joins device 130 with needle guard 132
The blind round hole 141 closed is around.
With reference to Fig. 6, shower nozzle 180 of sterilizing, sterilization shower nozzle 180 includes sterilize control portion 186, driver
185, piston 183, piston rod 184, holding part 182, nozzle 181.
Nozzle 181 is the cylinder of hollow, and cylindrical end face offers multiple aperture, cylindrical
Bottom surface offers manhole.
Holding part 182 is the cylindrical shape of one end Guan Bi one end open.Set on the Guan Bi end of holding part 182
It is equipped with through hole.The Guan Bi end of holding part 182 is fixing with the bottom surface of nozzle 181 to be connected.Holding part 182
The through hole of Guan Bi end is corresponding with the manhole of nozzle 181 bottom surface.
Holding part 182 is built with Medical antiseptic solution.
The cylinder that piston 183 is made for medical grade polrvinyl chloride, the outer peripheral face of piston 183 has rubber
Glue ring.Piston 183 is arranged in holding part 182, the inwall laminating of piston 183 and holding part 182.
Piston rod 184 is strip cylinder, and piston rod 184 has relative two ends, piston rod 184
One end and piston 183 fixing be connected, the other end of piston rod 184 is connected with driver 185.
Driver 185 is micromachine, and driver 185 promotes piston rod 184 in holding part 182
Move back and forth.
Sterilization control portion 186 controls the work of driver 185, makes driver 185 drive piston rod 184
It is moved forward or rearward.Sterilization control portion 186 is connected with controlling device 160.
Automatically acupuncture device 100 has three sterilization shower nozzles 180, and three sterilization shower nozzles 180 divide equably
Cloth is around acupuncture device 130.Specifically, three sterilization shower nozzles 180 are distributed in symmetrically
The blind round hole 141 coordinated with needle guard 132 is around.Sterilization shower nozzle 180 is arranged on base obliquely
The bottom of 140, and nozzle 181 just acupuncture portion 1311 to acupuncture needle 131.
With reference to Fig. 7, displacement transducer 230 include resistance wire 231, slide plate 232, second source 233,
Galvanometer 234, communication device 235.
Resistance wire 231 is nichrome wire, and resistance wire 231 is arranged on base by insulated sleeve 236
The bottom of 140.Specifically, resistance wire 231 being wound around closely along stretching direction along insulated sleeve 236
On insulated sleeve 236, one end of insulated sleeve 236 is fixed on the bottom of base 140.
Slide plate 232 is foil.Slide plate 232 is slidably connected with resistance wire 231.Specifically,
One end of slide plate 232 and resistance wire 231 good contact, the other end is fixedly installed on by plastic spacer
Needle guard 132 outer peripheral face.
Second source 233 is DC source.The positive pole of second source 233 is connected with slide plate 232, the
The negative pole of two power supplys 233 is connected with resistance wire 231.So, resistance wire 231, slide plate 232, second
Power supply 233 forms electricity loop.
Galvanometer 234 is connected on resistance wire 231, slide plate 232, the electric loop of second source 233 formation
In.Specifically, galvanometer 234 has two terminals, and terminals are connected with slide plate 232,
Another terminals are connected with the positive pole of second source 233, i.e. galvanometer 234 is connected on slide plate 232
And between the positive pole of second source 233, slide plate 232 is by galvanometer 234 and second source 233
Positive pole connects.
Communication device 235 is connected with galvanometer 234.Communication device 235 recording galvanometer 234 electric current
The change of size and Orientation, and transmit these information to control device 160.
Specifically, drive slide plate 232 from the top of resistance wire 231 when acupuncture device 130 moves downward
Portion moves to the bottom of resistance wire 231, and at this moment the numerical value of galvanometer 234 is gradually increased, until slide plate
During the bottom that 232 arrive resistance wire 231, the numerical value of galvanometer 234 reaches maximum；But work as acupuncture device
130 drive slide plate 232 from the bottom of resistance wire 231 to the top movements of resistance wire 231 when moving upward,
At this moment the numerical value of galvanometer 234 is gradually reduced, during until slide plate 232 arrives the top of resistance wire 231,
The numerical value of galvanometer 234 minimizes, and is zero.If galvanometer 234 reversal connection is in electricity loop,
When slide plate 232 slides on the surface of resistance wire 231, the numerical value of galvanometer 234 can increase in reverse direction
Big or reduce.The current information that these are changed by communication device 235 issues control device 160, controls dress
Put 160 it is determined that the displacement of acupuncture device 130 and moving direction, and then feedback control is straight
Line motor 121 adjusts the position of acupuncture device 130.
Control device 160 and include wireless communication apparatus and remote controllers.
Communication device 235, sterilization control portion 186, scan control section 112, quasiconductor control portion 240,
First control portion 199, force control section 123, flight control portion 154 are all connected with wireless communication apparatus.
Remote controllers are the computer being separately provided, by computer send corresponding control signal to
Wireless communication apparatus, thus manipulate positioner 110, power set 120, acupuncture device 130, position
Displacement sensor 230, semiconductor chilling plate the 210, first power supply 195, sterilization shower nozzle 180 and unmanned plane
The work of 150.Computer control positioner 110 processed in whole acupuncture process, power set 120,
Acupuncture device 130, displacement transducer 230, semiconductor chilling plate the 210, first power supply 195, sterilization
Shower nozzle 180 and the work of unmanned plane 150, can realize the Automated condtrol in automatic acupuncture process.
It should be understood that
First power supply 195, second source the 233, the 3rd power supply the 220, the 4th power supply 122 can be independent
Four power supplys, it is also possible to be that wherein certain several is applied in combination same power supply, it is also possible to be public same
Individual power supply.
Automatically acupuncture device 100 can work independently, it is also possible to is several automatic acupuncture devices 100
Collaborative work together.
Flight control portion 154, force control section the 123, first control portion 199, quasiconductor control portion 240,
The mechanism in scan control section 112 and sterilization control portion 186 can be relay or the control of other signals of telecommunication
Equipment, as long as ensureing that the signal that wireless communication apparatus sends can manipulate it and make corresponding control action.
During assembling, first semiconductor chilling plate 210 is arranged on needle guard 132 inwall, then by the first magnetic
Ferrum 196 and the second Magnet 197 are arranged on needle guard 132 inwall symmetrically, and with quasiconductor system
Cold 210 spaced apart.Subsequently, by the armature coil 191 that be connected fixing with commutative ring 193 and rotation
Part 192 connects.Mobile revolving part 192 makes commutative ring 193 and brush 194 good contact, will simultaneously
One end of revolving part 192 is connected in the hollow cavity of the first spacing ring 1321, and the other end is connected to
Two spacing rings 1322 by hole.It follows that by needle guard 132 along the blind hole bottom base 140
The mobile push rod with the power set 120 on base 140 is fixed and is connected.At this moment, the big portion of needle guard 132
Divide bottom the slide plate 232 and base 140 being positioned in the blind hole bottom base 140, and needle guard 132
Resistance wire 231 good contact.The top of the link 153 of unmanned plane 150 with base 140 is connected
Connect.Finally the rotating part 1312 of acupuncture needle 131 is inserted in revolving part 192.On the other hand, nothing is made
Signal between line communication device and remote controllers is connected well.
During use, first the rotating part 1312 of acupuncture needle 131 is inserted in revolving part 192.
Operator selects operation and the acupuncture mode needing to carry out in advance in the program of remote controllers,
Corresponding parts can work automatically according to selected pattern.Its general operation principle is as follows:
With reference to Fig. 8, operator operates remote controllers, and remote controllers send letter to wireless communication apparatus
Number start automatic acupuncture device 100.At this moment, displacement transducer 230 and positioner 110 automatically open up.
After a period of time, unmanned plane 150 starts the whole equipment of drive and takes off.
At this time scanheads 111 is started working: scanheads 111 first scans by the whole body of acupuncture person
Body, obtains scanning figure；The scanned probe 111 of scanning figure transfers back in remote controllers, with remotely control
The mark human acupoint preserved in device processed is compared；Scanning figure is carried out by the program in remote controllers
Ratio change and acupuncture point are calibrated；Remote controllers according to calibration after acupuncture point figure the acupuncture point needing acupuncture
Generating coordinate figure, this coordinate figure is sent to the flight control portion of unmanned plane 150 by wireless communication apparatus
154, and then make unmanned plane 150 slowly drop on corresponding acupuncture point according to coordinate figure and quit work,
At this moment whole equipment is adsorbed on the skin around corresponding acupuncture point by sucker 170 firmly.A period of time
After, sterilization shower nozzle 180 sprays the disinfectant solution skin surface at corresponding acupuncture point automatically.Sterilization shower nozzle 180
After a period of time worked, power set 120 start automatically, promote acupuncture device 130 downward
The mobile skin making acupuncture needle 131 thrust corresponding acupuncture point.Simultaneous displacement sensor 230 can fill acupuncture
The displacement information putting 130 returns to remote controllers by wireless communication apparatus, remote controllers according to
Set step make the acupuncture needle 131 of acupuncture device 130 continue to move down thrust depths, acupuncture point or
Move up and exit or slack.Before acupuncture device 130 moves, quasiconductor control portion 240
And/or first control portion 199 the most automatically start.After a period of time, when the pin set
The moxibustion time reaches, and acupuncture device 130 automatically falls back on initial position, the portion of quasiconductor control subsequently 240
And/or first control portion 199 also quit work.After a period of time, unmanned plane 150 automatic takeoff returns to
The position initially taken off.The working time of each step can be made in remote controllers and correspondingly setting
Put.
Beneficial effect:
Such automatic acupuncture device 100, fills positioner 110, power by controlling device 160
Put 120, acupuncture device 130, unmanned plane 150, displacement transducer 230, semiconductor chilling plate 210,
Select device to carry out the control of automatization, and each control process all can soft readjustment.Phase
Needing artificial acupoint selection, artificial acupuncture than current acupuncture, automatic acupuncture device 100 can be more accurately
Implement acupuncture and accuracy, greatly facilitate the use by acupuncture person and operator, efficient quick.
The process of the most whole acupuncture all achieves automatization, solves traditional approach manual operation and brings
Inconvenience, enormously simplify acupuncture process, facilitate use.
It is to be understood that when the hot acupuncture of needs, computer controls the 3rd power supply 220 and quasiconductor system
Rectifying for cold 210 liang and connect, semiconductor chilling plate 210 produces heat radiation, and in making needle guard 132, heating is also
Even if acupuncture needle 131 heating；When the cold acupuncture of needs, computer controls the 3rd power supply 220 and partly leads
Body cooling piece 210 two ends reversal connection, semiconductor chilling plate 210 freezes, make in needle guard 132 refrigeration that is
Acupuncture needle 131 is made to turn cold；When needs magnetic acupuncture, only need to will be magnetized after contacting with Magnet (or
By other means magnetization) acupuncture needle 131 insert revolving part 192；When needs band electric acupuncture, can
To arrange the 5th power supply (or the first power supply 195, second source the 233, the 3rd power supply in needle guard 132
220, any one power supply in the 4th power supply 122), make positive and negative polarities and the acupuncture needle of the 5th power supply
The two ends electrical connection in 131 acupuncture portions 1311, such acupuncture needle 131 is the most charged；When needs rotary needle
During thorn, computer sends a signal to the first control portion 199 makes the first power supply 195 connect with brush 194,
So armature coil 191 just can rotate between the first Magnet 196 and the second Magnet 197, thus carries
Acupuncture needle 131 in dynamic revolving part 192 rotates.
When the needs multiple acupuncture point of acupuncture simultaneously, multiple automatic acupuncture device 100 work simultaneously can be operated
Make, reach the purpose at the multiple acupuncture point of acupuncture simultaneously.
Automatically acupuncture device can also with electromechanical diagram instrument with the use of, to detect the angle that acupuncture needle thrusts
And position.Specifically, electromyograph(EMG has electrode patch, data handling system, display.Use
Time, the acupuncture needle of automatic acupuncture device thrusts by before acupuncture person's skin, electrode patch is attached to acupuncture
Around pin acupuncture position.After acupuncture needle thrusts by acupuncture person's skin, the data of electromyograph(EMG process
The curent change at acupuncture position can be shown over the display by system by Electromyographic mode.Along with pin
The use state of acupuncture needle changes, and operator can enter by observing the potential change in electromyogram
And adjust the motion of acupuncture device, thus ensure the optimum of acupuncture effect.
In sum, the automatic acupuncture device 100 in the embodiment of the present invention is controlled by controlling device 160
The work of unmanned plane 150 processed and stopping, controlling taking off and landing of automatic acupuncture device 100 therewith；
Manipulate positioner 110 to the location at corresponding acupuncture point, indicating with timed unit 160, make automatic pin
Moxibustion equipment 100 can fall corresponding acupuncture point exactly；On the other hand fall when automatic acupuncture device 100
Behind corresponding acupuncture point, control device 160 control power set 120 and make acupuncture device 130 complete acupuncture
And/or exit.After acupuncture terminates, control device 160 controls unmanned plane 150 makes automatic acupuncture device 100
Take off and leave user.Whole process is all completed by control device 160, eliminates manual operation
That brings is complicated, and the process making acupuncture is convenient, quick.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for
For those skilled in the art, the present invention can have various modifications and variations.All essences in the present invention
Within god and principle, any modification, equivalent substitution and improvement etc. made, should be included in the present invention
Protection domain within.
Claims (10)
1. an automatic acupuncture device, it is characterised in that include positioner, power set, acupuncture
Device, base, unmanned plane and control device, described positioner is arranged on the bottom of described base,
Described unmanned plane is arranged on the top of described base, and described power set are connected with described base, described
Acupuncture device is connected with described power set, described positioner, power set, acupuncture device, nothing
Man-machine all it is connected with described control device.
Automatic acupuncture device the most according to claim 1, it is characterised in that also include sucker,
Described sucker is arranged on the bottom of described base.
Automatic acupuncture device the most according to claim 2, it is characterised in that described sucker is many
Individual, multiple described suckers are evenly distributed in around described acupuncture device.
Automatic acupuncture device the most according to claim 1, it is characterised in that also include multiple disappearing
Poison shower nozzle, the plurality of sterilization shower nozzle is arranged on the bottom of described base, and is looped around in described acupuncture
Around device.
Automatic acupuncture device the most according to claim 1, it is characterised in that described acupuncture device
Including acupuncture needle and needle guard, described acupuncture needle is arranged in described needle guard, described needle guard and described power
Device connects.
Automatic acupuncture device the most according to claim 5, it is characterised in that:
Described needle guard also includes the first spacing ring being arranged on described needle guard top and is arranged on described needle guard
Second spacing ring of bottom；
Described acupuncture needle includes acupuncture portion and rotating part；
Also include armature coil, revolving part, commutative ring, brush, the first power supply, the first Magnet and
The rotary apparatus that two Magnet are constituted, described first Magnet and the second Magnet are oppositely disposed at the interior of needle guard
On side and the magnetic pole of the first Magnet and the second Magnet is relative, described armature coil, revolving part, change
Xiang Huan, brush, the first power supply are arranged in described needle guard, the two ends of described brush and described first electricity
The both positive and negative polarity in source connects, and one end of described commutative ring electrically connects with described brush, described commutative ring another
One end electrically connects with described armature coil, and described armature coil is positioned at described first Magnet and the second Magnet
Centre, described revolving part is fixing with described armature coil to be connected, and the rotating part of described acupuncture needle is detachable
Be arranged in described revolving part, one end of described revolving part is connected on described first spacing ring, separately
One end is connected on described second spacing ring.
Automatic acupuncture device the most according to claim 5, it is characterised in that also include quasiconductor
Cooling piece and the 3rd power supply, described semiconductor chilling plate is arranged on inside described needle guard, described quasiconductor
Cooling piece electrically connects with described 3rd power supply.
Automatic acupuncture device the most according to claim 1, it is characterised in that also include that displacement passes
Sensor, institute's displacement sensors is connected with described acupuncture device.
Automatic acupuncture device the most according to claim 8, it is characterised in that described displacement sensing
Device includes resistance wire, slide plate, second source, galvanometer, communication device, and described resistance wire is insulated
Being arranged on the bottom of described base, described slide plate is insulated is arranged on the outer surface of described acupuncture device also
Be slidably connected with described resistance wire, the both positive and negative polarity of described second source respectively with described resistance wire and
Described slide plate electrically connects；
Described resistance wire, slide plate, second source form electricity loop, and described galvanometer is connected on described electricity
In loop；
Described galvanometer is connected with described communication device, and described communication device is connected with described control device.
Automatic acupuncture device the most according to claim 1, it is characterised in that described control device
Including wireless communication apparatus and remote controllers；
Described positioner, power set, acupuncture device, unmanned plane all with described wireless communication apparatus
Connect；
Described wireless communication apparatus is connected with described remote controllers.
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| CN201610537519.2A CN105963132B (en) | 2016-07-08 | 2016-07-08 | Automatic acupuncture device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610537519.2A CN105963132B (en) | 2016-07-08 | 2016-07-08 | Automatic acupuncture device |
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| CN105963132B CN105963132B (en) | 2019-02-12 |
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| CN106726502A (en) * | 2017-01-23 | 2017-05-31 | 首都医科大学 | A kind of acupuncture disposably electricity refrigeration acupuncture needle |
| CN106963615A (en) * | 2017-04-13 | 2017-07-21 | 周佰利 | A kind of medical massage instrument |
| CN107174520A (en) * | 2017-05-27 | 2017-09-19 | 余庆县中医医院 | A kind of needle inserter for acupuncture |
| CN108211114A (en) * | 2017-12-28 | 2018-06-29 | 重庆新骄阳健康产业股份有限公司 | Restore instrument in postpartum basin bottom |
| CN108852344A (en) * | 2018-08-07 | 2018-11-23 | 海口市人民医院（中南大学湘雅医学院附属海口医院） | Integrated electrocardio monitoring alarm device of magnetic resonance machine |
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| CN106726502A (en) * | 2017-01-23 | 2017-05-31 | 首都医科大学 | A kind of acupuncture disposably electricity refrigeration acupuncture needle |
| CN106963615A (en) * | 2017-04-13 | 2017-07-21 | 周佰利 | A kind of medical massage instrument |
| CN107174520A (en) * | 2017-05-27 | 2017-09-19 | 余庆县中医医院 | A kind of needle inserter for acupuncture |
| CN108211114A (en) * | 2017-12-28 | 2018-06-29 | 重庆新骄阳健康产业股份有限公司 | Restore instrument in postpartum basin bottom |
| CN108211114B (en) * | 2017-12-28 | 2021-02-02 | 重庆新骄阳健康产业股份有限公司 | Postpartum pelvic floor recovery instrument |
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| CN108852344B (en) * | 2018-08-07 | 2024-04-05 | 海口市人民医院（中南大学湘雅医学院附属海口医院） | Integrated electrocardiograph monitoring and alarming device of magnetic resonance machine |
| CN109044814A (en) * | 2018-08-13 | 2018-12-21 | 张仲桃 | A kind of silica gel plastic cement moxaburner device with automatic temperature-adjusting function |
| CN109350510A (en) * | 2018-08-27 | 2019-02-19 | 重庆市中医院 | A kind of automatic fire needle therapeutic apparatus and its operating method |
| CN109350510B (en) * | 2018-08-27 | 2021-06-22 | 重庆市中医院 | Automatic fire needle therapeutic apparatus and operation method thereof |
| CN108938401A (en) * | 2018-08-31 | 2018-12-07 | 福建工程学院 | A kind of multivariant sleeping robot |
| CN109288602A (en) * | 2018-09-19 | 2019-02-01 | 张晨晨 | A kind of intelligent tooth protective system based on aesthetic nursing |
| CN109091260A (en) * | 2018-09-19 | 2018-12-28 | 张晨晨 | A kind of intelligent teeth cleaning system based on aesthetic nursing |
| CN109431800A (en) * | 2018-12-17 | 2019-03-08 | 李迎春 | A kind of easy-to-use Neurology clinic acupuncture and moxibustion device |
| CN109431800B (en) * | 2018-12-17 | 2020-12-08 | 李迎春 | Just, use clinical acupuncture and moxibustion ware of formula department of neurology |
| CN112315793A (en) * | 2020-10-12 | 2021-02-05 | 健联医疗股份有限公司 | Automatic acupuncture system, acupuncture set and acupuncture method |
| WO2022081208A1 (en) | 2020-10-12 | 2022-04-21 | Wellness Allied Inc | Automatic acupuncture device, needle gadget and acupuncture method |
| US11504299B2 (en) | 2020-10-12 | 2022-11-22 | Wellness Allied Inc | Automatic acupuncture device, needle gadget and acupuncture method |
| CN112315793B (en) * | 2020-10-12 | 2023-12-08 | 健联医疗股份有限公司 | Automatic needle insertion system, acupuncture set and acupuncture method |
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Effective date of registration: 20231109 Address after: 430000, Room 1.2, 4th Floor, Building 12, Tianyuan Avenue North and Guihua Road East, Jinghe Street, Dongxihu District, Wuhan City, Hubei Province Patentee after: WUHAN CAOBENXIN TECHNOLOGY Co.,Ltd. Address before: 430000 No. 1-505 Cuihuyuan, Tian'ehu Mountain Villa, Hanyang District, Wuhan City, Hubei Province Patentee before: Wu Zhenghong |