CN107791281A - A kind of thermosensitive moxibustion auxiliary mechanical arm - Google Patents
A kind of thermosensitive moxibustion auxiliary mechanical arm Download PDFInfo
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- CN107791281A CN107791281A CN201711077319.4A CN201711077319A CN107791281A CN 107791281 A CN107791281 A CN 107791281A CN 201711077319 A CN201711077319 A CN 201711077319A CN 107791281 A CN107791281 A CN 107791281A
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- 210000000245 forearm Anatomy 0.000 claims description 20
- 238000005096 rolling process Methods 0.000 claims 1
- 238000001179 sorption measurement Methods 0.000 claims 1
- 238000001467 acupuncture Methods 0.000 abstract description 13
- 238000000034 method Methods 0.000 abstract description 8
- 230000003203 everyday effect Effects 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 abstract 1
- 201000010099 disease Diseases 0.000 description 5
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 235000010894 Artemisia argyi Nutrition 0.000 description 2
- 244000030166 artemisia Species 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 231100000331 toxic Toxicity 0.000 description 2
- 230000002588 toxic effect Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 231100000957 no side effect Toxicity 0.000 description 1
- 235000019633 pungent taste Nutrition 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000472 traumatic effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
- A61H39/06—Devices for heating or cooling such points within cell-life limits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Epidemiology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Multimedia (AREA)
- Finger-Pressure Massage (AREA)
- Manipulator (AREA)
Abstract
A kind of thermosensitive moxibustion auxiliary mechanical arm, including moxa stick jacket casing, small arm housing, big arm housing, waist upper strata body, waist housing, support axle, fixed support, bearing, bearing holder (housing, cover), bearing are fixed, support, motor, decelerator, camera.The present invention is a kind of four-degree-of-freedom thermosensitive moxibustion mechanical arm, and the method for seeking cave is the method for view-based access control model, and accurate measurement, acupuncture point is automatically positioned, and it is wide to seek cave scope, and full-automatic thermosensitive moxibustion function can be realized in clinical practice.It is simple that the labor intensity, raising medical efficiency, application method of doctor can be mitigated, alleviated to professional medical and technical staff's active demand.Compact, overall cost are cheap, are adapted to the everyday home of general patient, and hospital uses.
Description
Technical field
The invention belongs to traditional medical robotic technology field, is related to a kind of thermosensitive moxibustion auxiliary mechanical arm, and acupuncture point can be achieved
It is automatically positioned, multi-robot Cooperation carries out the auxiliary robot that thermosensitive moxibustion is treated.
Background technology
Traditional Chinese medical science thermosensitive moxibustion is one of clinical speciality most characteristic in China's traditional medicine, and is acknowledged as a kind of to people
Body has no toxic side effect naturopathy.Thermosensitive moxibustion is also known as temperature-sensitive and hangs moxibustion, belongs to one kind of acupuncture, without pin, does not contact human body, no wound
Evil, no pain, have no side effect, effect is better than general clinical acupuncture, with it safely, effectively, without traumatic pain, have no toxic side effect, cost
It is cheap, transfer the advantages that human endogenous's property disease-resistant function and wide concerned.It is hanged using heat caused by the Chinese mugwort material lighted
Moxibustion excites the diathermanous of temperature-sensitive acupuncture point, expansion heat, heat transfer, local not (micro-) hot distal part heat, surface not (micro-) on temperature-sensitive state acupuncture point
Hot deep heat, or the non-hotness of tingle distending pain occur and conducted through gas, so as to improve, one kind of moxa-moxibustion clinical efficacy is new to be treated
Method.
Achieve great successes and progress in terms of the research of massage robot both at home and abroad now.However, massage is (also referred to as
Massage) in nature, it is a kind for the treatment of method of physics.And acupuncture is a kind of means of distinctive treatment disease.It
It is the medical skill of a kind of " inner disease outer treat ".It is by the conduction of channels and collaterals, acupuncture points on the human body, and the certain maneuver of application, to treat
General disease.Although importance of the acupuncture in terms of disease is treated and in traditional Chinese medicine is better than massaged, acupuncture machine
The research of people but falls behind massage robot.Research in recent years to acupuncture point positioning is more and more, and development at home and abroad achieves one
Fixed achievement.
The content of the invention
The purpose of the present invention is overcome the deficiencies in the prior art, there is provided a kind of thermosensitive moxibustion auxiliary mechanical arm.
A kind of thermosensitive moxibustion auxiliary mechanical arm of the present invention, it is characterised in that including support, waist bearing holder (housing, cover), waist shell
Body, bearing are trapped, waist upper strata body, motor, moxa stick sleeve, support axle, taper roll bearing, thrust ball bearing, deep-groove ball
Bearing, forearm bearing are fixed, deep groove ball bearing, decelerator, motor, big arm housing, small arm housing, large arm bearing are fixed, waist
Upper strata body bearing is fixed, decelerator, camera bearing, camera；Camera is fixed on camera bearing, camera bearing
It is fixed on small arm housing, moxa stick sleeve is fixed on forearm bearing by deep groove ball bearing and fixed between small arm housing, forearm
Bearing is fixed and small arm housing is connected firmly by bolt.Motor and decelerator coordinate through bindiny mechanism, are bolted.Decelerator
Forearm enclosure interior is fixed on, moxa stick sleeve is connected with decelerator through bindiny mechanism.Small arm housing passes through deep groove ball bearing
It is fixed on large arm bearing to fix between big arm housing, large arm bearing is fixed and big arm housing is connected firmly by bolt.Motor and subtract
Fast device coordinates through bindiny mechanism, is bolted, and decelerator is arranged on large arm enclosure interior.Big arm housing passes through deep-groove ball axle
Hold and be fixed on waist upper strata body bearing and fix between the body of waist upper strata, waist upper strata body bearing is fixed and waist upper strata
Body is connected firmly by bolt.Motor and decelerator coordinate through bindiny mechanism, are bolted, and decelerator is arranged on waist upper strata
Internal body.Support axle and thrust ball bearing are fixed in waist housing by waist bearing holder (housing, cover), waist bearing holder (housing, cover) and waist shell
Body is connected firmly by bolt.Taper roll bearing is trapped by bearing is enclosed on waist housing upper, and bearing is trapped and waist upper strata machine
Body connects firmly motors by bolt and decelerator coordinates through bindiny mechanism, is bolted, and decelerator is embedded in waist shell vertically
Internal portion is connected with support shaft connection mechanism.Waist housing is fixed by bolt and support.
Advantage of the invention is that.
（1）The present invention is a kind of four-degree-of-freedom thermosensitive moxibustion mechanical arm, and the method for seeking cave is the method for view-based access control model, accurate to survey
Amount, acupuncture point is automatically positioned, and it is wide to seek cave scope, and full-automatic thermosensitive moxibustion function can be realized in clinical practice.
（2）The present invention can mitigate the labor intensity of doctor, to improve medical efficiency, application method simple, alleviate to Special Medical
Skill personnel's active demand.
（3）Compact of the present invention, overall cost are cheap, are adapted to the everyday home of general patient, and hospital uses.
Brief description of the drawings
Fig. 1 is the overall structure figure of thermosensitive moxibustion auxiliary mechanical arm of the present invention.
Fig. 2 is the latter half structure chart of thermosensitive moxibustion auxiliary mechanical arm of the present invention.
Fig. 3 is the waist upper strata housing construction figure of thermosensitive moxibustion auxiliary mechanical arm of the present invention.
Fig. 4 is the large arm shell structure figure of thermosensitive moxibustion auxiliary mechanical arm of the present invention.
Fig. 5 is the forearm shell structure figure of thermosensitive moxibustion auxiliary mechanical arm of the present invention.
Fig. 6 is the exploded view of thermosensitive moxibustion auxiliary mechanical arm of the present invention.
In figure, 101 be support, and 131 be waist bearing holder (housing, cover), and 301 be waist housing, and 401 trap for bearing, and 501 be waist
Portion upper strata body, 601 be motor A, and 602 be motor B, and 701 be moxa stick sleeve, and 1001 be support axle, and 1101 be taper roller axle
A is held, 1102 be taper roll bearing B, and 1201 be thrust ball bearing, and 1401 be deep groove ball bearing A, and 1402 be deep groove ball bearing B,
1501 be that forearm bearing fixes A, and 1502 be that forearm bearing fixes B, and 1601 be deep groove ball bearing C, and 1602 be deep groove ball bearing D,
1603 be deep groove ball bearing E, and 1604 be deep groove ball bearing F, and 1701 be decelerator A, and 1702 be decelerator B, and 1801 be motor C,
1802 be motor D, and 1901 be big arm housing, and 2001 be small arm housing, and 2101 be that large arm bearing fixes A, and 2102 be large arm bearing
Fixed B, 2201 be that waist upper strata body bearing fixes A, and 2202 be that waist upper strata body bearing fixes B, and 2401 be decelerator C,
2402 be decelerator D, and 2501 be camera bearing, and 2601 be camera.
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described.
As shown in fig. 6, thermosensitive moxibustion auxiliary mechanical arm includes support 101, waist bearing holder (housing, cover) 131, waist housing 301, bearing
Trap 401, waist upper strata body 501, motor A 601, motor B 602, moxa stick sleeve 701, support axle 1001, taper roller axle
Hold A 1101, taper roll bearing B 1102, thrust ball bearing 1201, deep groove ball bearing A 1401, deep groove ball bearing B
1402, forearm bearing fixes A 1501, and forearm bearing fixes B 1502, deep groove ball bearing C 1601, deep groove ball bearing D 1602,
Deep groove ball bearing E 1603, deep groove ball bearing F 1604, decelerator A 1701, decelerator B 1702, motor C 1801, motor D
1802, big arm housing 1901, small arm housing 2001, large arm bearing fixation A 2101, large arm bearing fixation B 2102, waist upper strata
Body bearing fixes A2201, and waist upper strata body bearing fixes B2202, decelerator C 2401, decelerator D 2402, camera
Bearing 2501, camera 2601.
As shown in Figure 4,5, camera 2601 is fixed on camera bearing 2501, and camera bearing 2501 is fixed on forearm
On housing 2001, the bottom of camera bearing 2501 is that magnet can be adsorbed on optional position on the small arm of arm housing 2001, can with increase
Depending on scope.Moxa stick sleeve 701 is fixed on forearm bearing by deep groove ball bearing A 1601, deep groove ball bearing B 1602 and fixes A
1501st, forearm bearing is fixed between B 1502 and small arm housing 2001, and decelerator B 1702 is through bindiny mechanism and moxa stick sleeve 701
Coordinate and rotate.Motor D 1802 drives decelerator B 1702 to rotate through bindiny mechanism, and is bolted, decelerator B 1702
It is fixed on inside small arm housing 2001.Forearm bearing fixes A 1501, forearm bearing fixes B 1502 and small arm housing 2001 is logical
Bolt is crossed to connect firmly.
As shown in figure 4, small arm housing 2001 is fixed on large arm bearing by deep groove ball bearing E 1603, F 1604 fixes A
2101st, large arm bearing is fixed between B 2102 and big arm housing 1901, and decelerator A 1701 is through bindiny mechanism and small arm housing
2001 coordinate rotation.Motor C 1801 drives decelerator A 1701 to rotate through bindiny mechanism, and is bolted, decelerator A
1701 are fixed on inside big arm housing 1901.Large arm bearing fixes A 2101, large arm bearing fixes B 2102 and big arm housing
1901 are connected firmly by bolt.
As shown in Figure 2,3, 4, big arm housing 1901 is fixed on waist upper strata machine by deep groove ball bearing A 1401, B 1402
Body bearing fixes A2201, waist upper strata body bearing is fixed between B2202 and waist upper strata body 501, and decelerator D 2402 is passed through
Bindiny mechanism coordinates with big arm housing 1901 to be rotated.Motor B 602 drives decelerator D 2402 to rotate through bindiny mechanism, and passes through
Bolt connection, decelerator D 2402 are fixed on inside waist upper strata body 501.Waist upper strata body bearing fixes A2201, waist
Upper strata body bearing fixes B2202 and waist upper strata body 501 is connected firmly by bolt.
As shown in Fig. 2 motor A 601 drives decelerator C 2401 to rotate through bindiny mechanism, and it is bolted, slows down
Device C 2401 is embedded in inside waist housing 301 vertically, and is coordinated through bindiny mechanism and support axle 1001 and rotated.Thrust ball bearing
Support axle 1001 on 1201 coordinates through bindiny mechanism and waist upper strata body 501 to be rotated, support axle 1001 and thrust ball bearing
1201 are fixed in waist housing 301 by waist bearing holder (housing, cover) 131, and waist bearing holder (housing, cover) 131 is consolidated with waist housing 301 by bolt
Connection.Taper roll bearing A 1101, taper roll bearing B 1102 are trapped by bearing and 401 are enclosed on the top of waist housing 301, waist
Portion upper strata body 501 is with being enclosed on the taper roll bearing A 1101 on the top of waist housing 301, taper roll bearing B 1102 coordinates
Rotate.Bearing is trapped 401 to be connected firmly with waist upper strata body 501 by bolt.Waist housing 301 is solid by bolt and support 101
It is fixed.
As shown in Figure 1, 2, the motor A 601 in thermosensitive moxibustion auxiliary mechanical arm, motor B 602, motor C 1801, motor D
1802 can independently rotate, and be rotated when four motors are coordinated with different rotating speeds respectively, the absorption of the bottom magnet of camera bearing 2501
In the diverse location of small arm housing, camera 2601 can realize different range, the positioning of different angle, on moxa stick sleeve 701
Moxibustion can be hanged on the temperature-sensitive state acupuncture point of human body diverse location by clamping the Chinese mugwort material lighted.
Claims (2)
1. a kind of thermosensitive moxibustion auxiliary mechanical arm, it is characterised in that including support（101）, waist bearing holder (housing, cover)（131）, waist housing
（301）, bearing traps（401）, waist upper strata body（501）, motor A（601）, moxa stick sleeve（701）, support axle（1001）、
Taper roll bearing A（1101）, thrust ball bearing（1201）, deep groove ball bearing A（1401）, forearm bearing fixes（1501）, it is deep
Ditch ball bearing C（1601）, decelerator A（1701）, motor C（1801）, big arm housing（1901）, small arm housing（2001）, large arm
Bearing fixes A（2101）, waist upper strata body bearing fixes（2201）, decelerator C（2401）, camera bearing（2501）, take the photograph
As head（2601）；Camera（2601）It is fixed on camera bearing（2501）On, camera bearing（2501）It is fixed on forearm shell
Body（2001）On, moxa stick sleeve（701）Pass through deep groove ball bearing C（1601）, deep groove ball bearing D（1602）It is fixed on forearm bearing
Fixed A（1501）, forearm bearing fix B（1502）With small arm housing（2001）Between, forearm bearing fixes A（1501）, forearm
Bearing fixes B（1502）With small arm housing（2001）Connected firmly by bolt, motor D（1802）With decelerator B（1702）Through connection
Mechanism coordinates, and is bolted, decelerator B（1702）It is fixed on small arm housing（2001）Inside, moxa stick sleeve（701）With subtracting
Fast device B（1702）It is connected through bindiny mechanism；Small arm housing（2001）Pass through deep groove ball bearing E（1603）, deep groove ball bearing F
（1604）It is fixed on large arm bearing and fixes A（2101）, large arm bearing fix B（2102）With big arm housing（1901）Between, large arm
Bearing fixes A（2101）, large arm bearing fix B（2102）With big arm housing（1901）Connected firmly by bolt, motor C（1801）With
Decelerator A（1701）Coordinate through bindiny mechanism, be bolted, decelerator A（1701）Installed in big arm housing（1901）It is interior
Portion；Big arm housing（1901）Pass through deep groove ball bearing A（1401）, deep groove ball bearing B（1402）It is fixed on waist upper strata axis
Hold fixed A（2201）, waist upper strata body bearing fix B（2202）With waist upper strata body（501）Between, waist upper strata body
Bearing fixes A（2201）, waist upper strata body bearing fix B（2202）With waist upper strata body（501）Connected firmly by spiral shell, motor
B（602）With decelerator D（2402）Coordinate through bindiny mechanism, be bolted, decelerator D（2402）Installed in waist upper strata
Body（501）It is internal；Support axle (1001) and thrust ball bearing（1201）Pass through waist bearing holder (housing, cover)（131）It is fixed on waist housing
（301）It is interior, waist bearing holder (housing, cover)（131）With waist housing（301）Connected firmly by bolt；Taper roll bearing A（1101）, circular cone rolling
Sub- bearing B（1102）Trapped by bearing（401）It is enclosed on waist housing（301）Top, bearing are trapped（401）With waist upper strata machine
Body（501）Connected firmly by bolt；Motor A（601）With decelerator C（2401）Coordinate through bindiny mechanism, be bolted, slow down
Device C（2401）Vertical embedded waist housing（301）Internal and support axle（1001）Bindiny mechanism is connected, waist housing
（301）Pass through bolt and support（101）It is fixed.
A kind of 2. thermosensitive moxibustion auxiliary mechanical arm according to claim 1, it is characterised in that described camera bearing
（2501）Bottom is magnet adsorption in small arm housing（2001）Optional position on arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711077319.4A CN107791281B (en) | 2017-11-06 | 2017-11-06 | Thermosensitive moxibustion auxiliary mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711077319.4A CN107791281B (en) | 2017-11-06 | 2017-11-06 | Thermosensitive moxibustion auxiliary mechanical arm |
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| Publication Number | Publication Date |
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| CN107791281A true CN107791281A (en) | 2018-03-13 |
| CN107791281B CN107791281B (en) | 2024-06-04 |
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|---|---|---|---|
| CN201711077319.4A Active CN107791281B (en) | 2017-11-06 | 2017-11-06 | Thermosensitive moxibustion auxiliary mechanical arm |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108743369A (en) * | 2018-07-06 | 2018-11-06 | 贺婷 | A kind of automation acupuncture bed |
| CN108785064A (en) * | 2018-06-11 | 2018-11-13 | 珠海市万瑙特健康科技有限公司 | Control method, device, computer equipment and the storage medium of manipulator |
| CN109316347A (en) * | 2018-11-28 | 2019-02-12 | 南昌大学 | A kind of moxibustion instrument end effector |
| CN109431790A (en) * | 2018-09-24 | 2019-03-08 | 广州简随堂养生科技有限公司 | A kind of moxa-moxibustion mechanical arm and its moxibustion method |
| CN111098314A (en) * | 2020-01-05 | 2020-05-05 | 天津大学 | Intelligent heat-sensitive moxibustion system based on cooperative robot |
| CN111481434A (en) * | 2020-05-07 | 2020-08-04 | 陈许生 | Novel moxibustion bed |
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| CN204352156U (en) * | 2014-07-29 | 2015-05-27 | 韩雪海 | A kind of multifunctional intelligent Chinese medicine rehabilitative therapy robot |
| CN204366954U (en) * | 2015-01-04 | 2015-06-03 | 金陵科技学院 | A kind of two-freedom assistance mechanical arm |
| CN204658445U (en) * | 2015-06-09 | 2015-09-23 | 聊城鑫泰机床有限公司 | A kind of Industrial robots Mechanical mechanism of six degree of freedom |
| CN207593845U (en) * | 2017-11-06 | 2018-07-10 | 南昌大学 | A kind of thermosensitive moxibustion auxiliary mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US8464413B1 (en) * | 2009-11-06 | 2013-06-18 | Honda Motor Co., Ltd. | Robot gear reducer replacing apparatus and method |
| CN204352156U (en) * | 2014-07-29 | 2015-05-27 | 韩雪海 | A kind of multifunctional intelligent Chinese medicine rehabilitative therapy robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108785064A (en) * | 2018-06-11 | 2018-11-13 | 珠海市万瑙特健康科技有限公司 | Control method, device, computer equipment and the storage medium of manipulator |
| CN108743369A (en) * | 2018-07-06 | 2018-11-06 | 贺婷 | A kind of automation acupuncture bed |
| CN108743369B (en) * | 2018-07-06 | 2020-05-26 | 许秋红 | Automatic acupuncture bed |
| CN109431790A (en) * | 2018-09-24 | 2019-03-08 | 广州简随堂养生科技有限公司 | A kind of moxa-moxibustion mechanical arm and its moxibustion method |
| CN109431790B (en) * | 2018-09-24 | 2021-10-22 | 广州简随堂养生科技有限公司 | Moxibustion mechanical arm and moxibustion method thereof |
| CN109316347A (en) * | 2018-11-28 | 2019-02-12 | 南昌大学 | A kind of moxibustion instrument end effector |
| CN111098314A (en) * | 2020-01-05 | 2020-05-05 | 天津大学 | Intelligent heat-sensitive moxibustion system based on cooperative robot |
| CN111481434A (en) * | 2020-05-07 | 2020-08-04 | 陈许生 | Novel moxibustion bed |
| CN111481434B (en) * | 2020-05-07 | 2022-03-22 | 上海柔维材料科技有限公司 | Novel moxibustion bed |
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| Publication number | Publication date |
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| CN107791281B (en) | 2024-06-04 |
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