CN108068125A

CN108068125A - A kind of medical treatment acupuncture robot

Info

Publication number: CN108068125A
Application number: CN201810152852.0A
Authority: CN
Inventors: 周佰平
Original assignee: Individual
Current assignee: China Ice Medical Technology Co ltd
Priority date: 2018-02-20
Filing date: 2018-02-20
Publication date: 2018-05-25
Anticipated expiration: 2038-02-20
Also published as: CN108068125B

Abstract

A kind of medical treatment acupuncture robot generates part including base portion, seat portion, the soft support part of rubber, 3-D scanning imaging moiety, sliding bottom part, acupuncture needle gripping portion, micro-current, it is characterised in that：It is acted synergistically by the second bindiny mechanism part and two acupuncture needle gripping portions, acupuncture needle folder is made to clamp two acupuncture needles respectively, the acupuncture needle of acupuncture needle is pricked into the acupuncture point for needing acupuncture, it rotates and cooperates by the elongation of the 6th hydraulic cylinder of the second support section and the elongation of the 7th hydraulic cylinder and the rotation of the 11st steering engine and the 13rd steering engine and the 14th steering engine of the rotation of the 12nd steering engine and the 3rd bindiny mechanism part, the helix current line that micro-current is generated to part is moved to bundle in the outside of the acupuncture needle on head, micro-current is made to stimulate the acupuncture point of patient, improve the efficiency that people utilize traditional Chinese medical science traditional treatment methods disease, solves the problems, such as the reduction of traditional Chinese medical science number.

Description

A kind of medical treatment acupuncture robot

Technical field

The present invention relates to field of medical technology, more particularly to a kind of medical acupuncture robot.

Background technology

The disease that people have been frequently encountered western medical treatment not in daily life, some physical problems can only pass through acupuncture Conventional method nursed one's health, in order to solve the problems, such as traditional Chinese medical science stranger's number, improve people's acupuncture and moxibustion therapy and nurse one's health the mesh of body , therefore it is badly in need of a kind of robot for being capable of acupuncture.

The content of the invention

In view of the above-mentioned problems, the present invention provides a kind of medical acupuncture robots, pass through 22 the second bindiny mechanisms Partial 22 the 7th steering engines rotate and 22 the 8th steering engines rotate and four of two acupuncture needle gripping portions the Nine steering engines rotate and the tenth steering engine rotates and the 5th hydraulic cylinder elongation synergistic effect, and four acupuncture needle folders is made to clamp two pins respectively Acupuncture needle, will in next step by the way that 22 the 7th steering engines of 22 the second bindiny mechanism parts is controlled to rotate synergistic effect The acupuncture needle of acupuncture needle is pricked into the acupuncture point for needing acupuncture, passes through the elongation and of the 6th hydraulic cylinder of the second support section in next step The elongation of seven hydraulic cylinders and the rotation of the 11st steering engine and the rotation of the 12nd steering engine and the seven of seven the 3rd bindiny mechanism parts The rotation of a 13rd steering engine and seven the 14th steering engines are rotated and cooperated, and the helix current line that micro-current is generated to part moves It moves and pricks in the outside of the acupuncture needle on head, micro-current is made to stimulate the acupuncture point of patient, so as to achieve the purpose that treatment, is carried High people utilize the efficiency of traditional Chinese medical science traditional treatment methods disease, solve the problems, such as the reduction of traditional Chinese medical science number.

Technical solution used in the present invention is：A kind of medical treatment acupuncture robot, including base portion, seat portion, ten Four the first bindiny mechanisms part, the soft support part of three rubber, 3-D scanning imaging moiety, two sliding bottom parts, two First support section, 22 the second bindiny mechanism parts, two acupuncture needle gripping portions, 98 acupuncture needles, second Support section, seven the 3rd bindiny mechanism parts, micro-currents generate part, four running gears, it is characterised in that：The seat Two the first sliding blocks of chair part are slidably mounted on respectively in two the first dovetail grooves of base portion, described two the first teeth Wheel is intermeshed respectively with two the first racks；14 first bindiny mechanism parts, are divided into three groups, and first and second Group every group five, the 3rd group four, the bottom of the first steering engine of described first and second group of first bindiny mechanism part is successively The lateral surface of the first fixed plate of the first bindiny mechanism part in the inner part is fixedly mounted on, described first and second group first connects Innermost two the first steering engine bottoms in connection mechanism part are respectively and fixedly installed to upper two first connections of seat portion Mechanism section fixed plate lateral surface, the lateral surface point of two the first fixed plates of outermost two the first bindiny mechanism parts Two the first fixed block medial surfaces not with the soft support part of two rubber are fixedly connected, the described the 3rd group four first connection machines Four the first steering engine bottoms of structure part are fixedly mounted on successively in the first fixed plate of the first bindiny mechanism part on the lower Face, the first steering engine bottom of the first bindiny mechanism part of the described the 3rd group of lower side are fixedly mounted on seat portion on the lower First bindiny mechanism's part fixed plate above, above the first fixed plate of the first bindiny mechanism part of top side with rubber It is fixedly connected below first fixed block of soft support part；Two the second sliding blocks of the 3-D scanning imaging moiety slide respectively In two the first dovetail grooves of base portion；Four the 3rd sliding blocks of two sliding bottom parts are slided respectively Dynamic to be mounted in four the second dovetail grooves of base portion, described two the 4th gears are mutually nibbled respectively with two the second racks It closes；Two the 3rd extension sleeve lower faces of two first support sections are respectively and fixedly installed to two sliding bottom portions Above two the first slide plates being divided to；22 second bindiny mechanism parts, are divided into two groups, and every group by the of front side The motor shaft of 8th steering engine of two bindiny mechanism parts successively with before the 4th fixed seat by the second bindiny mechanism part of rear side Face is fixedly connected, the 4th fixed seat of described two groups of the second bindiny mechanism parts most two the second bindiny mechanism parts of front side Front is respectively and fixedly installed to two the 4th connecting rod rear end faces of two the first support sections；Two acupuncture needles crawl Before two partial the 5th fixed seats respectively with two most rear side the second bindiny mechanism part two the 8th steering gear electric-machines Axis is fixedly connected；98 its sides of acupuncture needle difference inserted base of 98 acupuncture needles of the rectangular array In 98 partial acupuncture needle storage holes；4th extension sleeve lower end of second support section is fixedly mounted on bottom Above second support section fixed plate of seating portion；Seven the 3rd bindiny mechanisms part is arranged in order, and described keeps right 14th steering gear electric-machine axis of the 3rd bindiny mechanism part of side and the 7th fixed seat of the 3rd bindiny mechanism part by left side The right side is fixedly connected, and the 7th fixed seat right side of the 3rd bindiny mechanism part of the rightmost side is fixedly mounted on the second support The left side of the 5th partial telescopic rod, the 14th steering gear electric-machine axis of the 3rd bindiny mechanism part of the leftmost side with it is micro- The circular base slab right side of current generation section point is fixedly connected；Four the 15th steering engine bottoms of four running gears point It is not fixedly mounted below four running gear fixed plates of base portion；

The base portion includes bottom plate, ultraviolet sterilizing box, four first hydraulic cylinders, L shaped plate, the first support plate, first Top plate, the second support section fixed plate, two the first dovetail grooves, two the first racks, four the second dovetail grooves, two the second teeth Item, four running gear fixed plates, 140 acupuncture needle storage holes, the bottom plate is a rectangle plank, at it Place is equipped with ultraviolet sterilizing box rearward above；The cylinder base of the first hydraulic cylinder of four rectangular arrays is fixedly mounted In ultraviolet sterilizing box upper interior, mandril is equipped in its piston rod end；Below the L shaped plate with four first hydraulic cylinders Piston rod end top plate the upper surface of is fixedly connected, the acupuncture needle storage hole in the above equipped with 140 rectangular arrays； It is fixedly connected with behind four first hydraulic cylinder piston rod end top plates before first support plate, is equipped in the above First top plate；Front is equipped with the second support section fixed plate among substrate；First swallow there are two being set in substrate Stern notch, the positions of described two the first dovetail grooves is respectively at left and right sides of the second support section fixed plate；It is left in substrate Right both sides are respectively provided with first rack, and the position of described two the first racks is respectively in the outside of two the first dovetail grooves； It is respectively provided with two the second dovetail grooves at left and right sides of substrate, described four the second dovetail grooves, in pairs, every group of difference In the outside of two the first racks；Second rack, described two the second racks are respectively provided at left and right sides of substrate Respectively in the outside of four the second dovetail grooves；A running gear fixed plate is respectively provided at bottom plate following four angle；

The seat portion includes seat portion bottom plate, two the first sliding blocks, three first bindiny mechanism's part fixed plates, two A first stepper motor, two first gears, seat, the second support plate, two first support bars, backrest plates, the seat Part backplane is a rectangular plank, and the left and right sides is respectively provided with first sliding block in its lower section, intermediate in the above to lean on Preceding place is set there are one first bindiny mechanism's part fixed plate；Two first stepper motors are horizontal positioned, side difference It is fixedly mounted at left and right sides of seat portion substrate and locates rearward, motor shaft is fixedly connected respectively with two first gears； The second support plate is equipped among on seat part backplane, is respectively provided with one first support at two angles rearward in the above Bar；It is fixedly connected respectively with above the second support plate and two first support bar upper surfaces below the seat；Described With being fixedly connected above seat below backrest plate；It is fixed that the first bindiny mechanism part is respectively provided at left and right sides of backrest plate Plate；

The first bindiny mechanism part includes the first steering engine, the first fixed seat, first rotating shaft, the second steering engine, the first connection Bar, the first fixed plate, first steering engine are placed straight up, and motor shaft below the first fixed seat with being fixedly connected；Institute The first rotating shaft stated is rotatably installed in the circular hole of the first fixed seat front and back sides；The head rod lower end is fixedly mounted In first rotating shaft, position is in the first fixed seat, and end face is equipped with the first fixed plate on it；Second steering engine is horizontal It places, side is fixedly mounted on the baffle before the first fixed seat, and motor shaft is fixedly connected with first rotating shaft；

The soft support part of the rubber includes the first fixed block, hemispherical rubber block, and first fixed block is one rectangular Body, end face is equipped with hemispherical rubber block on it；

The 3-D scanning imaging moiety includes 3-D scanning imaging moiety bottom plate, two the second sliding blocks, two the second steppings Motor, two second gears, the first extension sleeve, the first telescopic rod, second hydraulic cylinder, the second shaft, the 3rd steering engine, second connect It is extension bar, the second extension sleeve, the second telescopic rod, the 3rd hydraulic cylinder, the 3rd stepper motor fixed plate, the 3rd stepper motor, hollow Supporting block, hemispherical supporting shell, rack circle, the 4th stepper motor, the 3rd gear, the 4th stepper motor fixed plate, the first arc Shape scanner, the second arc scanner, connection circular shaft, the 3-D scanning imaging moiety bottom plate is a rectangular plate Son, in its lower section the left and right sides be respectively provided with second sliding block；Two second stepper motors are horizontal positioned, side point It is not fixedly mounted at left and right sides of 3-D scanning imaging moiety substrate, motor shaft is fixed respectively with two second gears to be connected It connects；The first extension sleeve lower end is fixedly mounted on 3-D scanning imaging moiety substrate, and end face is equipped with recessed on it Slot；The first telescopic rod lower slide is mounted in the groove of the first extension sleeve upper surface, and end face is equipped with recessed on it Slot；The cylinder base of the second hydraulic cylinder is fixedly mounted on the baffle behind the first extension sleeve, piston rod end It is fixedly connected with the baffle behind the first telescopic rod；Second shaft is rotatably installed in the first telescopic rod upper surface groove Left and right sides；The second connection rod rear end is fixedly mounted in the second shaft；3rd steering engine is horizontal positioned, Side is fixedly mounted on the baffle on the first telescopic rod left side, and motor shaft is fixedly connected with the second shaft；Described second stretches Contracting sleeve rear end face is fixedly connected with the second connecting rod front end face, and groove is equipped in its front end face；After second telescopic rod End is slidably mounted in the groove of the second extension sleeve front end face, and front is equipped with circular hole in the above；3rd hydraulic pressure Cylinder cylinder base is fixedly mounted on the baffle above the second extension sleeve, above piston rod end and the second telescopic rod rearward The baffle of side is fixedly connected；Pass through below second telescopic rod by front side above hollow support block and hemispherical supporting shell admittedly Fixed connection；It is equipped on hollow support block through circular hole；Consolidate on the second telescopic rod by front side equipped with the 3rd stepper motor Fixed board；3rd stepper motor is placed straight down, and side is fixedly mounted on before the 3rd stepper motor fixed plate, Motor shaft is fixedly connected with being connected circular shaft；The connection circular shaft side is fixed on the lower in the second arc scanner upper end to be connected It connects；Rack circle is equipped in hemispherical supporting shell lateral surface lower part, is equipped with circular dovetail groove in its lower section；4th step Stepper motor fixed plate is slidably mounted below hemispherical supporting shell above with sliding block in circular dovetail groove, and the front passes through connecting rod It is fixedly connected with the first arc scanner；4th stepper motor is placed straight up, and side is fixedly mounted on the 4th Behind stepper motor fixed plate, motor shaft is fixedly connected with the 3rd gear；3rd gear is mutually nibbled with rack circle It closes；

The sliding bottom part includes the first slide plate, two the 3rd sliding blocks, the 5th stepper motor, the 4th gears, described First slide plate is a rectangular plank, and the left and right sides is respectively provided with the 3rd sliding block in its lower section；5th stepping Motor is horizontal positioned, and side is fixedly mounted on above the first slide plate in the outer part, and motor shaft is fixedly connected with the 4th gear；

First support section is consolidated including the 3rd extension sleeve, the 3rd telescopic rod, the 4th hydraulic cylinder, the 4th steering engine, second Reservation, the 3rd shaft, the 5th steering engine, the 3rd connecting rod, the 4th shaft, the 3rd fixed seat, the 6th steering engine, the 4th connecting rod, institute The 3rd extension sleeve upper surface stated is equipped with groove；The 3rd telescopic rod lower slide is mounted on the 3rd extension sleeve upper end In the groove in face；The cylinder base of 4th hydraulic cylinder is fixedly mounted on the baffle of the 3rd extension sleeve lateral surface, Piston rod end is fixedly connected with the baffle of the 3rd telescopic rod lateral surface；4th steering engine is placed straight up, bottom The 3rd telescopic rod upper surface is fixedly mounted on, motor shaft is fixedly connected under the second fixed seat；3rd shaft rotates In the circular hole of the second fixed seat left and right side；The 3rd connecting rod lower end is fixedly mounted in the 3rd shaft, Position is in the second fixed seat, and end face below the 3rd fixed seat with being fixedly connected thereon；5th steering engine is horizontal positioned, Side is fixedly mounted on the baffle of the second fixed seat lateral surface, and motor shaft is fixedly connected with the 3rd shaft；Described the 4th Shaft is rotatably installed in the circular hole of the 3rd fixed seat left and right side；The 4th connecting rod front end is fixed on the 4th shaft On, position is in the 3rd fixed seat；6th steering engine is horizontal positioned, and side is fixedly mounted on the outside of the 3rd fixed seat On the baffle in face, motor shaft is fixedly connected with the 4th shaft；

The second bindiny mechanism part includes the 4th fixed seat, the 5th shaft, the 5th connecting rod, the 7th steering engine, the 8th rudder Machine, the 5th shaft are rotatably installed in the circular hole of the 4th fixed seat left and right side；The 5th connecting rod front end is consolidated Dingan County is in the 5th shaft, and position is in the 4th fixed seat；7th steering engine is horizontal positioned, and side is fixedly mounted In the circular hole of the 4th fixed seat lateral surface, motor shaft is fixedly connected with the 5th shaft；8th steering engine is horizontal positioned, Its bottom is fixedly mounted on behind the 5th connecting rod；

The acupuncture needle gripping portion include the 5th fixed seat, the 6th shaft, the 6th connecting rod, the 9th steering engine, the tenth steering engine, 3rd support plate, two the 5th hydraulic cylinders, two acupuncture needle folders, two and half arc-shaped racks, the 6th shaft rotational installation In the circular hole of the 5th fixed seat left and right side；The 6th connecting rod upper end is fixedly mounted in the 6th shaft, position In the 5th fixed seat；9th steering engine is horizontal positioned, and side is fixedly mounted on the baffle of the 5th fixed seat lateral surface On, motor shaft is fixedly connected with the 6th shaft；Tenth steering engine is placed straight down, and bottom is fixedly mounted on the 6th Connecting rod in the following, its motor shaft with being fixedly connected above the 3rd support plate；Dovetail groove is arranged below in 3rd support plate；Institute The two acupuncture needles folder stated is slidably mounted on above with sliding block in the dovetail groove below the 3rd support plate, in its medial surface semicircle Top place is respectively provided with one and half arc-shaped racks in cylindrical groove；Two the 5th hydraulic cylinder body bottoms are fixedly mounted respectively Below the 3rd support plate on the baffle of the left and right sides, piston rod end is fixed respectively with two acupuncture needles folder lateral surfaces to be connected It connects；

The acupuncture needle includes rack circle, the 7th connecting rod, acupuncture needle, upper equipped with circle in the 7th connecting rod side Rack is equipped with acupuncture needle in its lower face；

Second support section includes the 4th extension sleeve, the 4th telescopic rod, the 11st steering engine, the 6th hydraulic cylinder, the 6th Fixed seat, the 7th shaft, the 12nd steering engine, the 5th extension sleeve, the 5th telescopic rod, the 7th hydraulic cylinder；In the 4th extension sleeve Upper surface is equipped with groove；The 4th telescopic rod lower slide is mounted in the groove of the 4th extension sleeve upper surface；It is described The 6th hydraulic cylinder body bottom be fixedly mounted on the baffle before the 4th extension sleeve, piston rod end and the 4th flexible Baffle before bar is fixedly connected；11st steering engine is placed straight up, and bottom is fixedly mounted on the 4th telescopic rod Upper surface, motor shaft below the 6th fixed seat with being fixedly connected；Before 7th shaft is rotatably installed in the 6th fixed seat In the circular hole of trailing flank；12nd steering engine is horizontal positioned, and side is fixedly mounted on the baffle before the 6th fixed seat On, motor shaft is fixedly connected with the 7th shaft；The 5th extension sleeve right end is fixedly mounted in the 7th shaft, position It puts in the 6th fixed seat, groove is equipped in its left side；The 5th telescopic rod right end is slidably mounted on the 5th telescopic In the groove of cylinder left side；The 7th hydraulic cylinder body bottom is fixedly mounted on the baffle before the 5th extension sleeve, Its piston rod end is fixedly connected with the baffle before the 5th telescopic rod；

The 3rd bindiny mechanism part includes the 7th fixed seat, the 13rd steering engine, eighth-turn axis, the 8th connecting rod, the tenth Four steering engines, the eighth-turn axis are rotatably installed in the circular hole of the 7th fixed seat front and back sides；The 13rd steering engine water Placing flat, side are fixedly mounted on the baffle behind the 7th fixed seat, and motor shaft is fixedly connected with eighth-turn axis；It is described The 8th connecting rod right end be fixedly mounted on eighth-turn axis, position is in the 7th fixed seat；The 14th steering engine water Placing flat, bottom are fixedly mounted on the 8th connecting rod left side；

The micro-current generating unit point includes circular base slab, sleeve, helix current line, the left side of the circular base slab It is fixedly connected with the sleeve right side；Helix current line is equipped on the inside of sleeve；

The running gear includes the 15th steering engine, Wheel housings, the 6th stepper motor fixed plate, the 6th stepper motor, wheel Axis, wheel, the 15th steering engine are placed straight down, and motor shaft above Wheel housings with being fixedly connected；The wheel Axis is rotatably installed in the circular hole of Wheel housings side；The wheel is fixedly mounted in wheel axle, and position is in Wheel housings； The 6th stepper motor fixed plate is equipped in Wheel housings medial surface；6th stepper motor is horizontal positioned, and peace is fixed in side Mounted in the 6th stepper motor fixed plate in the following, its motor shaft is fixedly connected with wheel axle.

Beneficial effects of the present invention：Rotated by 22 the 7th steering engines of 22 the second bindiny mechanism parts and 22 the 8th steering engines rotate and four the 9th steering engines of two acupuncture needle gripping portions rotate and the tenth steering engine rotates and the Five hydraulic cylinders elongation synergistic effect makes four acupuncture needle folders clamp two acupuncture needles respectively, in next step by controlling 22 22 the 7th steering engines of the second bindiny mechanism part rotate synergistic effect, and the acupuncture needle of acupuncture needle is pricked into needing acupuncture Acupuncture point passes through the elongation of the 6th hydraulic cylinder and the elongation of the 7th hydraulic cylinder of the second support section and the 11st steering engine in next step Rotate the rotation with the 12nd steering engine and the rotation of seven the 13rd steering engines of seven the 3rd bindiny mechanism parts and seven the tenth Four steering engines, which rotate, to cooperate, and the helix current line of micro-current generation part is moved to and is pricked in the outside of the acupuncture needle on head, Micro-current is made to stimulate the acupuncture point of patient, so as to achieve the purpose that treatment, people is improved and is controlled using traditional Chinese medical science conventional method The efficiency of disease is treated, solves the problems, such as the reduction of traditional Chinese medical science number.

Description of the drawings

Fig. 1, Fig. 2, Fig. 3 are the overall structure diagram of the present invention.

Fig. 4, Fig. 5, Fig. 6 are the structure diagram of the base portion of the present invention.

Fig. 7 is the structure diagram of the seat portion of the present invention.

Fig. 8 is the structure diagram of the first bindiny mechanism part of the present invention.

Fig. 9 is the structure diagram of the soft support part of the rubber of the present invention.

Figure 10, Figure 11 are the structure diagram of the 3-D scanning imaging moiety of the present invention.

Figure 12 is the structure diagram of the sliding bottom part of the present invention.

Figure 13 is the structure diagram of the first support section of the present invention.

Figure 14 is the structure diagram of the second bindiny mechanism part of the present invention.

Figure 15 is the structure diagram of the acupuncture needle gripping portion of the present invention.

Figure 16 is the structure diagram of the acupuncture needle of the present invention.

Figure 17 is the structure diagram of the second support section of the present invention.

Figure 18 is the structure diagram of the 3rd bindiny mechanism part of the present invention.

Figure 19 is that the micro-current of the present invention generates the structure diagram of part.

Figure 20 is the structure diagram of the running gear of the present invention.

Drawing reference numeral：1- base portions, 2- seat portions, the first bindiny mechanisms of 3- part, the soft support part of 4- rubber, 5- tri- Tie up scanning imagery part, 6- sliding bottoms part, the first support sections of 7-, the second bindiny mechanisms of 8- part, the crawl of 9- acupuncture needles Partly, 10- acupuncture needles, the second support sections of 11-, the 3rd bindiny mechanisms of 12- part, 13- micro-currents generate part, 14- walkings Partly, 101- bottom plates, 102- ultraviolet sterilizing boxes, 103- first hydraulic cylinders, 104-L shapes plate, the first support plates of 105-, 106- One top plate, the second support sections of 107- fixed plate, the first dovetail grooves of 108-, the first racks of 109-, the second dovetail grooves of 110-, 111- Second rack, 112- running gears fixed plate, 113- acupuncture needles storage hole, 201- seat portions bottom plate, the first sliding blocks of 202-, The first bindiny mechanisms of 203- part fixed plate, the first stepper motors of 204-, 205- first gears, 206- seats, 207- second Fagging, 208- first support bars, 209- backrest plates, the first steering engines of 301-, the first fixed seats of 302-, 303- first rotating shafts, 304- Second steering engine, 305- head rods, the first fixed plates of 306-, the first fixed blocks of 401-, 402- hemisphericals rubber block, 501- tri- Tie up scanning imagery part backplane, the second sliding blocks of 502-, the second stepper motors of 503-, 504- second gears, the first telescopics of 505- Cylinder, the first telescopic rods of 506-, 507- second hydraulic cylinders, the second shafts of 508-, the 3rd steering engines of 509-, the second connecting rods of 510-, The second extension sleeves of 511-, the second telescopic rods of 512-, the 3rd hydraulic cylinders of 513-, the 3rd stepper motor fixed plates of 514-, 515- Three stepper motors, 516- hollow supports block, 517- hemisphericals supporting shell, 518- rack circles, the 4th stepper motors of 519-, 520- 3rd gear, the 4th stepper motor fixed plates of 521-, the first arc scanners of 522-, the second arc scanners of 523-, 524- connect Connect circular shaft, the first slide plates of 601-, the 3rd sliding blocks of 602-, the 5th stepper motors of 603-, the 4th gears of 604-, the 3rd telescopics of 701- Cylinder, the 3rd telescopic rods of 702-, the 4th hydraulic cylinders of 703-, the 4th steering engines of 704-, the second fixed seats of 705-, the 3rd shafts of 706-, The 5th steering engines of 707-, the 3rd connecting rods of 708-, the 4th shafts of 709-, the 3rd fixed seats of 710-, the 6th steering engines of 711-, 712- Four connecting rods, the 4th fixed seats of 801-, the 5th shafts of 802-, the 5th connecting rods of 803-, the 7th steering engines of 804-, the 8th rudders of 805- Machine, the 5th fixed seats of 901-, the 6th shafts of 902-, the 6th connecting rods of 903-, the 9th steering engines of 904-, the tenth steering engines of 905-, 906- 3rd support plate, the 5th hydraulic cylinders of 907-, 908- acupuncture needles folder, half arc-shaped racks of 909-, 1001- rack circles, 1002- the 7th Connecting rod, 1003- acupuncture needles, the 4th extension sleeves of 1101-, the 4th telescopic rods of 1102-, the 11st steering engines of 1103-, 1104- Six hydraulic cylinders, the 6th fixed seats of 1105-, the 7th shafts of 1106-, the 12nd steering engines of 1107-, the 5th extension sleeves of 1108-, The 5th telescopic rods of 1109-, the 7th hydraulic cylinders of 1110-, the 7th fixed seats of 1201-, the 13rd steering engines of 1202-, 1203- eighth-turns Axis, the 8th connecting rods of 1204-, the 14th steering engines of 1205-, 1301- circular base slabs, 1302- sleeves, 1303- helix currents line, The 15th steering engines of 1401-, 1402- Wheel housings, the 6th stepper motor fixed plates of 1403-, the 6th stepper motors of 1404-, 1405- wheels Sub- axis, 1406- wheels.

Specific embodiment

Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.

Embodiment as shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, Shown in Figure 15, Figure 16, Figure 17, Figure 18, Figure 19, Figure 20, a kind of medical treatment acupuncture robot, including base portion 1, seat portion 2, 5, two the soft support part 4 of 14 rubber of the first bindiny mechanism part 3, three, 3-D scanning imaging moiety sliding bottom parts 6th, two the first support sections, 7,22 9,98 pins of acupuncture needle gripping portion of the second bindiny mechanism part 8, two Acupuncture needle 10,11, seven the 3rd bindiny mechanism parts 12 of the second support section, micro-current generate the running gear 14 of part 13, four, It is characterized in that：Two the first sliding blocks 202 of the seat portion 2 are slidably mounted on two first of base portion 1 respectively In dovetail groove 108, described two first gears 205 are intermeshed respectively with two the first racks 109；Described 14 One bindiny mechanism part 3 is divided into three groups, first and second groups every group five, the 3rd group four, described first and second group The bottom of first steering engine 301 of one bindiny mechanism part 3 is fixedly mounted on the first of the first bindiny mechanism part 3 in the inner part successively The lateral surface of fixed plate 306, described first and second group of first 3 innermost two the first steering engine 301 of bindiny mechanism part Bottom is respectively and fixedly installed to 203 lateral surface of upper two first bindiny mechanism's part fixed plates of seat portion 2, outermost The lateral surfaces of two the first fixed plates 306 of two the first bindiny mechanism parts 3 of side respectively with the soft support part 4 of two rubber Two 401 medial surfaces of the first fixed block are fixedly connected, four first rudders of the described the 3rd group of four the first bindiny mechanism parts 3 301 bottom of machine is fixedly mounted on successively above the first fixed plate 306 of the first bindiny mechanism part 3 on the lower, and described 301 bottom of the first steering engine of first bindiny mechanism part 3 of three groups of lower sides is fixedly mounted on first of seat portion 2 on the lower Above bindiny mechanism's part fixed plate 203, the 306 above and rubber of the first fixed plate of the first bindiny mechanism part 3 of top side First fixed block 401 of the soft support part 4 of glue is fixedly connected below；Two the second sliding blocks of the 3-D scanning imaging moiety 5 502 are slidably mounted on respectively in two the first dovetail grooves 108 of base portion 1；The four of two sliding bottom parts 6 A 3rd sliding block 602 is slidably mounted on respectively in four the second dovetail grooves 110 of base portion 1, described two the 4th gears 604 are intermeshed respectively with two the second racks 111；Two the 3rd extension sleeves 701 of two first support sections 7 Lower face is respectively and fixedly installed to above two the first slide plates 601 of two sliding bottom parts 6；Described 22 second Bindiny mechanism part 8, is divided into two groups, the motor shaft of every group of the 8th steering engine 805 by the second bindiny mechanism part 8 of front side according to 801 front of the 4th fixed seat of secondary the second bindiny mechanism part 8 with by rear side is fixedly connected, described two group of second connection machine 801 front of the 4th fixed seat of most two the second bindiny mechanism parts 8 of front side of structure part 8 is respectively and fixedly installed to two first Two 712 rear end faces of the 4th connecting rod of support section 7；Two the 5th fixed seats of two acupuncture needle gripping portions 9 Two 805 motor shafts of the 8th steering engine before 901 respectively with two most the second bindiny mechanism parts 8 of rear side are fixedly connected；Institute 98 its sides of acupuncture needle 1003 difference inserted base part 1 of 98 acupuncture needles 10 of the rectangular array stated In 98 acupuncture needle storage holes 113；1101 lower end of the 4th extension sleeve of second support section 11 is fixedly mounted On the second support section fixed plate 107 of base portion 1；Seven the 3rd bindiny mechanism parts 12 are arranged in order, 1205 motor shaft of the 14th steering engine of the 3rd bindiny mechanism part 12 on the right side and the 3rd bindiny mechanism by left side 1201 right side of the 7th fixed seat of part 12 is fixedly connected, and the 7th of the 3rd bindiny mechanism part 12 of the rightmost side fixes Seat 1201 right sides be fixedly mounted on the second support section 11 the 5th telescopic rod 1109 left side, the 3rd of the leftmost side the 1301 right side of circular base slab that 1205 motor shaft of the 14th steering engine of bindiny mechanism part 12 generates part 13 with micro-current is consolidated Fixed connection；Four 1401 bottoms of the 15th steering engine of four running gears 14 are respectively and fixedly installed to base portion 1 Below four running gear fixed plates 112；

The base portion 1 includes bottom plate 101,102, four first hydraulic cylinders 103 of ultraviolet sterilizing box, L shaped plate 104, the One support plate 105, the first top plate 106, the second support section fixed plate 107, two the first dovetail grooves, 108, two the first racks 109th, four the second dovetail grooves, 110, two acupuncture needles of running gear fixed plate 112,140 of the second rack 111, four Storage hole 113, the bottom plate 101 are a rectangle planks, and place is equipped with ultraviolet sterilizing box 102 rearward in the above；Institute The cylinder base of the first hydraulic cylinder 103 for four rectangular arrays stated is fixedly mounted on 102 upper interior of ultraviolet sterilizing box, Mandril is equipped in its piston rod end；The L shaped plate 104 below with four 103 piston rod end top plates of first hydraulic cylinder It is fixedly connected above, the acupuncture needle storage hole 113 in the above equipped with 140 rectangular arrays；First support 105 front of plate behind four 103 piston rod end top plates of first hydraulic cylinder with being fixedly connected, in the above equipped with the first top plate 106；Front is equipped with the second support section fixed plate 107 among on bottom plate 101；Set that there are two the on bottom plate 101 One dovetail groove 108, the position of described two the first dovetail grooves 108 is respectively in 107 left and right sides of the second support section fixed plate； The left and right sides is respectively provided with first rack 109 on bottom plate 101, and the position of described two the first racks 109 exists respectively The outside of two the first dovetail grooves 108；The left and right sides is respectively provided with two the second dovetail grooves 110 on bottom plate 101, and described four A second dovetail groove 110, in pairs, every group respectively in the outside of two the first racks 109；The left and right two on bottom plate 101 Side is respectively provided with second rack 111, and described two the second racks 111 are respectively in the outside of four the second dovetail grooves 110； Bottom plate is respectively provided with a running gear fixed plate 112 at 101 following four angle；

It is solid that the seat portion 2 includes the first bindiny mechanism of the first sliding block 202, three of seat portion bottom plate 201, two part 203, two the first stepper motors of fixed board, 204, two first gears 205, seat 206, the second support plate 207, two first Strut 208, backrest plate 209, the seat portion bottom plate 201 are a rectangular planks, in its lower section each side If there are one the first sliding block 202, in the above among front set that there are one first bindiny mechanism's part fixed plates 203；It is described Two the first stepper motors 204 it is horizontal positioned, side be respectively and fixedly installed to seat portion bottom plate 201 above the left and right sides Locate rearward, motor shaft is fixedly connected respectively with two first gears 205；The is equipped among on seat part backplane 201 Two support plates 207 are respectively provided with a first support bar 208 at two angles rearward in the above；Below the seat 206 It is fixedly connected above with two 208 upper surfaces of first support bar with the second support plate 207 respectively；Below the backrest plate 209 It is fixedly connected above with seat 206；First bindiny mechanism's part fixed plate 203 is respectively provided in 209 left and right sides of backrest plate；

The first bindiny mechanism part 3 includes the first steering engine 301, the first fixed seat 302, first rotating shaft 303, the second steering engine 304th, head rod 305, the first fixed plate 306, first steering engine 301 are placed straight up, motor shaft and first Fixed seat 302 is fixedly connected below；The first rotating shaft 303 is rotatably installed in the circular hole of 302 front and back sides of the first fixed seat In；305 lower end of head rod is fixedly mounted in first rotating shaft 303, position in the first fixed seat 302, End face is equipped with the first fixed plate 306 thereon；Second steering engine 304 is horizontal positioned, and side is fixedly mounted on the first fixation On the baffle of 302 front of seat, motor shaft is fixedly connected with first rotating shaft 303；

The soft support part 4 of the rubber includes the first fixed block 401, hemispherical rubber block 402, first fixed block 401 It is a cuboid, end face is equipped with hemispherical rubber block 402 on it；

The 3-D scanning imaging moiety 5 includes the second sliding block of 3-D scanning imaging moiety bottom plate 501, two 502, two the 503, two second gears 504 of two stepping motor, the first extension sleeve 505, the first telescopic rod 506, second hydraulic cylinder 507, Two shafts 508, the 3rd steering engine 509, the second connecting rod 510, the second extension sleeve 511, the second telescopic rod 512, the 3rd hydraulic cylinder 513rd, the 3rd stepper motor fixed plate 514, the 3rd stepper motor 515, hollow support block 516, hemispherical supporting shell 517, circle Rack 518, the 4th stepper motor 519, the 3rd gear 520, the 4th stepper motor fixed plate 521, the first arc scanner 522, Second arc scanner 523, connection circular shaft 524, the 3-D scanning imaging moiety bottom plate 501 is a rectangular plate Son, in its lower section the left and right sides be respectively provided with second sliding block 502；Two second stepper motors 503 are horizontal positioned, Side be respectively and fixedly installed to 3-D scanning imaging moiety bottom plate 501 above the left and right sides, motor shaft respectively with two second Gear 504 is fixedly connected；First extension sleeve, 505 lower end is fixedly mounted on 3-D scanning imaging moiety bottom plate 501 Face, end face is equipped with groove on it；First telescopic rod, 506 lower slide is mounted on 505 upper surface of the first extension sleeve Groove in, on it end face be equipped with groove；The cylinder base of the second hydraulic cylinder 507 is fixedly mounted on the first telescopic On baffle behind cylinder 505, piston rod end is fixedly connected with the baffle behind the first telescopic rod 506；Described second turn Axis 508 is rotatably installed in the left and right sides of 506 upper surface groove of the first telescopic rod；Second connecting rod, 510 rear end is consolidated Dingan County is in the second shaft 508；3rd steering engine 509 is horizontal positioned, and side is fixedly mounted on the first telescopic rod 506 On the baffle on the left side, motor shaft is fixedly connected with the second shaft 508；Second extension sleeve, 511 rear end face and second 510 front end face of connecting rod is fixedly connected, and groove is equipped in its front end face；Second telescopic rod, 512 rear end is slidably mounted on In the groove of second extension sleeve, 511 front end face, front is equipped with circular hole in the above；3rd hydraulic cylinder, 513 cylinder body Bottom is fixedly mounted on the baffle above the second extension sleeve 511, above piston rod end and the second telescopic rod 512 rearward The baffle of side is fixedly connected；Second telescopic rod 512 passes through hollow support block 516 and hemispherical supporting shell by front side below 517 are fixedly connected above；It is equipped on hollow support block 516 through circular hole；It is equipped on the second telescopic rod 512 by front side 3rd stepper motor fixed plate 514；3rd stepper motor 515 is placed straight down, and side is fixedly mounted on the 3rd 514 front of stepper motor fixed plate, motor shaft are fixedly connected with being connected circular shaft 524；524 side of connection circular shaft is on the lower It is fixedly connected in 523 upper end of the second arc scanner；Rack circle is equipped in 517 lateral surface lower part of hemispherical supporting shell 518, circular dovetail groove is equipped in its lower section；The 4th stepper motor fixed plate 521 is slidably mounted on above with sliding block Below in circular dovetail groove, the front is fixedly connected hemispherical supporting shell 517 by connecting rod with the first arc scanner 522；Institute The 4th stepper motor 519 stated is placed straight up, and side is fixedly mounted on behind the 4th stepper motor fixed plate 521, Motor shaft is fixedly connected with the 3rd gear 520；3rd gear 520 is intermeshed with rack circle 518；

The sliding bottom part 6 includes the first slide plate 601, two the 3rd sliding blocks 602, the 5th stepper motor 603, the 4th teeth Wheel 604, first slide plate 601 is a rectangular plank, and the left and right sides is respectively provided with the 3rd sliding block in its lower section 602；5th stepper motor 603 is horizontal positioned, and side is fixedly mounted on the first slide plate 601 above in the outer part, electricity Arbor is fixedly connected with the 4th gear 604；

First support section 7 includes the 3rd extension sleeve 701, the 3rd telescopic rod 702, the 4th hydraulic cylinder 703, the 4th rudder Machine 704, the second fixed seat 705, the 3rd shaft 706, the 5th steering engine 707, the 3rd connecting rod 708, the 4th shaft the 709, the 3rd are solid Reservation 710, the 6th steering engine 711, the 4th connecting rod 712,701 upper surface of the 3rd extension sleeve are equipped with groove；Described 3rd telescopic rod, 702 lower slide is mounted in the groove of 701 upper surface of the 3rd extension sleeve；4th hydraulic cylinder 703 Cylinder base be fixedly mounted on the baffle of 701 lateral surface of the 3rd extension sleeve, piston rod end and the 3rd telescopic rod 702 The baffle of lateral surface is fixedly connected；4th steering engine 704 is placed straight up, and bottom is fixedly mounted on the 3rd telescopic rod 702 upper surfaces, motor shaft are fixedly connected under the second fixed seat 705；It is solid that 3rd shaft 706 is rotatably installed in second In the circular hole of 705 left and right side of reservation；3rd connecting rod, 708 lower end is fixedly mounted in the 3rd shaft 706, position In the second fixed seat 705, end face is fixedly connected below with the 3rd fixed seat 710 thereon；5th steering engine, 707 level is put It puts, side is fixedly mounted on the baffle of 705 lateral surface of the second fixed seat, and motor shaft is fixedly connected with the 3rd shaft 706； 4th shaft 709 is rotatably installed in the circular hole of 710 left and right side of the 3rd fixed seat；4th connecting rod 712 Front end is fixed in the 4th shaft 709, and position is in the 3rd fixed seat 710；6th steering engine 711 is horizontal positioned, Side is fixedly mounted on the baffle of 710 lateral surface of the 3rd fixed seat, and motor shaft is fixedly connected with the 4th shaft 709；

The second bindiny mechanism part 8 includes the 4th fixed seat 801, the 5th shaft 802, the 5th connecting rod 803, the 7th rudder Machine 804, the 8th steering engine 805, the 5th shaft 802 are rotatably installed in the circular hole of 801 left and right side of the 4th fixed seat；Institute 803 front end of the 5th connecting rod stated is fixedly mounted in the 5th shaft 802, and position is in the 4th fixed seat 801；Described Seven steering engines 804 are horizontal positioned, and side is fixedly mounted in the circular hole of 801 lateral surface of the 4th fixed seat, motor shaft and the 5th Shaft 802 is fixedly connected；8th steering engine 805 is horizontal positioned, and bottom is fixedly mounted on behind the 5th connecting rod 803；

The acupuncture needle gripping portion 9 includes the 5th fixed seat 901, the 6th shaft 902, the 6th connecting rod 903, the 9th steering engine 904th, the tenth steering engine 905, the 5th hydraulic cylinder 907, two of the 3rd support plate 906, two acupuncture needle press from both sides 908, two and half arc-shaped gears Item 909, the 6th shaft 902 are rotatably installed in the circular hole of 901 left and right side of the 5th fixed seat；6th connection 903 upper end of bar is fixedly mounted in the 6th shaft 902, and position is in the 5th fixed seat 901；9th steering engine, 904 water Placing flat, side are fixedly mounted on the baffle of 901 lateral surface of the 5th fixed seat, and motor shaft is fixed with the 6th shaft 902 Connection；Tenth steering engine 905 is placed straight down, and bottom is fixedly mounted on the 6th connecting rod 903 in the following, its motor shaft It is fixedly connected above with the 3rd support plate 906；Dovetail groove is arranged below in 3rd support plate 906；Two acupuncture Pin folder 908 is slidably mounted on above with sliding block in the dovetail groove below the 3rd support plate 906, recessed in its medial surface semi-cylindrical Top place is respectively provided with one and half arc-shaped racks 909 in slot；Two 907 cylinder bases of the 5th hydraulic cylinder are fixedly mounted respectively Below the 3rd support plate 906 on the baffle of the left and right sides, piston rod end presss from both sides 908 lateral surfaces with two acupuncture needles respectively to be consolidated Fixed connection；

The acupuncture needle 10 includes rack circle 1001, the 7th connecting rod 1002, acupuncture needle 1003, in the 7th connecting rod 1002 Side is upper to be equipped with rack circle 1001, and acupuncture needle 1003 is equipped in its lower face；

Second support section 11 includes the 4th extension sleeve 1101, the 4th telescopic rod 1102, the 11st steering engine 1103, the Six hydraulic cylinders 1104, the 6th fixed seat 1105, the 7th shaft 1106, the 12nd steering engine 1107, the 5th extension sleeve the 1108, the 5th Telescopic rod 1109, the 7th hydraulic cylinder 1110；Groove is equipped in 1101 upper surface of the 4th extension sleeve；4th telescopic rod 1102 lower slides are mounted in the groove of 1101 upper surface of the 4th extension sleeve；6th hydraulic cylinder, 1104 cylinder base It is fixedly mounted on the baffle of 1101 front of the 4th extension sleeve, the baffle of piston rod end and 1102 front of the 4th telescopic rod It is fixedly connected；11st steering engine 1103 is placed straight up, and bottom is fixedly mounted on 1102 upper end of the 4th telescopic rod Face, motor shaft are fixedly connected below with the 6th fixed seat 1105；7th shaft 1106 is rotatably installed in the 6th fixation In the circular hole of 1105 front and back sides of seat；12nd steering engine 1107 is horizontal positioned, and side is fixedly mounted on the 6th fixation On the baffle of 1105 front of seat, motor shaft is fixedly connected with the 7th shaft 1106；5th extension sleeve, 1108 right end It is fixedly mounted in the 7th shaft 1106, position is equipped with groove in the 6th fixed seat 1105, in its left side；Described Five telescopic rods, 1109 right end is slidably mounted in the groove of 1108 left side of the 5th extension sleeve；7th hydraulic cylinder 1110 Cylinder base is fixedly mounted on the baffle of 1108 front of the 5th extension sleeve, before piston rod end and the 5th telescopic rod 1109 The baffle in face is fixedly connected；

The 3rd bindiny mechanism part 12 includes the 7th fixed seat 1201, the 13rd steering engine 1202, eighth-turn axis 1203, the Eight connecting rods 1204, the 14th steering engine 1205, the eighth-turn axis 1203 are rotatably installed in side before and after the 7th fixed seat 1201 In the circular hole in face；13rd steering engine 1202 is horizontal positioned, and side is fixedly mounted on behind the 7th fixed seat 1201 On baffle, motor shaft is fixedly connected with eighth-turn axis 1203；8th connecting rod, 1204 right end is fixedly mounted on the 8th In shaft 1203, position is in the 7th fixed seat 1201；14th steering engine 1205 is horizontal positioned, and peace is fixed in bottom Mounted in 1204 left side of the 8th connecting rod；

The micro-current, which generates part 13, includes circular base slab 1301, sleeve 1302, helix current line 1303, the circle The left side of shape support plate 1301 is fixedly connected with 1302 right side of sleeve；Helix current line 1303 is equipped in 1302 inside of sleeve；

The running gear 14 includes the 15th steering engine 1401, Wheel housings 1402, the 6th stepper motor fixed plate the 1403, the 6th Stepper motor 1404, wheel axle 1405, wheel 1406, the 15th steering engine 1401 are placed straight down, motor shaft with Wheel housings 1402 are fixedly connected above；The wheel axle 1405 is rotatably installed in the circular hole of 1402 side of Wheel housings；It is described Wheel 1406 be fixedly mounted in wheel axle 1405, position is in Wheel housings 1402；It is equipped in 1402 medial surface of Wheel housings 6th stepper motor fixed plate 1403；6th stepper motor 1404 is horizontal positioned, and side is fixedly mounted on the 6th step Stepper motor fixed plate 1403 is in the following, its motor shaft is fixedly connected with wheel axle 1405.

Operation principle of the present invention：The seat that the patient of acupuncture is needed to sit on seat portion 2 of the invention that allows first when in use Above 206, rotated and 14 second by 14 the first steering engines 301 of 14 the first bindiny mechanism parts 3 in next step Steering engine 304, which rotates, to cooperate, and three hemispherical rubber blocks 402 of the soft support part 4 of three rubber is made to fix the head of patient, Pass through two the second stepper motors 503, the 3rd steering engine 509, the 3rd stepper motors 515 of 3-D scanning imaging moiety 5 in next step It rotates and the 4th stepper motor 519 is rotated and cooperated, make the first arc scanner 522 and the second arc scanner 523 common The threedimensional model of patient head is drawn out, passes through 22 of 22 the second bindiny mechanism parts 8 in next step Seven steering engines 804 rotate and 22 the 8th steering engines 805 rotate and four the 9th steering engines 904 of two acupuncture needle gripping portions 9 It rotates and the tenth steering engine 905 rotates and the 5th hydraulic cylinder 907 elongation synergistic effect, four acupuncture needle folders 908 is made to clamp two respectively A acupuncture needle 10, in next step by the way that 22 the 7th steering engines 804 of 22 the second bindiny mechanism parts 8 is controlled to rotate association The acupuncture needle 1003 of acupuncture needle 10 is pricked into the acupuncture point for needing acupuncture, passes through the of the second support section 11 in next step by same-action The elongation of six hydraulic cylinders 1104 and rotation and the 12nd steering engine of the elongation of the 7th hydraulic cylinder 1110 and the 11st steering engine 1103 1107 rotation and the rotation of seven the 13rd steering engines 1202 of seven the 3rd bindiny mechanism parts 12 and seven the 14th steering engines 1205 rotate and cooperate, and the helix current line 1303 that micro-current is generated to part 13 is moved to the acupuncture needle 10 pricked on head Outside makes micro-current stimulate the acupuncture point of patient, so as to achieve the purpose that treatment.

Claims

1. a kind of medical treatment acupuncture robot, including base portion（1）, seat portion（2）, 14 the first bindiny mechanism parts （3）, three soft support parts of rubber（4）, 3-D scanning imaging moiety（5）, two sliding bottom parts（6）, two first supports Part（7）, 22 the second bindiny mechanism parts（8）, two acupuncture needle gripping portions（9）, 98 acupuncture needles（10）、 Second support section（11）, seven the 3rd bindiny mechanism parts（12）, micro-current generate part（13）, four running gears （14）, it is characterised in that：The seat portion（2）Two the first sliding blocks（202）Base portion is slidably mounted on respectively（1） Two the first dovetail grooves（108）In, described two first gears（205）Respectively with two the first racks（109）Mutually nibble It closes；14 first bindiny mechanism parts（3）, it is divided into three groups, first and second groups every group five, the 3rd group four, First and second group of first bindiny mechanism part（3）The first steering engine（301）Bottom be fixedly mounted on successively it is inner The first bindiny mechanism of side part（3）The first fixed plate（306）Lateral surface, described first and second groups of first bindiny mechanisms Part（3）Innermost two the first steering engines（301）Bottom is respectively and fixedly installed to seat portion（2）Upper two first Bindiny mechanism's part fixed plate（203）Lateral surface, outermost two the first bindiny mechanism parts（3）Two first fixation Plate（306）Lateral surface respectively with the soft support part of two rubber（4）Two the first fixed blocks（401）Medial surface is fixedly connected, The 3rd group four first bindiny mechanism parts（3）Four the first steering engines（301）Bottom is fixedly mounted on the lower successively First bindiny mechanism part of side（3）The first fixed plate（306）Above, the first bindiny mechanism of the 3rd group of lower side Part（3）The first steering engine（301）Bottom is fixedly mounted on seat portion（2）First bindiny mechanism's part fixed plate on the lower （203）Above, the first bindiny mechanism part of top side（3）The first fixed plate（306）Above with the soft support part of rubber（4） The first fixed block（401）It is fixedly connected below；The 3-D scanning imaging moiety（5）Two the second sliding blocks（502）Point Base portion is not slidably mounted on it（1）Two the first dovetail grooves（108）In；Two sliding bottom parts（6）Four A 3rd sliding block（602）Base portion is slidably mounted on respectively（1）Four the second dovetail grooves（110）In, described two Four gears（604）Respectively with two the second racks（111）Intermeshing；Two first support sections（7）Two Three extension sleeves（701）Lower face is respectively and fixedly installed to two sliding bottom parts（6）Two the first slide plates（601）On Face；22 second bindiny mechanism parts（8）, two groups are divided into, every group of second bindiny mechanism part for leaning on front side （8）The 8th steering engine（805）Motor shaft successively with the second bindiny mechanism part by rear side（8）The 4th fixed seat（801） Front is fixedly connected, described two group of second bindiny mechanism part（8）Most two the second bindiny mechanism parts of front side（8） Four fixed seats（801）Front is respectively and fixedly installed to two the first support sections（7）Two the 4th connecting rods（712）Rear end Face；Two acupuncture needle gripping portions（9）Two the 5th fixed seats（901）Before respectively with two most rear side second Bindiny mechanism part（8）Two the 8th steering engines（805）Motor shaft is fixedly connected；98 pins of the rectangular array Acupuncture needle（10）98 acupuncture needles（1003）Its side difference inserted base part（1）98 acupuncture needle storage holes （113）In；Second support section（11）The 4th extension sleeve（1101）Lower end is fixedly mounted on base portion（1）'s Second support section fixed plate（107）Above；Seven the 3rd bindiny mechanism parts（12）It is arranged in order, described keeps right 3rd bindiny mechanism part of side（12）The 14th steering engine（1205）Motor shaft and the 3rd bindiny mechanism part by left side （12）The 7th fixed seat（1201）The right side is fixedly connected, the 3rd bindiny mechanism part of the rightmost side（12）It is the 7th solid Reservation（1201）The right side is fixedly mounted on the second support section（11）The 5th telescopic rod（1109）Left side, described is most left 3rd bindiny mechanism part of side（12）The 14th steering engine（1205）Motor shaft generates part with micro-current（13）Circular branch Fagging（1301）The right side is fixedly connected；Four running gears（14）Four the 15th steering engines（1401）Bottom is solid respectively Dingan County is mounted in base portion（1）Four running gear fixed plates（112）Below；

The base portion（1）Including bottom plate（101）, ultraviolet sterilizing box（102）, four first hydraulic cylinders（103）, L-shaped Plate（104）, the first support plate（105）, the first top plate（106）, the second support section fixed plate（107）, two the first dovetail grooves （108）, two the first racks（109）, four the second dovetail grooves（110）, two the second racks（111）, four running gears consolidate Fixed board（112）, 140 acupuncture needle storage holes（113）, the bottom plate（101）It is a rectangle plank, on it Locate to be equipped with ultraviolet sterilizing box rearward in face（102）；The first hydraulic cylinder of four rectangular arrays（103）Cylinder base It is fixedly mounted on ultraviolet sterilizing box（102）Upper interior is equipped with mandril in its piston rod end；The L shaped plate（104）Under Face and four first hydraulic cylinders（103）Piston rod end top plate the upper surface of is fixedly connected, and is in equipped with 140 in the above The acupuncture needle storage hole of rectangular array（113）；First support plate（105）Front and four first hydraulic cylinders（103）It is living It is fixedly connected behind the top plate of stopper rod end, in the above equipped with the first top plate（106）；In bottom plate（101）It is forward among above Place is equipped with the second support section fixed plate（107）；In bottom plate（101）First dovetail groove there are two setting above（108）, described two A first dovetail groove（108）Position respectively in the second support section fixed plate（107）The left and right sides；In bottom plate（101）Above The left and right sides is respectively provided with first rack（109）, two first racks（109）Position respectively in two the first swallows Stern notch（108）Outside；In bottom plate（101）The left and right sides is respectively provided with two the second dovetail grooves above（110）, described four Two dovetail grooves（110）, in pairs, every group respectively in two the first racks（109）Outside；In bottom plate（101）Left and right above Both sides are respectively provided with second rack（111）, two second racks（111）Respectively in four the second dovetail grooves（110） Outside；In bottom plate（101）A running gear fixed plate is respectively provided at following four angle（112）；

The seat portion（2）Including seat portion bottom plate（201）, two the first sliding blocks（202）, three the first bindiny mechanisms Part fixed plate（203）, two the first stepper motors（204）, two first gears（205）, seat（206）, the second support plate （207）, two first support bars（208）, backrest plate（209）, the seat portion bottom plate（201）It is a rectangular plate Son, in its lower section the left and right sides be respectively provided with first sliding block（202）, in the above among front set there are one first connection Mechanism section fixed plate（203）；Two first stepper motors（204）Horizontal positioned, side is respectively and fixedly installed to Seat portion bottom plate（201）Above the left and right sides locate rearward, motor shaft respectively with two first gears（205）It is fixedly connected； In seat part backplane（201）The second support plate is equipped among above（207）, in the above one is respectively provided at two angles rearward A first support bar（208）；The seat（206）Below respectively with the second support plate（207）Above with two first Strut（208）Upper surface is fixedly connected；The backrest plate（209）Below with seat（206）It is fixedly connected above；In backrest plate （209）The left and right sides is respectively provided with first bindiny mechanism's part fixed plate（203）；

The first bindiny mechanism part（3）Including the first steering engine（301）, the first fixed seat（302）, first rotating shaft（303）、 Second steering engine（304）, head rod（305）, the first fixed plate（306）, first steering engine（301）It puts straight up It puts, motor shaft and the first fixed seat（302）It is fixedly connected below；The first rotating shaft（303）It is solid to be rotatably installed in first Reservation（302）In the circular hole of front and back sides；The head rod（305）Lower end is fixedly mounted on first rotating shaft（303）On, Its position is in the first fixed seat（302）In, end face is equipped with the first fixed plate on it（306）；Second steering engine（304）Water Placing flat, side are fixedly mounted on the first fixed seat（302）On the baffle of front, motor shaft and first rotating shaft（303）Gu Fixed connection；

The soft support part of the rubber（4）Including the first fixed block（401）, hemispherical rubber block（402）, described first fixes Block（401）It is a cuboid, end face is equipped with hemispherical rubber block on it（402）；

The 3-D scanning imaging moiety（5）Including 3-D scanning imaging moiety bottom plate（501）, two the second sliding blocks（502）、 Two the second stepper motors（503）, two second gears（504）, the first extension sleeve（505）, the first telescopic rod（506）, Two hydraulic cylinders（507）, the second shaft（508）, the 3rd steering engine（509）, the second connecting rod（510）, the second extension sleeve（511）、 Second telescopic rod（512）, the 3rd hydraulic cylinder（513）, the 3rd stepper motor fixed plate（514）, the 3rd stepper motor（515）, it is empty Heart supporting block（516）, hemispherical supporting shell（517）, rack circle（518）, the 4th stepper motor（519）, the 3rd gear （520）, the 4th stepper motor fixed plate（521）, the first arc scanner（522）, the second arc scanner（523）, connection circle Axis（524）, the 3-D scanning imaging moiety bottom plate（501）It is a rectangular plank, in its lower section each side If there are one the second sliding blocks（502）；Two second stepper motors（503）Horizontal positioned, side is fixedly mounted respectively In 3-D scanning imaging moiety bottom plate（501）Above the left and right sides, motor shaft respectively with two second gears（504）It is fixed to connect It connects；First extension sleeve（505）Lower end is fixedly mounted on 3-D scanning imaging moiety bottom plate（501）Above, on it End face is equipped with groove；First telescopic rod（506）Lower slide is mounted on the first extension sleeve（505）The groove of upper surface In, end face is equipped with groove on it；The second hydraulic cylinder（507）Cylinder base be fixedly mounted on the first extension sleeve （505）On baffle below, piston rod end and the first telescopic rod（506）Baffle below is fixedly connected；Described second Shaft（508）It is rotatably installed in the first telescopic rod（506）The left and right sides of upper surface groove；Second connecting rod （510）Rear end is fixedly mounted on the second shaft（508）On；3rd steering engine（509）Horizontal positioned, side is fixedly mounted In the first telescopic rod（506）On the baffle on the left side, motor shaft and the second shaft（508）It is fixedly connected；Described second is flexible Sleeve（511）Rear end face and the second connecting rod（510）Front end face is fixedly connected, and groove is equipped in its front end face；Described second Telescopic rod（512）Rear end is slidably mounted on the second extension sleeve（511）In the groove of front end face, front is equipped with circle in the above Hole；3rd hydraulic cylinder（513）Cylinder base is fixedly mounted on the second extension sleeve（511）On baffle above, live Stopper rod end and the second telescopic rod（512）It is fixedly connected above by the baffle of rear side；Second telescopic rod（512）It leans below Front side passes through hollow support block（516）With hemispherical supporting shell（517）It is fixedly connected above；In hollow support block（516）Above Equipped with through circular hole；In the second telescopic rod（512）Above the 3rd stepper motor fixed plate is equipped with by front side（514）；Described Three stepper motors（515）It places straight down, side is fixedly mounted on the 3rd stepper motor fixed plate（514）Front, electricity Arbor is with being connected circular shaft（524）It is fixedly connected；The connection circular shaft（524）Side is in the second arc scanner on the lower （523）Upper end is fixedly connected；In hemispherical supporting shell（517）Lateral surface lower part is equipped with rack circle（518）, set in its lower section There is circular dovetail groove；The 4th stepper motor fixed plate（521）Hemispherical supporting shell is slidably mounted on above with sliding block （517）Below in circular dovetail groove, the front passes through connecting rod and the first arc scanner（522）It is fixedly connected；Described the 4th Stepper motor（519）It places straight up, side is fixedly mounted on the 4th stepper motor fixed plate（521）Below, motor Axis and the 3rd gear（520）It is fixedly connected；3rd gear（520）With rack circle（518）Intermeshing；

The sliding bottom part（6）Including the first slide plate（601）, two the 3rd sliding blocks（602）, the 5th stepper motor （603）, the 4th gear（604）, first slide plate（601）It is a rectangular plank, in its lower section each side If there are one the 3rd sliding blocks（602）；5th stepper motor（603）Horizontal positioned, side is fixedly mounted on the first cunning Plate（601）Above in the outer part, motor shaft and the 4th gear（604）It is fixedly connected；

First support section（7）Including the 3rd extension sleeve（701）, the 3rd telescopic rod（702）, the 4th hydraulic cylinder （703）, the 4th steering engine（704）, the second fixed seat（705）, the 3rd shaft（706）, the 5th steering engine（707）, the 3rd connecting rod （708）, the 4th shaft（709）, the 3rd fixed seat（710）, the 6th steering engine（711）, the 4th connecting rod（712）, the described 3rd Extension sleeve（701）Upper surface is equipped with groove；3rd telescopic rod（702）Lower slide is mounted on the 3rd extension sleeve （701）In the groove of upper surface；4th hydraulic cylinder（703）Cylinder base be fixedly mounted on the 3rd extension sleeve （701）On the baffle of lateral surface, piston rod end and the 3rd telescopic rod（702）The baffle of lateral surface is fixedly connected；Described 4th steering engine（704）It places straight up, bottom is fixedly mounted on the 3rd telescopic rod（702）Upper surface, motor shaft and Two fixed seats（705）Under be fixedly connected；3rd shaft（706）It is rotatably installed in the second fixed seat（705）Left and right side Circular hole in；3rd connecting rod（708）Lower end is fixedly mounted on the 3rd shaft（706）On, position is fixed second Seat（705）In, end face and the 3rd fixed seat thereon（710）It is fixedly connected below；5th steering engine（707）It is horizontal positioned, Its side is fixedly mounted on the second fixed seat（705）On the baffle of lateral surface, motor shaft and the 3rd shaft（706）It is fixed to connect It connects；4th shaft（709）It is rotatably installed in the 3rd fixed seat（710）In the circular hole of left and right side；Described the 4th connects Extension bar（712）Front end is fixed on the 4th shaft（709）On, position is in the 3rd fixed seat（710）In；6th steering engine （711）Horizontal positioned, side is fixedly mounted on the 3rd fixed seat（710）On the baffle of lateral surface, motor shaft and the 4th turn Axis（709）It is fixedly connected；

The second bindiny mechanism part（8）Including the 4th fixed seat（801）, the 5th shaft（802）, the 5th connecting rod （803）, the 7th steering engine（804）, the 8th steering engine（805）, the 5th shaft（802）It is rotatably installed in the 4th fixed seat （801）In the circular hole of left and right side；5th connecting rod（803）Front end is fixedly mounted on the 5th shaft（802）On, position It puts in the 4th fixed seat（801）In；7th steering engine（804）Horizontal positioned, side is fixedly mounted on the 4th fixed seat （801）In the circular hole of lateral surface, motor shaft and the 5th shaft（802）It is fixedly connected；8th steering engine（805）Level is put It puts, bottom is fixedly mounted on the 5th connecting rod（803）Below；

The acupuncture needle gripping portion（9）Including the 5th fixed seat（901）, the 6th shaft（902）, the 6th connecting rod（903）、 9th steering engine（904）, the tenth steering engine（905）, the 3rd support plate（906）, two the 5th hydraulic cylinders（907）, two acupuncture needle folders （908）, two and half arc-shaped racks（909）, the 6th shaft（902）It is rotatably installed in the 5th fixed seat（901）Left and right sides In the circular hole in face；6th connecting rod（903）Upper end is fixedly mounted on the 6th shaft（902）On, position is solid the 5th Reservation（901）In；9th steering engine（904）Horizontal positioned, side is fixedly mounted on the 5th fixed seat（901）Lateral surface Baffle on, motor shaft and the 6th shaft（902）It is fixedly connected；Tenth steering engine（905）It places straight down, bottom Portion is fixedly mounted on the 6th connecting rod（903）In the following, its motor shaft and the 3rd support plate（906）It is fixedly connected above；Described 3rd support plate（906）Dovetail groove is arranged below；Two acupuncture needles folder（908）Is slidably mounted on above with sliding block Three support plates（906）In following dovetail groove, top place is respectively provided with one and half arc-shaped gears in its medial surface semi-cylindrical recesses Item（909）；Two the 5th hydraulic cylinders（907）Cylinder base is respectively and fixedly installed to the 3rd support plate（906）It is left below On the baffle of right both sides, piston rod end presss from both sides respectively with two acupuncture needles（908）Lateral surface is fixedly connected；

The acupuncture needle（10）Including rack circle（1001）, the 7th connecting rod（1002）, acupuncture needle（1003）, connect the 7th Extension bar（1002）Side is upper to be equipped with rack circle（1001）, acupuncture needle is equipped in its lower face（1003）；

Second support section（11）Including the 4th extension sleeve（1101）, the 4th telescopic rod（1102）, the 11st steering engine （1103）, the 6th hydraulic cylinder（1104）, the 6th fixed seat（1105）, the 7th shaft（1106）, the 12nd steering engine（1107）, the 5th Extension sleeve（1108）, the 5th telescopic rod（1109）, the 7th hydraulic cylinder（1110）；In the 4th extension sleeve（1101）Upper surface is set It is fluted；4th telescopic rod（1102）Lower slide is mounted on the 4th extension sleeve（1101）In the groove of upper surface； 6th hydraulic cylinder（1104）Cylinder base is fixedly mounted on the 4th extension sleeve（1101）On the baffle of front, piston Boom end and the 4th telescopic rod（1102）The baffle of front is fixedly connected；11st steering engine（1103）It puts straight up It puts, bottom is fixedly mounted on the 4th telescopic rod（1102）Upper surface, motor shaft and the 6th fixed seat（1105）It fixes below Connection；7th shaft（1106）It is rotatably installed in the 6th fixed seat（1105）In the circular hole of front and back sides；Described 12 steering engines（1107）Horizontal positioned, side is fixedly mounted on the 6th fixed seat（1105）On the baffle of front, motor shaft With the 7th shaft（1106）It is fixedly connected；5th extension sleeve（1108）Right end is fixedly mounted on the 7th shaft（1106） On, position is in the 6th fixed seat（1105）In, it is equipped with groove in its left side；5th telescopic rod（1109）Right end is slided It is dynamic to be mounted on the 5th extension sleeve（1108）In the groove of left side；7th hydraulic cylinder（1110）Cylinder base fixes peace Mounted in the 5th extension sleeve（1108）On the baffle of front, piston rod end and the 5th telescopic rod（1109）The baffle of front is consolidated Fixed connection；

The 3rd bindiny mechanism part（12）Including the 7th fixed seat（1201）, the 13rd steering engine（1202）, eighth-turn axis （1203）, the 8th connecting rod（1204）, the 14th steering engine（1205）, the eighth-turn axis（1203）It is solid to be rotatably installed in the 7th Reservation（1201）In the circular hole of front and back sides；13rd steering engine（1202）Horizontal positioned, side is fixedly mounted on Seven fixed seats（1201）On baffle below, motor shaft and eighth-turn axis（1203）It is fixedly connected；8th connecting rod （1204）Right end is fixedly mounted on eighth-turn axis（1203）On, position is in the 7th fixed seat（1201）In；Described the 14th Steering engine（1205）Horizontal positioned, bottom is fixedly mounted on the 8th connecting rod（1204）The left side.

2. a kind of medical acupuncture robot according to claim 1, it is characterised in that：The micro-current generates part （13）Including circular base slab（1301）, sleeve（1302）, helix current line（1303）, the circular base slab（1301）'s The left side and sleeve（1302）The right side is fixedly connected；In sleeve（1302）Inside is equipped with helix current line（1303）.

3. a kind of medical acupuncture robot according to claim 1, it is characterised in that：The running gear（14）Including 15th steering engine（1401）, Wheel housings（1402）, the 6th stepper motor fixed plate（1403）, the 6th stepper motor（1404）, wheel Sub- axis（1405）, wheel（1406）, the 15th steering engine（1401）It places straight down, motor shaft and Wheel housings （1402）It is fixedly connected above；The wheel axle（1405）It is rotatably installed in Wheel housings（1402）In the circular hole of side；It is described Wheel（1406）It is fixedly mounted on wheel axle（1405）On, position is in Wheel housings（1402）In；In Wheel housings（1402）It is interior Side is equipped with the 6th stepper motor fixed plate（1403）；6th stepper motor（1404）Horizontal positioned, side is fixed Mounted on the 6th stepper motor fixed plate（1403）In the following, its motor shaft and wheel axle（1405）It is fixedly connected.