CN108607125A - A kind of automatic cupping machine of medical integral type - Google Patents
A kind of automatic cupping machine of medical integral type Download PDFInfo
- Publication number
- CN108607125A CN108607125A CN201810452752.XA CN201810452752A CN108607125A CN 108607125 A CN108607125 A CN 108607125A CN 201810452752 A CN201810452752 A CN 201810452752A CN 108607125 A CN108607125 A CN 108607125A
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- Prior art keywords
- speed reducer
- connection
- big
- manipulator
- cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 235000004443 Ricinus communis Nutrition 0.000 claims abstract description 9
- 238000009434 installation Methods 0.000 claims abstract description 7
- 240000000528 Ricinus communis Species 0.000 claims abstract description 5
- 239000003638 chemical reducing agent Substances 0.000 claims description 47
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000000638 stimulation Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H9/00—Pneumatic or hydraulic massage
- A61H9/005—Pneumatic massage
- A61H9/0057—Suction
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M1/00—Suction or pumping devices for medical purposes; Devices for carrying-off, for treatment of, or for carrying-over, body-liquids; Drainage systems
- A61M1/08—Cupping glasses, i.e. for enhancing blood circulation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1409—Hydraulic or pneumatic means
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Rehabilitation Therapy (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Vascular Medicine (AREA)
- Engineering & Computer Science (AREA)
- Anesthesiology (AREA)
- Biomedical Technology (AREA)
- Hematology (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of medical automatic cupping machine of integral type, including babinet, castor, rotary unit, manipulator, cupping device, the reference for installation of babinet structure as a whole, four castors are mounted on four angles of the bottom of box, rotary unit is mounted in babinet, manipulator is mounted on the top of rotary unit, one end connection of cupping device and manipulator；The present invention realizes the rotation of manipulator planar by rotary unit, and cupping device is moved to designated position by manipulator, carries out cup operation by cupping device, motion mode is more flexible various, effectively raises the efficiency and effect of cup.
Description
Technical field
The present invention relates to medical treatment to automate equipment technology field, more particularly to a kind of automatic cupping machine of medical integral type.
Background technology
With the fast development of Chinese society economy, people’s lives level is stepping up, and more and more people open
The emphasis Chinese medicine that begins is recuperated, and one of means that wherein cup is recuperated as conventional Chinese medicine are more and more welcomed by the people and approve,
The principle of cup is the air in drain tank using the methods of burning, pumping, make tank body be adsorbed on human body appointed part formed it is negative
Pressure generates stimulation and causes contrafluxion, reaches certain curative effect, and the operation of traditional cup needs other people and assists ability complete
At, therefore cup operation could be only completed there are two people, and need operating personnel it is single by vacuum tank pressure
In the back of user, single vacuumize process is then carried out, cup inefficiency is time-consuming more, although having in the market certainly
Dynamic cup equipment, but still have some limitations, such as application No. is 201711163994.9 to disclose one kind《A kind of automatic cupping machine
Device people》, including mainly mechanical claw Mechanism, guiding extraction sector, double Z-axis mechanisms and XY mechanisms, structure can only realize that tank body exists
Laterally longitudinal direction both direction movement, degree of freedom is less, motion mode underaction, it is therefore desirable to a kind of novel automatic cup
Machine.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of medical automatic cupping machine of integral type, machinery is realized by rotary unit
Cupping device is moved to designated position by the rotation of hand planar by manipulator, and cup operation is carried out by cupping device,
Motion mode is more flexible various, effectively raises the efficiency and effect of cup.
Technical solution used in the present invention is：A kind of automatic cupping machine of medical integral type, including babinet, castor, rotation
Unit, manipulator, cupping device, the reference for installation of babinet structure as a whole, four castors are mounted on the bottom of box
Four angles on, rotary unit is mounted in babinet, and manipulator is mounted on the top of rotary unit, cupping device and manipulator
One end connects.
Further, the rotary unit includes the first gear reducer, shaft coupling, big nut, axle sleeve, rotary shaft, thrust
Bearing, first speed reducer are fixed on the lower section of babinet intermediate bulkhead, the projecting shaft of shaft coupling one end and the first speed reducer
Connection, the other end and rotation axis connection, two big nuts are inserted in rotary shaft, first two thrust bearings are embedded in axle sleeve,
Then it is being inserted in rotary shaft together.
Further, the manipulator includes pedestal, the second speed reducer, oscillating deck, link arm, principal arm, big pin, small pin
Nail, third speed reducer, rotating turret, shaft, described two the second speed reducers are separately mounted to the both sides of pedestal, oscillating deck and its
In the connection of second speed reducer, one end of principal arm connect with another second speed reducer, and the other end of principal arm is small by two
Pin is connect with rotating turret, and one end of link arm is connect with oscillating deck, and the other end is connect with by two big pin with rotating turret, the
Three speed reducers are mounted on rotating turret, and shaft is connect across rotating turret 409 with third speed reducer.
Further, the cupping device include mounting base, mounting bracket, the 4th speed reducer, driving pulley, belt, from
Movable belt pulley, feed screw nut, leading screw, feed screw nut block, cylinder mounting plate, small slide block, small sliding rail, big sliding rail, big sliding block, installation
Plate, cylinder, carries plate, suction cup, tank body at cylindrical pins, and the mounting base is fixed on behind mounting bracket, the 4th speed reducer peace
Mounted in the side of mounting bracket, two big sliding rail is separately mounted to the both sides of mounting bracket, and four big sliding block is inserted in the big of both sides two-by-two
In sliding rail, mounting plate is mounted on big sliding block, and feed screw nut block is fixed on the side of mounting plate, feed screw nut and feed screw nut block
Connection, leading screw are connect across its both ends of feed screw nut with mounting bracket both ends, and driving pulley is inserted in the projecting shaft of the 4th speed reducer, from
Movable belt pulley is inserted in the spindle nose of leading screw, and driving pulley is connect by belt with driven pulley, four small sliding rails are horizontal be layered on mounting bracket before
Side, six small slide block intersections are inserted in four small sliding rails, and three cylinder mounting plates are separately fixed on small slide block, and cylindrical pins are worn
The strip hole for crossing mounting plate is fixed on cylinder mounting plate, and cylinder is mounted on the side of cylinder mounting plate, and two carry plate and are mounted on
On the top plate of cylinder and catch on the handle of suction cup, suction cup is fixed on the lower section of cylinder mounting plate, tank body with below suction cup
Connection.
Beneficial effects of the present invention：（1）The mass motion mechanism of rotary unit and the manipulator composition of the present invention has more
A degree of freedom, can make cupping device be moved to any position, and motion mode is more flexible various；（2）The cup dress of the present invention
It sets and uses lead screw transmission, transmission is more accurate, can more accurately find the position for needing cup, improve the efficiency of cup
And effect.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2, Fig. 3 are the rotary unit structural schematic diagram of the present invention.
Fig. 4 is the robot manipulator structure schematic diagram of the present invention.
Fig. 5, Fig. 6 are the cupping device structural schematic diagram of the present invention.
Drawing reference numeral：1- babinets；2- castors；3- rotary units；4- manipulators；5- cupping devices；The first speed reducers of 301-；
302- shaft couplings；303- big nuts；304- axle sleeves；305- rotary shafts；306- thrust bearings；401- pedestals；402- second slows down
Machine；403- oscillating decks；404- link arms；405- principal arms；The big pins of 406-；The small pins of 407-；408- third speed reducers；409- is rotated
Frame；410- shafts；501- mounting bases；502- mounting brackets；The 4th speed reducers of 503-；504- driving pulleys；505- belts；506- from
Movable belt pulley；507- feed screw nuts；508- leading screws；509- feed screw nut blocks；510- cylinder mounting plates；511- small slide blocks；512- is small
Sliding rail；The big sliding rails of 513-；The big sliding blocks of 514-；515- mounting plates；516- cylindrical pins；517- cylinders；518- carries plate；519- cups
Device；520- tank bodies.
Specific implementation mode
With reference to specific embodiment, the invention will be further described, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
Embodiment：As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of automatic cupping machine of medical integral type, including babinet 1, castor
2, rotary unit 3, manipulator 4, cupping device 5, it is characterised in that：The reference for installation of the structure as a whole of babinet 1, four castors
2 are mounted on four angles of 1 bottom of babinet, and rotary unit 3 is mounted in babinet 1, and manipulator 4 is mounted on the upper of rotary unit 3
Side, cupping device 5 are connect with one end of manipulator 4.
Rotary unit 3 includes the first speed reducer 301, shaft coupling 302, big nut 303, axle sleeve 304, rotary shaft 305, thrust
Bearing 306, the first speed reducer 301 are fixed on the lower section of 1 intermediate bulkhead of babinet, 302 one end of shaft coupling and the first speed reducer 301
Axis connection is stretched out, the other end connect with rotary shaft 305, two big nuts 303 are inserted in rotary shaft 305, first by two thrusts
Bearing 306 is embedded in axle sleeve 304, and then it is being inserted in together in rotary shaft 305.
Manipulator 4 include pedestal 401, the second speed reducer 402, oscillating deck 403, link arm 404, principal arm 405, big pin 406,
Small pin 407, third speed reducer 408, rotating turret 409, shaft 410, two the second speed reducers 402 are separately mounted to pedestal 401
Both sides, oscillating deck 403 connect with one of them second speed reducer 402, one end of principal arm 405 and another second speed reducer
402 connections, the other end of principal arm 405 are connect by two small pins 407 with rotating turret 409, one end of link arm 404 and oscillating deck
403 connections, the other end are connect with by two big pin 406 with rotating turret 409, and third speed reducer 408 is mounted on rotating turret 409
On, shaft 410 is connect across rotating turret 409 with third speed reducer 408.
Cupping device 5 include mounting base 501, mounting bracket 502, the 4th speed reducer 503, driving pulley 504, belt 505, from
Movable belt pulley 506, feed screw nut 507, leading screw 508, feed screw nut block 509, cylinder mounting plate 510, small slide block 511, small sliding rail
512, big sliding rail 513, big sliding block 514, mounting plate 515, cylindrical pins 516, cylinder 517, carry plate 518, suction cup 519, tank body
520, mounting base 501 is fixed on behind mounting bracket 502, and the 4th speed reducer 503 is mounted on the side of mounting bracket 502, two big
Sliding rail 513 is separately mounted to the both sides of mounting bracket 502, and four big sliding block 514 is inserted in two-by-two in the big sliding rail 513 of both sides, installation
Plate 515 is mounted on big sliding block 514, and feed screw nut block 509 is fixed on the side of mounting plate 515, feed screw nut 507 and leading screw spiral shell
Mother tuber 509 connects, and leading screw 508 connect across its both ends of feed screw nut 507 with 502 both ends of mounting bracket, and driving pulley 504 is inserted in the
The projecting shaft of four speed reducers 503, driven pulley 506 are inserted in the spindle nose of leading screw 508, and belt 505 is by driving pulley 504 and driven belt
506 connection of wheel, the horizontal front for being layered on mounting bracket 502 of four small sliding rails 512, six intersections of small slide block 511 are inserted in four small sliding rails
In 512, three cylinder mounting plates 510 are separately fixed on small slide block 511, and cylindrical pins 516 pass through the strip hole of mounting plate 515
It is fixed on cylinder mounting plate 510, cylinder 517 is mounted on the side of cylinder mounting plate 510, and two carry plate 518 and are mounted on cylinder
On 517 top plate and catch on the handle of suction cup 519, suction cup 519 is fixed on the lower section of cylinder mounting plate 510, tank body 520 with
519 lower section connection of suction cup.
The operation principle of the present invention：The work of first speed reducer 301 drives rotary shaft 305 to rotate by shaft coupling 302, rotation
The rotation of axis 305 drives manipulator 4 and cupping device 5 planar to rotate, the second speed reducer 402 work being connect with principal arm 405
Principal arm 405 is driven to swing, the second speed reducer 402 work being connect with oscillating deck 403 drives oscillating deck 403 to rotate, oscillating deck 403
Rotation drives the rotation of rotating turret 409 to drive cupping device 5 to swing up and down by link arm 404, the work band of third speed reducer 408
For the rotation of turn axis 410 to drive cupping device 5 to rotate, the work of the 4th speed reducer 503 drives the rotation of driving pulley 504 to pass through skin
Band 505 drives driven pulley 506 to rotate, and driven pulley 506 drives the rotation of leading screw 508 to pass through feed screw nut 507 and feed screw nut
So that mounting plate 515 moves up and down, mounting plate 515 moves up and down through the oblique strip hole and cylindrical pins 516 above it block 509
The effect of mutual power makes cylinder mounting plate 510 be separated from each other and draw close, and the spacing between tank body 520, cylinder are adjusted with this
The stretching of 517 cylinder rods drives the handle of suction cup 519 to lift and put down with contraction by carrying plate 518, is taken out very with this to realize
Empty cup operation.
Claims (1)
1. a kind of automatic cupping machine of medical integral type, including babinet（1）, castor（2）, rotary unit（3）, manipulator（4）, cup
Device（5）, it is characterised in that：The babinet（1）The reference for installation of structure as a whole, four castors（2）Mounted on babinet
（1）On four angles of bottom, rotary unit（3）Mounted on babinet（1）In, manipulator（4）Mounted on rotary unit（3）It is upper
Side, cupping device（5）With manipulator（4）One end connection；
The rotary unit（3）Including the first speed reducer（301）, shaft coupling（302）, big nut（303）, axle sleeve（304）, rotation
Shaft（305）, thrust bearing（306）, first speed reducer（301）It is fixed on babinet（1）The lower section of intermediate bulkhead, shaft coupling
Device（302）One end and the first speed reducer（301）Stretching axis connection, the other end and rotary shaft（305）Connection, by two big nuts
（303）It is inserted in rotary shaft（305）In, first by two thrust bearings（306）Embedded axle sleeve（304）In, then it is being covered together
Enter rotary shaft（305）In；
The manipulator（4）Including pedestal（401）, the second speed reducer（402）, oscillating deck（403）, link arm（404）, principal arm
（405）, big pin（406）, small pin（407）, third speed reducer（408）, rotating turret（409）, shaft（410）, described two
A second speed reducer（402）It is separately mounted to pedestal（401）Both sides, oscillating deck（403）With one of them the second speed reducer
（402）Connection, principal arm（405）One end and another second speed reducer（402）Connection, principal arm（405）The other end pass through two
A small pin（407）With rotating turret（409）Connection, link arm（404）One end and oscillating deck（403）Connection, the other end with pass through
Two big pins（406）With rotating turret（409）Connection, third speed reducer（408）Mounted on rotating turret（409）On, shaft（410）
Across rotating turret（409）With third speed reducer（408）Connection；
The cupping device（5）Including mounting base（501）, mounting bracket（502）, the 4th speed reducer（503）, driving pulley
（504）, belt（505）, driven pulley（506）, feed screw nut（507）, leading screw（508）, feed screw nut block（509）, cylinder peace
Loading board（510）, small slide block（511）, small sliding rail（512）, big sliding rail（513）, big sliding block（514）, mounting plate（515）, straight pin
Nail（516）, cylinder（517）, carry plate（518）, suction cup（519）, tank body（520）, the mounting base（501）It is fixed on installation
Frame（502）Behind, the 4th speed reducer（503）Mounted on mounting bracket（502）Side, two big sliding rails（513）It installs respectively
In mounting bracket（502）Both sides, four big sliding blocks（514）It is inserted in the big sliding rail of both sides two-by-two（513）In, mounting plate（515）Peace
Mounted in big sliding block（514）On, feed screw nut block（509）It is fixed on mounting plate（515）Side, feed screw nut（507）With leading screw
Nut block（509）Connection, leading screw（508）Across feed screw nut（507）Its both ends and mounting bracket（502）Both ends connect, main belt
Wheel（504）It is inserted in the 4th speed reducer（503）Projecting shaft, driven pulley（506）It is inserted in leading screw（508）Spindle nose, belt（505）
By driving pulley（504）With driven pulley（506）Connection, four small sliding rails（512）It is horizontal to be layered on mounting bracket（502）Front, six
A small slide block（511）Intersection is inserted in four small sliding rails（512）In, three cylinder mounting plates（510）It is separately fixed at small slide block
（511）On, cylindrical pins（516）Across mounting plate（515）Strip hole be fixed on cylinder mounting plate（510）On, cylinder（517）
Mounted on cylinder mounting plate（510）Side, two carry plate（518）Mounted on cylinder（517）Top plate on and catch on suction cup
（519）Handle, suction cup（519）It is fixed on cylinder mounting plate（510）Lower section, tank body（520）With suction cup（519）Lower section
Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810452752.XA CN108607125A (en) | 2018-05-13 | 2018-05-13 | A kind of automatic cupping machine of medical integral type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810452752.XA CN108607125A (en) | 2018-05-13 | 2018-05-13 | A kind of automatic cupping machine of medical integral type |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108607125A true CN108607125A (en) | 2018-10-02 |
Family
ID=63663031
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810452752.XA Withdrawn CN108607125A (en) | 2018-05-13 | 2018-05-13 | A kind of automatic cupping machine of medical integral type |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108607125A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900633A (en) * | 2019-12-23 | 2020-03-24 | 萍乡学院 | Cupping robot |
| CN112494738A (en) * | 2021-01-08 | 2021-03-16 | 上海凤贵泽化妆品有限公司 | Therapeutic instrument special for cupping and scraping therapy |
| CN112610156A (en) * | 2021-01-09 | 2021-04-06 | 王俊香 | Mine drilling robot |
-
2018
- 2018-05-13 CN CN201810452752.XA patent/CN108607125A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110900633A (en) * | 2019-12-23 | 2020-03-24 | 萍乡学院 | Cupping robot |
| CN112494738A (en) * | 2021-01-08 | 2021-03-16 | 上海凤贵泽化妆品有限公司 | Therapeutic instrument special for cupping and scraping therapy |
| CN112610156A (en) * | 2021-01-09 | 2021-04-06 | 王俊香 | Mine drilling robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181002 |
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| WW01 | Invention patent application withdrawn after publication |