A kind of automation acupuncture bed
The present invention relates to robotic technology field, more particularly to a kind of automation acupuncture bed.
Acupuncture is the general name of the skill of handling needles and moxibustion therapy.The skill of handling needles refers under the guidance of theory of traditional Chinese medical science needle set（It is often referred to acupuncture needle）It presses
Be pierced into patient's body according to certain angle, with it is twisted with carry the manipulations of acupuncture such as slotting come to human body privileged site carry out stimulation to
Achieve the purpose that treat disease.In order to solve, Chinese medicine stranger's number is in short supply, people gradually select acupuncture and moxibustion therapy to do health care and conditioning
Problem is badly in need of a kind of robot for capableing of acupuncture.As Patent No. CN201810152852.0 is proposed《A kind of medical treatment acupuncture machine
Device people》, including the soft support part of base portion, seat portion, rubber, 3-D scanning imaging moiety, sliding bottom part, acupuncture needle
Gripping portion, micro-current generate part, its advantage is that electric current stimulation can be generated；The disadvantage is that structure is big and heavy, degree of freedom is low.
In view of the above-mentioned problems, the present invention provides a kind of automation acupuncture bed, nine-degree of freedom hybrid mechanism main body adds two freedom
The work head of degree, working space is big, controls more flexible intelligence.Camera and laser sensor can scan human body and ranging,
For determining acupuncture point, planning track.The work head of two-freedom can be pierced into skin, height contract with needle while rotating
Needle gimmick is actually applied in conjunction.Acupuncture is automated, manpower is saved.Two lathe beds disposably can give the patient of two recumbencies to apply needle,
Needle can be applied to six patients being seated.
Technical solution used in the present invention is：A kind of automation acupuncture bed, including turntable, pedestal in parallel, the first series connection
Arm, the second series arm, third series arm, punch block, mattress, bed board, the first supporting rack, wheel watt, wheel, the third series arm
It is fixedly mounted on the second series arm, the second series arm is fixedly mounted on the first series arm, and the first series arm is fixedly mounted on
On pedestal in parallel, pedestal in parallel is fixedly mounted on turntable, and turntable is fixedly mounted on bed board；The bed board both sides are placed with
Two mattresses, front end are installed with a punch block, are installed with one first supporting rack, the first supporting rack tetrapod hinge below
It connects there are four wheel watt, each wheel watt is above hinged, and there are one wheels.
The turntable includes the first chassis, first gear, dust cover, second gear, first servo motor, and described the
One chassis is fixedly mounted on bed board above-mentioned；The first gear, second gear are hinged on the first chassis, and mutually nibble
It closes；Dust cover is fixedly mounted on the first chassis, and first servo motor is fixedly mounted on dust cover and output shaft and the second tooth
The pedestal in parallel include the second chassis, the first bearing, first axle, the first spherical hinged-support, the second bearing,
Second hinge, the first electric pushrod, third bearing, third hinge, the second electric pushrod, third electric pushrod, supporting sleeve, first
Mechanical arm, it is characterised in that：Second chassis is fixedly mounted in first gear above-mentioned；First bearing,
Two bearings and four first spherical hinged-supports are fixedly mounted on the second chassis；Third electric pushrod is hinged on by first axle
On first bearing, it is installed with a third bearing thereon；First electric pushrod bottom end is hinged on second by second hinge
On seat, push rod end is hinged on by third hinge on third bearing；There are four second electric pushrods, and bottom end is respectively articulated with
On one first spherical hinged-support；On the downside of the supporting sleeve five spherical hinged-supports respectively with the second electric pushrod, third
Electric pushrod push rod end is hinged；The first mechanical arm is fixedly mounted in supporting sleeve.
First series arm include the second servo motor, first harmonic decelerator, second mechanical arm, pry through port lid,
First bevel gear, third servo motor, the first harmonic decelerator are fixedly mounted in first mechanical arm above-mentioned；Second
Servo motor is fixedly mounted on first harmonic decelerator input terminal and inputs axis connection with it；Second mechanical arm is fixedly mounted on
One harmonic speed reducer output end, and be installed with one thereon and pry through port lid；Third servo motor is fixedly mounted on the second machinery
Inside arm, and a first bevel gear is installed on its output shaft.
Second series arm includes second harmonic retarder, third mechanical arm, the 4th servo motor, the second cone tooth
Wheel, the second harmonic retarder input terminal are fixedly mounted in second mechanical arm above-mentioned；Second bevel gear is fixedly mounted
It is engaged on second harmonic reducer input shaft and with aforementioned first bevel gear；Third mechanical arm is fixedly mounted on second harmonic and subtracts
Fast device output end；4th servo motor is fixedly mounted on third mechanical arm overhanging end.
The third series arm includes third harmonic retarder, the 4th mechanical arm, the first stepper motor, laser sensing
Device, camera, the 4th bearing, axis, the first handgrip, the second handgrip, the 4th hinge, connecting rod, nut, the first screw rod, the first support plate,
Second stepper motor, I-shaped column, the second support plate, the second screw rod, third gear, the 4th gear, the second supporting rack, described
Three harmonic speed reducers are fixedly mounted on third mechanical arm above-mentioned, and input shaft is connect with the 4th servo motor output shaft；The
Four mechanical arms are fixedly mounted on third harmonic retarder output end, and endoporus is threaded thereon；First stepper motor is fixedly mounted
On the 4th mechanical arm；Two laser sensors and two cameras are respectively hinged at the first support plate both sides；Two
Four bearings and second stepper motor are respectively and fixedly installed to bottom surface on the first support plate；Axis both ends are fixedly mounted on the 4th
On seat；First handgrip, the second handgrip are hinged on axis, and two sides is hinged with two by the 4th hinge respectively on the downside of each handgrip
A connecting rod；In pairs, every group of other end is hinged on by the 4th hinge in the ear with holes of nut both sides four connecting rods respectively；
First screw rod is fixedly mounted on the second stepper motor output shaft, and coordinates with nut and constitute a screw pair；Two I-shapeds
Type column is for being fixedly connected with the first support plate and the second support plate；Second screw rod one end is flanged and is fixedly mounted on the second support plate,
Threaded hole cooperation on screw portion and the 4th mechanical arm constitutes a screw pair, and the other end is installed with a third gear；The
Two supporting racks are fixedly mounted on the 4th mechanical arm, are installed with one the 4th gear thereon, are engaged with third gear, and gear
Axis is connect with the first stepper motor output shaft.
Since present invention employs above-mentioned technical proposal, the present invention has the following advantages：（1）Nine-degree of freedom hybrid mechanism master
Body adds the work head of two-freedom, and working space is big, controls more flexible intelligence；（2）Camera and laser sensor can be swept
Human body and ranging are retouched, for determining acupuncture point, planning track；（3）The work head of two-freedom, can. while rotating with needle
It is pierced into skin, high fit is practical to apply needle gimmick：（4）Acupuncture is automated, manpower is saved；（5）Two lathe beds, can disposably give
The patient of two recumbencies applies needle, also can apply needle to six patients being seated.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the turntable structure schematic diagram of the present invention.
Fig. 3 is the base construction schematic diagram in parallel of the present invention.
Fig. 4 is the first series arm structural schematic diagram of the present invention.
Fig. 5 is the second series arm structural schematic diagram of the present invention.
Fig. 6, Fig. 7 are the third series arm structural schematic diagram of the present invention.
Fig. 8 is the supporting sleeve design of part schematic diagram of the present invention.
Fig. 9 is the 4th mechanical arm design of part schematic diagram of the present invention.
Figure 10 is the nut part structural schematic diagram of the present invention.
Drawing reference numeral：1- turntables；2- parallel connection pedestals；The first series arms of 3-；The second series arms of 4-；5- third series arms；6-
Punch block；7- mattresses；8- bed boards；The first supporting racks of 9-；10- wheels watt；11- wheels；The first chassis 101-；102- first gears；
103- dust covers；104- second gears；105- first servo motors；The second chassis 201-；The first bearings of 202-；203- first is cut with scissors
Chain；The spherical hinged-supports of 204- first；The second bearings of 205-；206- second hinges；The first electric pushrods of 207-；208- third branch
Seat；209- third hinges；The second electric pushrods of 210-；211- third electric pushrods；212- supporting sleeves；213- first mechanical arms；
The second servo motors of 301-；302- first harmonic decelerators；303- second mechanical arms；304- pries through port lid；305- first bores tooth
Wheel；306- third servo motors；401- second harmonic retarders；402- third mechanical arms；The 4th servo motors of 403-；404-
Two bevel gears；501- third harmonic retarders；The 4th mechanical arms of 502-；The first stepper motors of 503-；504- laser sensors；
505- cameras；The 4th bearings of 506-；507- axis；The first handgrips of 508-；The second handgrips of 509-；The 4th hinges of 510-；511- connects
Bar；512- nuts；The first screw rods of 513-；The first support plates of 514-；The second stepper motors of 515-；The I-shaped columns of 516-；517- second
Support plate；The second screw rods of 518-；519- third gears；The 4th gears of 520-；The second supporting racks of 521-.
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, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, a kind of automation acupuncture shown in Fig. 10
Bed, including turntable 1, pedestal 2 in parallel, the first series arm 3, the second series arm 4, third series arm 5, punch block 6, mattress 7, bed board 8,
First supporting rack 9, wheel watt 10, wheel 11, third series arm 5 are fixedly mounted on the second series arm 4, and the second series arm 4 is fixed
On the first series arm 3, the first series arm 3 is fixedly mounted on pedestal 2 in parallel, and pedestal 2 in parallel is fixedly mounted on turntable 1
On, turntable 1 is fixedly mounted on bed board 8.8 both sides of bed board are placed there are two mattress 7, and front end is installed with a punch block 6, below
It is installed with one first supporting rack 9,9 tetrapod of the first supporting rack is hinged, and there are four wheels watt 10, are each hinged on wheel watt
One wheel 11.
Turntable 1 includes the first chassis 101, first gear 102, dust cover 103, second gear 104, first servo motor
105, the first chassis 101 is fixedly mounted on bed board 8 above-mentioned.First gear 102, second gear 104 are hinged on the first chassis
On 101, and it is intermeshed.Dust cover 103 is fixedly mounted on the first chassis 101, and first servo motor 105 is fixedly mounted on anti-
On dust hood 103 and output shaft is connect with second gear 104.
Pedestal 2 in parallel includes the second chassis 201, the first bearing 202, the spherical hinged-support 204 of first axle 203, first, the
Two bearings 205, second hinge 206, the first electric pushrod 207, third bearing 208, third hinge 209, the second electric pushrod
210, third electric pushrod 211, supporting sleeve 212, first mechanical arm 213, the second chassis 201 are fixedly mounted on the first tooth above-mentioned
On wheel 102.First bearing 202, the second bearing 205 and four first spherical shape hinged-supports 204 are fixedly mounted on the second chassis 201
On.Third electric pushrod 211 is hinged on by first axle 203 on the first bearing 202, is installed with a third bearing thereon
208.First electric pushrod, 207 bottom end is hinged on by second hinge 206 on the second bearing 205, and push rod end passes through third hinge
209 are hinged on third bearing 208.There are four second electric pushrods 210, and bottom end is respectively hinged at one first spherical hinged-support
On 204.The spherical hinged-supports in the downside of supporting sleeve 212 five respectively with the second electric pushrod 210,211 push rod end of third electric pushrod
It is hinged.First mechanical arm 213 is fixedly mounted in supporting sleeve 212.
First series arm 3 includes the second servo motor 301, first harmonic decelerator 302, second mechanical arm 303, peep-hole
Lid 304, first bevel gear 305, third servo motor 306, it is characterised in that：Before first harmonic decelerator 302 is fixedly mounted on
In the first mechanical arm 213 stated.Second servo motor 301 is fixedly mounted on 302 input terminal of first harmonic decelerator and defeated with it
Enter axis connection.Second mechanical arm 303 is fixedly mounted on 302 output end of first harmonic decelerator, and is installed with one thereon and peeps
Inspection hole cover 304.Third servo motor 306 is fixedly mounted on inside second mechanical arm 303, and is installed with one on its output shaft
First bevel gear 305.
Second series arm 4 includes second harmonic retarder 401, third mechanical arm 402, the 4th servo motor 403, second cone
Gear 404,401 input terminal of second harmonic retarder are fixedly mounted in second mechanical arm 303 above-mentioned.Second bevel gear 404
It is fixedly mounted on 401 input shaft of second harmonic retarder and is engaged with aforementioned first bevel gear 305.Third mechanical arm 402 is solid
Dingan County is mounted in 401 output end of second harmonic retarder.4th servo motor 403 is fixedly mounted on 402 overhanging end of third mechanical arm.
Third series arm 5 includes third harmonic retarder 501, the 4th mechanical arm 502, the first stepper motor 503, laser
Sensor 504, camera 505, the 4th bearing 506, axis 507, the first handgrip 508, the second handgrip 509, the 4th hinge 510, connecting rod
511, nut 512, the first screw rod 513, the first support plate 514, the second stepper motor 515, I-shaped column 516, the second support plate 517,
Second screw rod 518, third gear 519, the 4th gear 520, the second supporting rack 521, third harmonic retarder 501 are fixedly mounted on
On third mechanical arm 402 above-mentioned, and input shaft and the 4th servo motor 403 export axis connection.4th mechanical arm 502 fixes peace
Mounted in third harmonic 501 device output ends of deceleration, and endoporus is threaded thereon.First stepper motor 503 is fixedly mounted on the 4th machine
On tool arm 502.Two laser sensors 504 and two cameras 505 are respectively hinged at 514 both sides of the first support plate.Two the 4th
Bearing 506 and second stepper motor 515 are respectively and fixedly installed to bottom surface on the first support plate 514.Peace is fixed at 507 both ends of axis
On the 4th bearing 506.First handgrip 508, the second handgrip 509 are hinged on axis 507, and two sides leads to respectively on the downside of each handgrip
Crossing the 4th hinge 510, hingedly there are two connecting rods 511.In pairs, every group of other end passes through one to four connecting rods 511 respectively
4th hinge 510 is hinged in the ear with holes of 512 both sides of nut.First screw rod 513 is fixedly mounted on the output of the second stepper motor 515
Axis, and coordinate with nut 512 and constitute a screw pair.Two I-shaped columns 516 are for being fixedly connected with the first support plate 514 and second
Plate 517.Second screw rod, 518 one end is flanged and is fixedly mounted on the second support plate 517, screw portion and the 4th mechanical arm 502
On threaded hole cooperation constitute a screw pair, the other end is installed with a third gear 519.Second supporting rack 521 fixes peace
On the 4th mechanical arm 502, be installed with one the 4th gear 520 thereon, engaged with third gear 519, and gear shaft with
First stepper motor 503 exports axis connection.
Operation principle of the present invention：Executing agency of the present invention is that nine-degree of freedom hybrid mechanism adds two-freedom work head,
Intermediate station 1 there are one degree of freedom, i.e., first servo motor 105 controls pedestal in parallel 2 around 102 center of first gear rotation,
The degree of freedom carries out applying needle for driving mechanism realization to the patient of different location on both sides mattress 7.There are five certainly for pedestal 2 in parallel
By spending, movement respectively forward, upward and the rotation around three axis of reference axis, four the second electric pushrods 210 are SPS complete certainly
By degree branch, mechanism freedom is not influenced；And centre third electric pushrod 211 is RPS branches, possesses five freedom above-mentioned
Degree.Specific control is that the movement that control moves up and down degree of freedom is moved up and down by the push rod of third electric pushrod 211 to realize,
The movement that control is moved forward and backward degree of freedom is moved up and down by the push rod of the first electric pushrod 207 to realize, is controlled around three coordinates
The rotational motion of axis moves up and down to realize by the push rod of four the second electric pushrods 210.The first series arm of part in series 3,
Two series arms 4 and third series arm 5 are sequentially connected in series and 213 overhanging end of first mechanical arm on pedestal 2 in parallel, gathers around
There is the rotational freedom around three harmonic speed reducer central shafts.Work head part, the second stepper motor 515 control the first screw rod
513 rotations, drive matched nut 512 to move up and down, connecting rod 511 is moved with nut, the first handgrip 508, the second handgrip
509 move with connecting rod 511, to realize the function of handgrip folding.And two degree of freedom of work head are, the second screw rod 518 around
The rotation at its center and moving along its axial direction drive the 4th gear 520 to drive and the second screw rod by the first stepper motor 503
The third gears 519 of 518 consolidations are realized, work head can be made to advance while autobiography, imitate acupuncture treatment of manually twirlinging or rotating of the acupuncture needle when applying needle
Process, the transverse tooth thickness difference of two gears determine the stroke of advance.Camera 505 carries out acupuncture point and distance point for passing image data back
Analysis and trajectory planning, laser sensor 504 are used for ranging, control acupuncture treatment depth, and false-touch prevention.