CN108814924B

CN108814924B - Medical health-care scraping bed

Info

Publication number: CN108814924B
Application number: CN201810746974.2A
Authority: CN
Inventors: 王心光; 贺婷; 苏建军
Original assignee: Individual
Current assignee: Jining Jingze Information Technology Co ltd
Priority date: 2018-07-09
Filing date: 2018-07-09
Publication date: 2020-05-19
Anticipated expiration: 2038-07-09
Also published as: CN108814924A

Abstract

The invention relates to a medical health-care scraping bed which comprises a three-degree-of-freedom platform, a serial base, a working head, a first stepping motor, a first support, a bed plate, a first screw rod, a bed frame, universal damping wheels, a pillow and a first guide rod. The three-coordinate three-degree-of-freedom platform is connected with the four-degree-of-freedom mechanical arm in series for seven degrees of freedom, the working space is large, the control is flexible and intelligent, and various scraping techniques can be simulated. The camera can scan the human body and measure the distance, and is used for determining the scraping part and planning the working track. Automatic scraping therapy saves manpower.

Description

Medical health-care scraping bed

Technical Field

The invention relates to the technical field of medical treatment, in particular to a medical health-care scraping bed.

Background

The skin scraping is guided by the theory of traditional Chinese medicine meridian and acupoints, and is performed by repeatedly scraping and rubbing the body surface with a special scraping device and corresponding manipulations to make local skin appear red marbled grains or dark red bleeding spots and other 'eruption changes', thereby achieving the effect of activating blood circulation and promoting eruption. Because of its characteristics of simplicity, convenience, low cost and effectiveness, it has extensive clinical application, and is suitable for medical treatment and family health care. Can also be used in combination with acupuncture, cupping, and collaterals-pricking and blood-letting therapies to enhance the effects of promoting blood circulation, removing blood stasis, eliminating pathogenic factors, and removing toxic substances. The traditional masseur consumes more manpower to scrape the skin, and especially scraping the whole body is very tired, so an automatic scraping machine is urgently needed. For example, patent No. CN201720333749.7 provides a quantitative automatic scraping device, which comprises a frame body, a sliding scraping table and the like, and has the advantages of simple structure and low cost; the defects are that the degree of freedom of the mechanism is low and the intelligentization level is low.

Disclosure of Invention

In order to solve the problems, the invention provides a medical health-care scraping bed, a three-coordinate three-degree-of-freedom platform is connected with a four-degree-of-freedom mechanical arm in series, the three-coordinate three-degree-of-freedom platform has seven degrees of freedom, the working space is large, the control is flexible and intelligent, and various scraping techniques can be simulated. The camera can scan the human body and measure the distance, and is used for determining the scraping part and planning the working track. Automatic scraping therapy saves manpower.

The technical scheme adopted by the invention is as follows: a medical health care scraping bed comprises a three-degree-of-freedom platform, a serial base, a working head, a first stepping motor, a first support, a bed plate, a first screw rod, a bed frame, universal shock absorbing wheels, a pillow and first guide rods, wherein the number of the first support is four, and the first support is fixedly arranged at four corners of the bed plate; the pillow is fixedly arranged at one end of the upper surface of the bed plate, the bed frame is fixedly arranged below the bed plate, and each outward extending support leg is fixedly provided with a universal shock absorption wheel; the first guide rod is fixedly arranged on the two first supports on the left side; the first lead screw is hinged on the two first supports on the right side, a first stepping motor is fixedly mounted on the support on one side, and an output shaft is connected with the first lead screw; two ends of the three-degree-of-freedom platform are respectively matched with the first lead screw and the first guide rod; the serial base is fixedly arranged on the three-degree-of-freedom platform; the working head is fixedly arranged on the serial base.

The three-degree-of-freedom platform comprises a first sliding block, a second support, a scraping plate, a first balcony, a second guide rod, a second lead screw, a second stepping motor, a first servo motor, a camera, an electric push rod, a second balcony, a third balcony, a second sliding block, a first harmonic reducer and a transition flange, wherein the first sliding block is matched with the first lead screw; the second sliding block is matched with the first guide rod; the first balcony is of a frame structure, and two sides of the first balcony are fixedly arranged on the first sliding block and the second sliding block respectively; the two side sliding blocks are respectively and fixedly provided with a second support, and each second support is provided with a scraping plate; the second guide rod is fixedly arranged on the first balcony, the second lead screw is hinged on the first balcony, the second stepping motor is fixedly arranged on the first balcony, and an output shaft is connected with the second lead screw; the two cameras are hinged to two sides of the frame beam on the upper side of the first antenna; the threaded holes and the unthreaded holes at the two ends of the second balcony are respectively matched with a second screw rod and a second guide rod; two electric push rods are fixedly arranged on two sides of the second balcony; the third stage is fixedly arranged on the push rod end flanges of the two electric push rods; the first servo motor is fixedly arranged on the upper bottom surface of the third balcony, the first harmonic reducer is fixedly arranged on the lower bottom surface of the third balcony, and an input shaft of the first harmonic reducer is connected with an output shaft of the first servo motor; the transition flange is fixedly arranged on the output shaft of the first harmonic reducer.

The series connection base comprises a chassis, a third support, a second servo motor, a second harmonic reducer, a first series connection mechanical arm, a third harmonic reducer, a second series connection mechanical arm and a third servo motor, and the chassis is fixedly arranged on the transition flange; the third support is fixedly arranged on the chassis; the second servo motor and the second harmonic reducer are respectively and fixedly arranged on two sides of the third support, and the output shaft of the motor is connected with the input shaft of the reducer; one end of the first series-connection mechanical arm is fixedly arranged at the output end of the second harmonic reducer, a third servo motor and a third harmonic reducer are respectively and fixedly arranged on two sides of the other end of the first series-connection mechanical arm, and the output shaft of the motor is connected with the input shaft of the reducer; and the second series mechanical arm is fixedly arranged at the output end of the third harmonic reducer.

Further, the working head comprises a fourth servo motor, a fourth harmonic reducer, a support plate, a third series mechanical arm, a double-shaft motor, a belt wheel, a belt, a first gear, a second gear, a first screw rod, a gripper and a second screw rod, wherein the fourth harmonic reducer is fixedly arranged on the second series mechanical arm; the fourth servo motor is fixedly arranged at the input end of the fourth harmonic reducer, and the output shaft of the motor is connected with the input shaft of the reducer; the support plate is fixedly arranged at the output end of the fourth harmonic reducer; the third serial mechanical arm is provided with two porous plates which are fixedly arranged on the support plate, the two porous plates are arranged in parallel, the double-shaft motor, the first gear and the second gear are arranged between the two porous plates, and each porous plate is provided with three inner holes from top to bottom; the double-shaft motor is fixedly arranged on a first inner hole of the third serial mechanical arm, and two belt wheels are fixedly arranged at two side shaft ends respectively; the first gear is hinged on a second inner hole of the third serial mechanical arm, and gear shaft ends on two sides are respectively and fixedly provided with a belt wheel; the two belts are fixedly arranged on the paired belt wheels at the two sides; the second gear is hinged on a third inner hole of the third serial mechanical arm, and a first screw rod and a second screw rod are fixedly mounted at gear shaft ends on two sides respectively; the left-side gripper smooth hole end is matched with a left-side gear shaft of the first gear, and the internal thread hole is matched with the second screw; the right hand grab unthreaded hole end is matched with a gear shaft on the right side of the first gear, and the internal threaded hole is matched with the first screw rod.

Furthermore, the universal damping wheel comprises an upper support plate, a spring, a strut, a lower support plate, a shaft sleeve, a wheel tile and wheels, wherein the shaft end of the upper support plate is fixedly arranged on the bedstead; the two struts are used for fixedly connecting the upper support plate and the lower support plate; the shaft sleeve is matched with an inner hole of the lower support plate to form a cylindrical pair; the spring is clamped between the shaft sleeve and the upper supporting plate to play a role in damping; an extended shaft at the upper end of the wheel shoe is hinged on the shaft sleeve and can rotate around the central shaft of the shaft sleeve; the wheels are hinged on the wheel tiles.

Due to the adoption of the technical scheme, the invention has the following advantages: (1) the scraping mechanism with seven degrees of freedom has large working space and flexible and intelligent control, and can imitate various scraping techniques; (2) the camera can scan the human body and measure the distance, and is used for determining the scraping part and planning the working track; (3) automatic scraping therapy saves manpower.

Drawings

Fig. 1 and 2 are schematic overall structural diagrams of the present invention.

Fig. 3 and 4 are schematic structural diagrams of the three-degree-of-freedom platform of the present invention.

Fig. 5 and 6 are schematic views of the tandem base structure of the present invention.

Fig. 7 is a schematic structural diagram of the working head of the present invention.

FIG. 8 is a schematic view of the structure of the universal shock absorbing wheel of the present invention.

Fig. 9 is a schematic view of the gripper of the present invention.

Reference numerals: 1-a three-degree-of-freedom platform; 2-a tandem base; 3-working head; 4-a first stepper motor; 5-a first support; 6-bed board; 7-a first lead screw; 8-bed frame; 9-universal damping wheels; 10-a pillow; 11-a first guide bar; 101-a first slider; 102-a second support; 103-scraping board; 104-a first balcony; 105-a second guide bar; 106-second lead screw; 107-second stepper motor; 108-a first servo motor; 109-a camera; 110-an electric push rod; 111-a second balcony; 112-third balcony; 113-a second slider; 114-first harmonic reducer; 115-a transition flange; 201-a chassis; 202-a third support; 203-a second servo motor; 204-a second harmonic reducer; 205-a first serial robot; 206-third harmonic reducer; 207-a second tandem robot arm; 208-a third servomotor; 301-a fourth servo motor; 302-fourth harmonic reducer; 303-a support plate; 304-a third tandem robot arm; 305-a two-shaft motor; 306-a pulley; 307-band; 308-a first gear; 309-a second gear; 310-a first screw; 311-hand grip; 312-a second screw; 901-an upper support plate; 902-a spring; 903-strut; 904-lower plate; 905-shaft sleeve; 906-wheel shoes; 907-wheels.

Detailed Description

The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.

Example (b): as shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7, fig. 8, and fig. 9, a medical health-care scraping bed comprises a three-degree-of-freedom platform 1, a serial base 2, a working head 3, a first stepping motor 4, a first support 5, a bed plate 6, a first screw 7, a bed frame 8, a universal shock-absorbing wheel 9, a pillow 10, and a first guide rod 11. Four first supports 5 are fixedly arranged at four corners of the bed plate 6. The pillow 10 is fixedly arranged at one end of the upper surface of the bed board 6, the bed frame 8 is fixedly arranged below the bed board 6, and each outward extending support leg is fixedly provided with a universal shock absorption wheel 9. The first guide bar 11 is fixedly mounted on the two first supports 5 on the left side. First lead screw 7 articulates on two first supports 5 on the right side, and fixed mounting has a first step motor 4 and output shaft and is connected with first lead screw 7 on the support of one side. Two ends of the three-degree-of-freedom platform 1 are respectively matched with the first lead screw 7 and the first guide rod 11. The series base 2 is fixedly arranged on the three-degree-of-freedom platform 1. The working head 3 is fixedly arranged on the serial base 2.

The three-degree-of-freedom platform 1 comprises a first sliding block 101, a second support 102, a scraping plate 103, a first balcony 104, a second guide rod 105, a second lead screw 106, a second stepping motor 107, a first servo motor 108, a camera 109, an electric push rod 110, a second balcony 111, a third balcony 112, a second sliding block 113, a first harmonic reducer 114 and a transition flange 115, wherein the first sliding block 101 is matched with the first lead screw 7. The second slider 113 cooperates with the aforementioned first guide bar 11. The first balcony 104 is a frame structure, and two sides of the first balcony are respectively and fixedly installed on the first slider 101 and the second slider 113. The two side sliding blocks are respectively and fixedly provided with a second support 102, and each second support 102 is provided with a scraping plate 103. The second guide rod 105 is fixedly installed on the first balcony 104, the second lead screw 106 is hinged on the first balcony 104, the second stepping motor 107 is fixedly installed on the first balcony 104, and the output shaft is connected with the second lead screw 106. The two cameras 109 are hinged on two sides of the upper frame beam of the first antenna platform 104. The threaded holes and the unthreaded holes at the two ends of the second platform 111 are respectively matched with the second lead screw 106 and the second guide rod 105. The two electric push rods 110 are fixedly arranged at two sides of the second balcony 111. The third balcony 112 is fixedly mounted on the push rod end flanges of the two electric push rods 110. The first servo motor 108 is fixedly installed on the upper bottom surface of the third balcony 112, the first harmonic reducer 114 is fixedly installed on the lower bottom surface of the third balcony 112, and the input shaft of the first harmonic reducer is connected with the output shaft of the first servo motor 108. The transition flange 115 is fixedly mounted on the output shaft of the first harmonic reducer 114.

The tandem base 2 includes a chassis 201, a third support 202, a second servo motor 203, a second harmonic reducer 204, a first tandem robot arm 205, a third harmonic reducer 206, a second tandem robot arm 207, and a third servo motor 208, and the chassis 201 is fixedly mounted on the transition flange 115. The third support 202 is fixedly mounted on the chassis 201. The second servo motor 203 and the second harmonic reducer 204 are respectively and fixedly arranged at two sides of the third support 202, and the output shaft of the motor is connected with the input shaft of the reducer. One end of the first serial mechanical arm 205 is fixedly installed at the output end of the second harmonic reducer 204, a third servo motor 208 and a third harmonic reducer 206 are respectively and fixedly installed at two sides of the other end, and the output shaft of the motor is connected with the input shaft of the reducer. A second tandem arm 207 is fixedly mounted at the output of the third harmonic reducer 206.

The working head 3 comprises a fourth servo motor 301, a fourth harmonic reducer 302, a support plate 303, a third tandem mechanical arm 304, a double-shaft motor 305, a belt wheel 306, a belt 307, a first gear 308, a second gear 309, a first screw 310, a gripper 311 and a second screw 312, wherein the fourth harmonic reducer 302 is fixedly mounted on the second tandem mechanical arm 207. The fourth servo motor 301 is fixedly installed at the input end of the fourth harmonic reducer 302, and the motor output shaft is connected with the reducer input shaft. And a support plate 303 is fixedly arranged at the output end of the fourth harmonic reducer 302. The third tandem arm 304 is two perforated plates fixedly mounted on the support 303. Two take porous plate mutual parallel arrangement, biax motor 305, first gear 308, second gear 309 set up between two take porous plates, and each takes porous plate all to be provided with three hole from top to bottom. The dual-axis motor 305 is fixedly mounted in a first inner hole of the third tandem mechanical arm 304, and a belt wheel 306 is fixedly mounted at each of two side shaft ends. The first gear 308 is hinged to the second inner hole of the third tandem mechanical arm 304, and two gear shaft ends of the two sides are respectively and fixedly provided with a belt wheel 306. The belt 307 has two, and is fixedly mounted on the paired pulleys 306 on both sides. The second gear 309 is hinged to the third inner hole of the third tandem mechanical arm 304, and a first screw 310 and a second screw 312 are fixedly mounted at the gear shaft ends of the two sides respectively. The number of the hand grips 311 is two, the smooth hole end of the left hand grip 311 is matched with the left gear shaft of the first gear 308, and the internal threaded hole is matched with the second screw 312. The right hand grip 311 has a smooth bore end that mates with the right gear shaft of the first gear 308 and an internally threaded bore that mates with the first threaded rod 310.

The universal shock absorption wheel 9 comprises an upper support plate 901, a spring 902, a strut 903, a lower support plate 904, a shaft sleeve 905, a wheel shoe 906 and a wheel 907, wherein the shaft end of the upper support plate 901 is fixedly arranged on the bed frame 8. The two pillars 903 are used to fix the upper support plate 901 and the lower support plate 904. The shaft sleeve 905 and the inner hole of the lower support plate 904 are matched to form a cylindrical pair. The spring 902 is clamped between the shaft sleeve 905 and the upper supporting plate 901 to play a role in shock absorption. The upper end of the wheel shoe 906 extends outwards to be hinged on the shaft sleeve 905 and can rotate around the central shaft of the shaft sleeve. Wheels 907 are hinged to wheel shoe 906.

The working principle of the invention is as follows: the execution mechanism of the invention is that a three-coordinate type three-freedom-degree platform 1 is connected with a four-freedom-degree mechanical arm in series for seven degrees of freedom, and the specific realization process is that the three degrees of freedom of the three-coordinate type three-freedom-degree platform 1 are as follows: movement of the first antenna stage 104 along the X-axis controlled by the first stepper motor 4; the movement of the second zenith 111 along the Y axis controlled by the second stepping motor 107; the movement of the third zenith 112 along the Z-axis is controlled by two electric pushers 110. The four degrees of freedom of the series four-degree-of-freedom mechanical arm are as follows: the rotation of the chassis 201 around its central axis controlled by the first servo motor 108; the rotation of the first serial mechanical arm 205 around the central axis of the second harmonic reducer 204 controlled by the second servo motor 203; rotation of a second tandem robot arm 207 controlled by a third servomotor 208 about the central axis of a third harmonic reducer 206; rotation of third tandem robot arm 304 about the central axis of fourth harmonic reducer 302 is controlled by fourth servomotor 301.

The working principle of the grasping mechanism is that output shafts at two ends of a double-shaft motor 305 drive a belt transmission mechanism formed by a belt wheel 306 and a belt 307 to drive a first gear 308 to rotate so as to drive a second gear 309 meshed with the first gear to rotate, then the second gear drives a first screw 310 and a second screw 312 with opposite rotation directions at two sides to rotate so as to drive two side grippers 311 matched with the first gear to form a spiral pair to move, unthreaded holes at one end of each gripper 311 are sleeved on gear shafts at two sides of the first gear 308 to play a role of a limiting guide rail, so that the grippers 311 are opened and closed, and the scraping plate 103 is grasped. The two cameras 109 hinged on the first balcony 104 can transmit back image data in real time for analyzing the distance, scraping part and calculating scraping track.

Claims

1. The utility model provides a medical health care scraping bed, includes three degree of freedom platforms (1), series connection base (2), working head (3), first step motor (4), first support (5), bed board (6), first lead screw (7), bedstead (8), universal shock attenuation wheel (9), pillow (10), first guide arm (11), its characterized in that: four first supports (5) are fixedly arranged at four corners of the bed plate (6); the pillow (10) is fixedly arranged at one end of the upper surface of the bed plate (6), the bed frame (8) is fixedly arranged below the bed plate (6), and each outward extending support leg is fixedly provided with a universal shock absorption wheel (9); the first guide rod (11) is fixedly arranged on the two first supports (5) on the left side; the first lead screw (7) is hinged on the two first supports (5) on the right side, a first stepping motor (4) is fixedly mounted on the support on one side, and an output shaft of the first stepping motor is connected with the first lead screw (7); two ends of the three-degree-of-freedom platform (1) are respectively matched with the first lead screw (7) and the first guide rod (11); the series base (2) is fixedly arranged on the three-degree-of-freedom platform (1); the working head (3) is fixedly arranged on the serial base (2);

the three-degree-of-freedom platform (1) comprises a first sliding block (101), a second support (102), a scraping plate (103), a first balcony (104), a second guide rod (105), a second lead screw (106), a second stepping motor (107), a first servo motor (108), a camera (109), an electric push rod (110), a second balcony (111), a third balcony (112), a second sliding block (113), a first harmonic reducer (114) and a transition flange (115), wherein the first sliding block (101) is matched with the first lead screw (7); the second sliding block (113) is matched with the first guide rod (11); the first balcony (104) is of a frame structure, and two sides of the first balcony are fixedly arranged on the first sliding block (101) and the second sliding block (113) respectively; the two side sliding blocks are respectively and fixedly provided with a second support (102), and each second support (102) is provided with a scraping plate (103); the second guide rod (105) is fixedly arranged on the first balcony (104), the second lead screw (106) is hinged on the first balcony (104), the second stepping motor (107) is fixedly arranged on the first balcony (104), and an output shaft is connected with the second lead screw (106); two cameras (109) are hinged to two sides of the frame beam on the upper side of the first balcony (104); the threaded holes and the unthreaded holes at the two ends of the second balcony (111) are respectively matched with a second lead screw (106) and a second guide rod (105); two electric push rods (110) are fixedly arranged on two sides of the second balcony (111); the third balcony (112) is fixedly arranged on the push rod end flanges of the two electric push rods (110); the first servo motor (108) is fixedly arranged on the upper bottom surface of the third balcony (112), the first harmonic reducer (114) is fixedly arranged on the lower bottom surface of the third balcony (112), and an input shaft of the first harmonic reducer is connected with an output shaft of the first servo motor (108); the transition flange (115) is fixedly arranged on an output shaft of the first harmonic reducer (114);

the tandem base (2) comprises a chassis (201), a third support (202), a second servo motor (203), a second harmonic reducer (204), a first tandem mechanical arm (205), a third harmonic reducer (206), a second tandem mechanical arm (207) and a third servo motor (208), and the chassis (201) is fixedly installed on the transition flange (115); the third support (202) is fixedly arranged on the chassis (201); a second servo motor (203) and a second harmonic reducer (204) are respectively and fixedly arranged on two sides of the third support (202), and the output shaft of the motor is connected with the input shaft of the reducer; one end of the first serial mechanical arm (205) is fixedly arranged at the output end of the second harmonic reducer (204), a third servo motor (208) and a third harmonic reducer (206) are respectively and fixedly arranged on two sides of the other end of the first serial mechanical arm, and the output shaft of the motor is connected with the input shaft of the reducer; and the second serial mechanical arm (207) is fixedly arranged at the output end of the third harmonic reducer (206).

2. The medical health-care scraping bed as claimed in claim 1, wherein: the working head (3) comprises a fourth servo motor (301), a fourth harmonic reducer (302), a support plate (303), a third tandem mechanical arm (304), a double-shaft motor (305), a belt wheel (306), a belt (307), a first gear (308), a second gear (309), a first screw rod (310), a gripper (311) and a second screw rod (312), and the fourth harmonic reducer (302) is fixedly installed on the second tandem mechanical arm (207); a fourth servo motor (301) is fixedly arranged at the input end of a fourth harmonic reducer (302), and the output shaft of the motor is connected with the input shaft of the reducer; the support plate (303) is fixedly arranged at the output end of the fourth harmonic reducer (302); the third serial mechanical arm (304) is two porous plates which are fixedly arranged on the support plate (303), the two porous plates are arranged in parallel, the double-shaft motor (305), the first gear (308) and the second gear (309) are arranged between the two porous plates, and each porous plate is provided with three inner holes from top to bottom; the double-shaft motor (305) is fixedly arranged on a first inner hole of the third series mechanical arm (304), and two side shaft ends are respectively and fixedly provided with a belt wheel (306); the first gear (308) is hinged on a second inner hole of the third serial mechanical arm (304), and gear shaft ends on two sides are respectively and fixedly provided with a belt wheel (306); the two belts (307) are fixedly arranged on the paired belt wheels (306) at two sides; the second gear (309) is hinged on a third inner hole of the third serial mechanical arm (304), and a first screw (310) and a second screw (312) are fixedly mounted at gear shaft ends on two sides respectively; the number of the grippers (311) is two, the unthreaded hole end of the left gripper (311) is matched with a left gear shaft of the first gear (308), and the internal threaded hole is matched with the second screw (312); the right-side optical hole end of the gripper (311) is matched with a right-side gear shaft of the first gear (308), and the internal threaded hole is matched with the first screw rod (310).

3. The medical health-care scraping bed as claimed in claim 1, wherein: the universal shock absorption wheel (9) comprises an upper support plate (901), a spring (902), a strut 903, a lower support plate (904), a shaft sleeve (905), a wheel tile (906) and wheels (907), wherein the shaft end of the upper support plate (901) is fixedly arranged on the bedstead (8); the two struts (903) are used for fixedly connecting the upper support plate (901) and the lower support plate (904); the shaft sleeve (905) is matched with an inner hole of the lower support plate (904) to form a cylindrical pair; the spring (902) is clamped between the shaft sleeve (905) and the upper support plate (901) to play a role in shock absorption; an outer extending shaft at the upper end of the wheel shoe (906) is hinged on the shaft sleeve (905) and can rotate around the central shaft of the shaft sleeve; wheels 907 are hinged to wheel shoe 906.