CN110101572A - A kind of plucking machine device people and its pull out needle method - Google Patents
A kind of plucking machine device people and its pull out needle method Download PDFInfo
- Publication number
- CN110101572A CN110101572A CN201910352470.7A CN201910352470A CN110101572A CN 110101572 A CN110101572 A CN 110101572A CN 201910352470 A CN201910352470 A CN 201910352470A CN 110101572 A CN110101572 A CN 110101572A
- Authority
- CN
- China
- Prior art keywords
- component
- rotating
- module
- hole
- motor cabinet
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000005259 measurement Methods 0.000 claims abstract description 43
- 230000000712 assembly Effects 0.000 claims abstract description 32
- 238000000429 assembly Methods 0.000 claims abstract description 32
- 239000000725 suspension Substances 0.000 claims abstract description 3
- 230000005611 electricity Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 3
- 239000000523 sample Substances 0.000 claims 1
- 238000001467 acupuncture Methods 0.000 abstract description 18
- 238000002560 therapeutic procedure Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/08—Devices for applying needles to such points, i.e. for acupuncture ; Acupuncture needles or accessories therefor
Landscapes
- Health & Medical Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Finger-Pressure Massage (AREA)
Abstract
The embodiment of the present invention discloses a kind of plucking machine device people and its pulls out needle method, is related to technical field of medical equipment, can be adapted for pulling out needle ring section in Acupuncture Treatment.Include: straight line electric slide unit component, horizontally rotate component, vision measurement component, vertical rotating component and clamp assemblies；It is connected on straight line electric slide unit component and horizontally rotates component, horizontally rotate the first rotating module that component includes the first drive module and connect with the first drive module；The suspension of vision measurement component level is connected on rotating module；Vertical rotating component includes the second drive module and the second rotating module for connecting with the second drive module, second rotating module is connect with the first rotating module lower end, clamp assemblies are connected on the second rotating module, and clamp assemblies are corresponding below vision measurement component.The present invention be suitable for acupuncture and moxibustion therapy Acupuncture Treatment during, to needle set choose or scientific research in.
Description
Technical field
The present invention relates to technical field of medical equipment more particularly to a kind of plucking machine device people and its pull out needle method.
Background technique
Acupuncture is the general name of the skill of handling needles and moxibustion therapy, the skill of handling needles therein be it is a kind of by needle set piercing acupuncture point to reach dredging the channel
The means for treating disease.
Currently, Acupuncture Treatment overall process, including needle ring section is pulled out, it is manually to operate entirely substantially, to operator's profession skill
It can be more demanding.And with the development of robot application technology, related technical personnel are to robot during Acupuncture Treatment
Using having carried out theoretical research, and there is preliminary practical exploration.
Needs based on Acupuncture Treatment development, it is necessary to a robot for pulling out needle automatically is developed, in Acupuncture Treatment
Relative risk is lower to pull out needle ring section and realizes automatic operation, and be robot in Acupuncture Treatment overall process using providing reality
Trample exploration experience.
Summary of the invention
In view of this, the embodiment of the present invention provides a kind of plucking machine device people and its pulls out needle method, it not only can be adapted for needle
Pull out needle ring section in method treatment, and can be robot in Acupuncture Treatment overall process using providing practical exploration experience.
In order to achieve the above objectives, the embodiment of the present invention adopts the following technical scheme that
The embodiment of the present invention provides a kind of plucking machine device people, comprising: straight line electric slide unit component horizontally rotates component, view
Feel measurement component, vertical rotating component and clamp assemblies；
Be connected on the straight line electric slide unit component it is described horizontally rotate component, it is described that horizontally rotate component include first
Drive module and the first rotating module being connect with first drive module；
The vision measurement component level suspension is connected on the rotating module；
The vertical rotating component includes the second drive module and the second rotation mould connecting with second drive module
Block, second rotating module are connect with the first rotating module lower end, are connected with the clamping on second rotating module
Component, and the clamp assemblies are corresponding below the vision measurement component.
Optionally, the clamp assemblies include the first support plate and the second support plate, are equipped in first support plate
Intermeshing first gear and second gear, the first gear are connected with the first gripper jaw, and the second gear is connected with
Second gripper jaw, first gripper jaw and the second gripper jaw are oppositely arranged；
Two support plate is equipped with clamping driving motor, the output shaft of the clamping driving motor and the first gear
Connection.
Optionally, in first support plate and position and first gear, second gear, the first gripper jaw and the second folder
It holds pawl and encloses and be provided with first connecting rod and the second connecting rod in the space set, the first connecting rod and the second connecting rod are symmetrically set
It sets, described first connecting rod one end is articulated in first support plate, and the first connecting rod second end is connected to described
The root of one gripper jaw, second connecting rod one end are articulated in first support plate, the second connecting rod second end
It is connected to the root of second gripper jaw.
Optionally, the clamping face of first gripper jaw and the second gripper jaw is respectively equipped with frosted flexible liner.
Optionally, first drive module includes the first driving motor, motor cabinet upper casing and motor cabinet lower casing, the electricity
Base upper casing is equipped with first through hole corresponding with motor shaft, and the first threaded hole is equipped with around the first through hole, described
First driving motor is installed on the motor cabinet upper casing by first threaded hole, and shell-side is additionally provided on the motor cabinet
First attachment base, first attachment base are connected to straight line electric slide unit component for that will horizontally rotate component；
The motor cabinet lower casing is equipped with the second through-hole corresponding with the first through hole, be equipped in the second through-hole bearing and with
First rotating casing of bearing rotation connection, first rotating casing one end are socketed on motor shaft, the motor cabinet lower casing
On be additionally provided with first attachment base be cooperatively connected the second attachment base, second attachment base be hollow channel structure；
First rotating module includes support connecting base, and the support connecting base upper end is equipped with connecting shaft, the connection
Axle sleeve is connected on the first rotating casing other end；
The support connecting base lower end is additionally provided with first connecting portion；
Second drive module includes the second driving motor and motor cabinet left housing and the right shell of motor cabinet, second driving
Motor is horizontally disposed, and the motor cabinet left housing is equipped with third through-hole corresponding with the motor shaft of the second driving motor, in institute
It states and is equipped with the second threaded hole around third through-hole, second driving motor is installed on the motor by second threaded hole
In seat left housing, motor cabinet left housing upper end is additionally provided with third attachment base；
Second rotating module includes the second rotating casing, and the right shell upper end of motor cabinet is equipped with the 4th attachment base, institute
It states on the right shell of motor cabinet, fourth hole corresponding with the third through-hole is additionally provided with positioned at horizontal axis, in motor cabinet left housing
With the right hull shape of motor cabinet at space in, with the position corresponding position of the third through-hole and fourth hole be respectively equipped with the first support
Attachment base and the second support connecting base, first support connecting base and the second support connecting base be equipped with bearing, described first
Support connecting base is equipped with fifth hole corresponding with the third through-hole, first support connecting base and the second support connection
The second rotating casing connecting with the bearing is equipped between seat, the motor shaft of second driving motor sequentially passes through the third
Through-hole and fifth hole are socketed with second rotating casing, positioned at one end of the first support connecting base；
The motor left housing and the right shell of motor cabinet are fixedly connected on described by the third attachment base and the 4th attachment base
The lower end of support connecting base.
Optionally, the third attachment base and the 4th attachment base are hollow channel structure.
Optionally, linking arm is fixedly connected on second rotating casing periphery, second drive module passes through institute
Linking arm is stated to be fixedly connected with the second support plate of the clamp assemblies.
Optionally, the vision measurement component includes ribs cantilever and vision measurement module, and the ribs cantilever is solid
Surely it is connected to the support connecting base side, the vision measurement module, institute are equipped on the free end of the ribs cantilever
Vision measurement module is stated for acquiring the location of needle set to be pulled out coordinate.
Second aspect, what the present embodiment also provided a kind of plucking machine device people pulls out needle method, comprising steps of
Pin extractor is connected to by the first attachment base can be achieved on horizontal and vertically movable falsework；
User is received to the parameter setting of plucking machine device people control system and falsework drive system, the parameter includes:
The driving for horizontally rotating component, vision measurement component, vertical rotating component and clamp assemblies of falsework driving port, pin extractor
Port；
Receive the control instruction of user's input；
It drives vision measurement component detection by the driving port of vision measurement component and measures and obtain position locating for needle set
Set coordinate；
The location of the needle set that vision measurement component will acquire coordinate is sent to control system or host computer；
The position coordinates of the needle set of control system or host computer based on acquisition, each component cooperation of drive control is to complete needle set
Choose.
A kind of plucking machine device people of the embodiment of the present invention and its pull out needle method, comprising: straight line electric slide unit component horizontally rotates
Component, vision measurement component, vertical rotating component and clamp assemblies pull out needle by the straight line electric slide unit component
The clamp assemblies of robot move in vertical and horizontal direction, and adjustment clamp assemblies are directed at needle set to be pulled out, by horizontally rotating
The horizontal clamping crawl angle between horizontal plane for the clamp assemblies that component adjustment and the first rotating module are indirectly connected with, by perpendicular
Angle is grabbed to the vertical clamping of runner assembly adjustment clamp assemblies and needle set to be pulled out；It is measured by vision measurement component and obtains needle
The coordinate position in the locating space of tool, thus based on the above-mentioned each component cooperation of coordinate position guidance with needle set to be pulled out of choosing.
The plucking machine device people of the present embodiment can be adapted for pulling out needle ring section in Acupuncture Treatment as a result, and can be robot in needle
Ruling by law treats the application in overall process and provides practical exploration experience.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is structural schematic diagram of one embodiment of plucking machine device people of the present invention under an angle；
Fig. 2 is structural schematic diagram of the plucking machine device people under another angle in Fig. 1；
Fig. 3 is the Structure explosion diagram of plucking machine device people in Fig. 1 of the present invention；
Fig. 4 is one example structure schematic diagram of clamp assemblies of the present invention；
Fig. 5 is one example structure schematic diagram of motor cabinet upper casing in Fig. 3；
Fig. 6 is one embodiment partial structural diagram of motor cabinet lower casing in Fig. 3；
Fig. 7 is one example structure schematic diagram of motor cabinet left housing in Fig. 3；
Fig. 8 is right one example structure schematic diagram of shell of motor cabinet in Fig. 3.
Specific embodiment
It to a kind of plucking machine device people of the embodiment of the present invention and its pulls out needle method with reference to the accompanying drawing and is described in detail.
It will be appreciated that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
Its embodiment, shall fall within the protection scope of the present invention.
Embodiment one
The embodiment of the present invention provides a kind of plucking machine device people, is mainly used in during the Acupuncture Treatment of acupuncture and moxibustion therapy, right
Needle set realization is chosen automatically.
Fig. 1 is structural schematic diagram of one embodiment of plucking machine device people of the present invention under an angle；Fig. 2 is that plucking machine device people exists
Structural schematic diagram under another angle；Fig. 3 is the Structure explosion diagram of plucking machine device people in Fig. 1 of the present invention；
Referring to shown in Fig. 1 to Fig. 3, the plucking machine device people includes horizontally rotating component 100, vision measurement component 200, erecting
To runner assembly 300 and clamp assemblies 400.
In specific application, pin extractor can be wholy set in level and be slid vertically the motorized rails of function
On, to realize that position of the pin extractor in the horizontal direction and on vertical direction is mobile, specific implementation gripper assembly is horizontal and vertical
Position on direction is mobile.
In the present embodiment, pin extractor itself may include having straight line electric slide unit component (not shown), for real
Position of the existing gripper assembly on horizontal and vertical direction is mobile；Wherein, horizontal turn is connected on straight line electric slide unit component
Dynamic component 100, horizontally rotate component 100 include the first drive module 110 and connect with first drive module 110 first
Rotating module 120.
Specifically, straight line electric slide unit component includes horizontal guide rail frame and carriage saddle, and the carriage saddle is set to the level
On guide rail bracket, it is equipped with the first feed screw nut in the carriage saddle, the first lead screw is equipped in the feed screw nut, first
Lead screw one end is connected with lead screw stepper motor；It is equipped with electric lifting mechanism, above the slide unit for realizing on vertical direction
Lifting.
200 horizontal suspended of vision measurement component is connected on the first rotating module, obtains sky locating for needle set for measuring
Between coordinate position.
Specifically, the plucking machine device people further includes control system, the control system and straight line electric slide unit component, water
Flat runner assembly 100, vision measurement component 200, vertical rotating component 300 and clamp assemblies 400 are electrically connected, wherein control
The effect of system processed includes: the coordinate position data for the current needle set that view-based access control model measurement component measurement obtains, and is controlled above-mentioned each
Component cooperates with needle set to be pulled out of choosing.
Vertical rotating component 300 includes the second drive module 310 and the second rotation mould connecting with the second drive module 310
Block 320, the second rotating module 320 are connect with 120 lower end of the first rotating module, are connected with clamping on the second rotating module 320
Component 400, and clamp assemblies 400 are corresponding positioned at 200 lower section of vision measurement component.
A kind of plucking machine device people of the embodiment of the present invention, comprising: straight line electric slide unit component horizontally rotates component, vision survey
Component, vertical rotating component and clamp assemblies are measured, by the straight line electric slide unit component for realizing the folder of plucking machine device people
Component is held to move in vertical and horizontal direction, adjustment clamp assemblies be directed at needle set to be pulled out, by horizontally rotate component adjustment with
The horizontal clamping crawl angle between horizontal plane for the clamp assemblies that first rotating module is indirectly connected with, passes through vertical rotating component
The vertical clamping for adjusting clamp assemblies and needle set to be pulled out grabs angle；It is measured by vision measurement component and obtains sky locating for needle set
Between coordinate position, based on the above-mentioned each component cooperation of coordinate position guidance with needle set to be pulled out of choosing.The present embodiment as a result,
Plucking machine device people can be adapted for pulling out needle ring section in Acupuncture Treatment, and can be robot in Acupuncture Treatment overall process
Using offer practical exploration experience.
Referring to Fig. 3 and shown in Fig. 4, in an alternate embodiment of the present invention, clamp assemblies 400 include the first support plate 410
And second support plate 420, intermeshing first gear 411 and second gear 412 are installed in first support plate 410,
The first gear is connected with the first gripper jaw 413, and second gear is connected with the second gripper jaw 414, first gripper jaw and
Second gripper jaw is oppositely arranged.
Two support plate is equipped with clamping driving motor 418, the output shaft and described first of the clamping driving motor
The rotary motion of motor can be converted to the first gripper jaw by above structure and the horizontal of the second gripper jaw is pressed from both sides by gear connection
It holds or unclamps.
Wherein, first gear 411 and second gear 412 are rotationally connected in the first support plate 410,411 side of first gear
It is additionally provided with concave part 4111 in portion, the pin hole of radial perforation to 411 central axis of first gear is equipped in concave part 4111, it is described
Pin hole is used to for the output shaft for clamping driving motor 418 being fixedly connected with first gear, so that clamping driving motor driving first
Gear rotation.In order to realize the control of the claming angle to the first gripper jaw and the second gripper jaw, it is additionally provided in first gear
Limiting section 4112 is used for limiting gear rotational angle, and plays the role of positioning.The limiting section is raised block structure, is used for
Connect limit sensors；It is understood that each rotation axis has the protrusion with limit sensors cooperation limit, turned with limitation
Dynamic angle, and play the role of positioning；It is equipped in first support plate 410 and the raised block structure cooperation limit
Position limiting structure or limit sensors, when for position limiting structure, for example, limited post.
For the ease of the public understanding embodiment of the present invention, now the course of work of clamp assemblies is briefly described as follows: when
Adjust clamp assemblies be in wait pull out by needle set, and by horizontally rotating component 100, vertical rotating component 300 is adjusted in level
And after the crawl angle on vertical direction, then is moved to by straight line electric slide unit component slippage and clamp position, clamping driving electricity
Machine drives first gear to rotate under the drive control of control system, while second gear being driven to rotate, the first gear and
Second gear intermeshing transmission, make to be separately connected with the first gripper jaw 413 in first gear, and be connected in second gear
The second gripper jaw 414 rotate towards each other, draw close to centre to clamp needle set to be pulled out, when clamping after pulling out needle set, control system is driven
Dynamic straight line electric slide unit component rises along the vertical direction, the needle set so that gripper assembly is chosen.
Referring to Fig. 3 and shown in Fig. 4, in the present embodiment, as an alternative embodiment, in the first support plate 410 and position with
First gear 411, second gear 412, the first gripper jaw and the second gripper jaw, which enclose, is provided with first connecting rod 415 in the space set
With the second connecting rod 416, the first connecting rod 415 and the second connecting rod 416 are symmetrical arranged, the first connecting rod 415 1
End is articulated in first support plate 410, and 415 second end of first connecting rod is connected to the root of first gripper jaw
417, described second connecting rod, 416 one end is articulated in first support plate 410, and 416 second end of the second connecting rod connects
It is connected to the root 419 of second gripper jaw.In this way, by first connecting rod and the second connecting rod as the first gripper jaw and the
The Auxiliary support of two gripper jaws can disperse active force on two fulcrums.
In another alternative embodiment of the present invention, the clamping face of first gripper jaw and the second gripper jaw is respectively equipped with mill
Sand flexible liner.In this way, needle can be increased by the frosted flexible liner on the clamping face of the first gripper jaw and the second gripper jaw
Frictional force between tool and gripper jaw, during grabbing needle set, needle set is not easy to fall off.
Referring to shown in Fig. 1, Fig. 2, Fig. 3, Fig. 5 and Fig. 6, in the another alternative embodiment of the present invention, the first drive module 110
Including the first driving motor 111, motor cabinet upper casing 112 and motor cabinet lower casing 113, the motor cabinet upper casing 112 is equipped with and electricity
The corresponding first through hole 114 of arbor is equipped with the first threaded hole 115, the first driving motor around the first through hole 114
111 are installed on the motor cabinet upper casing 112 by first threaded hole 115, and 112 side of motor cabinet upper casing is additionally provided with
First attachment base 116, first attachment base 116 are connected to straight line electric slide unit component for that will horizontally rotate component；The
A connecting seat 116 is hollow channel structure, is also used to wear cable.
Motor cabinet lower casing 113 is equipped with second through-hole 117 corresponding with the first through hole 114, is equipped in the second through-hole 117
Bearing and the first rotating casing 118 being rotatablely connected with bearing, 118 one end of the first rotating casing (being upper end in figure) are socketed on electricity
On arbor, the second attachment base 119 being cooperatively connected with first attachment base 116, institute are additionally provided on the motor cabinet lower casing 113
Stating the second attachment base 119 is hollow channel structure, for wearing cable.
First rotating module 120 includes support connecting base 121, and 121 upper end of support connecting base is equipped with connecting shaft 122, described
Connecting shaft 122 is socketed on 118 other end of the first rotating casing (being lower end in figure).
121 lower end of support connecting base is additionally provided with first connecting portion 123, for connecting vertical runner assembly 300.
Referring to shown in Fig. 1, Fig. 2, Fig. 3, Fig. 7 and Fig. 8, the second drive module 310 includes the second driving motor 311 and motor
Seat left housing 312 and the right shell 313 of motor cabinet, second driving motor 311 is horizontally disposed, and the motor cabinet left housing 312 is equipped with
Third through-hole 314 corresponding with the motor shaft of the second driving motor 311 is equipped with the second spiral shell around the third through-hole 314
Pit 315, second driving motor 311 are installed in the motor cabinet left housing 312 by second threaded hole 315, institute
It states 312 upper end of motor cabinet left housing and is additionally provided with third attachment base 316.
Second rotating module 320 includes the second rotating casing 321, and right 313 upper end of shell of motor cabinet is equipped with the 4th connection
Seat 317 on the right shell 313 of motor cabinet, is additionally provided with fourth hole corresponding with the third through-hole 314 positioned at horizontal axis
318, in the space that motor cabinet left housing 312 and the right shell 313 of motor cabinet are formed, with the third through-hole 314 and fourth hole 318
Position corresponding position be respectively equipped with the first support connecting base 322 and the second support connecting base 323, first support connecting base
322 and second support connecting base 323 be equipped with bearing, first support connecting base 322 be equipped with and the third through-hole 314
Corresponding fifth hole 324 is equipped between first support connecting base 322 and the second support connecting base 323 and connects with the bearing
The second rotating casing 321 connect, the motor shaft of second driving motor 311 sequentially pass through the third through-hole 314 and the 5th
Through-hole 324 is socketed with second rotating casing 321, positioned at one end of the first support connecting base 322；
The motor left housing 312 is solid by the third attachment base 316 and the 4th attachment base 317 with the right shell 313 of motor cabinet
Surely it is connected to the lower end of the support connecting base 121.
Wherein, the third attachment base 316 and the 4th attachment base 317 are hollow channel structure, for arranging cable；In electricity
Right 313 end of shell of base is connected with ring flange 319, and the ring flange 319 is used as end cap.
In yet another alternative embodiment of the present invention, linking arm is fixedly connected on 321 periphery of the second rotating casing
325, second drive module 310 is fixedly connected by the linking arm 325 with the second support plate 420 of clamp assemblies 400.
's the rotating module of vertical rotating component can thus rotated to realize the adjustment for vertically clamping angle to gripper assembly.
In an alternate embodiment of the present invention, vision measurement component 200 includes ribs cantilever 210 and vision measurement module
220, the ribs cantilever 210 is fixedly connected on 121 side of support connecting base, the ribs cantilever 210 from
The vision measurement module 220 is equipped with by end, the vision measurement module 220 is for acquiring the location of needle set to be pulled out seat
Mark.
Wherein, referring to shown in Fig. 1 to Fig. 3, the vision measurement module 220 includes the shell of falling boss structure, described convex
Platform structure housing include rectangular configuration receiving portion 221 and with the cylindrical structure receiving portion that is connected to below rectangular configuration receiving portion
222, the rectangular configuration receiving portion 221 is connect with 210 free end of ribs cantilever, is set in the rectangular configuration receiving portion
There is imaging sensor, described image sensor is for acquiring the location of needle set to be pulled out coordinate；In cylindrical structure receiving portion 222
In be equipped with camera lens.
In the present embodiment, the plucking machine device people further includes display screen, is connect with control system, and specifically pulling out needle method can be with
Are as follows: being connected to pin extractor by the first attachment base can be achieved on horizontal and vertically movable falsework；
User is received to the parameter setting of plucking machine device people control system and falsework drive system, the parameter includes:
The driving for horizontally rotating component, vision measurement component, vertical rotating component and clamp assemblies of falsework driving port, pin extractor
Port；
Receive the instruction that user starts pin extractor；
The first control window of current plucking machine device people coordinate information the location of on falsework is shown to user；The
One control window further includes reset button
Show that the location of present level runner assembly and vertical rotating component coordinate information second controls window to user
Mouthful；It further include reset button in second control window
Show that the third of the location of existing clamp component coordinate information controls window to user；Third controls window packet
Include: reset, promptly and release button；
It drives vision measurement component detection by the driving port of vision measurement component and measures and obtain position locating for needle set
Set coordinate；
The location of the needle set that vision measurement component will acquire coordinate is sent to control system or host computer；
The position coordinates of the needle set of control system or host computer based on acquisition, each component cooperation of drive control is to complete needle set
Choose.
A kind of plucking machine device people of the embodiment of the present invention can be adapted for pulling out needle ring section in Acupuncture Treatment, and can be
Application of the robot in Acupuncture Treatment overall process provides practical exploration experience.
It should be noted that, in this document, the emphasis of the scheme described between each embodiment is different, but each reality
It applies example and there is certain relationship that is mutually related again, it, can be cross-referenced between each embodiment when understanding the present invention program；Separately
Outside, table is being stated when technical characteristic element is fixed on another technical characteristic element in the embodiment of the present application, can be directly
It is directly contacted with another technical characteristic element surface, is also possible to the other technical characteristic element for having placed in the middle.In addition, such as
First and second etc relational terms are only used to distinguish one entity or operation from another entity or operation,
Without necessarily requiring or implying between these entities or operation, there are any actual relationship or orders.Moreover, art
A series of language "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that including want
Process, method, article or the platform of element not only include those elements, but also including other elements that are not explicitly listed, or
Person is to further include for this process, method, article or the intrinsic element of platform.In the absence of more restrictions, by language
The element that sentence " including one ... " limits, it is not excluded that in process, method, article or the platform for including the element also
There are other identical elements.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by those familiar with the art, all answers
It is included within the scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (9)
1. a kind of plucking machine device people, which is characterized in that including straight line electric slide unit component horizontally rotates component, vision measurement group
Part, vertical rotating component and clamp assemblies；
Be connected on the straight line electric slide unit component it is described horizontally rotate component, it is described that horizontally rotate component include the first driving
Module and the first rotating module being connect with first drive module；
The vision measurement component level suspension is connected on the rotating module；
The vertical rotating component includes the second drive module and the second rotating module for connecting with second drive module, institute
It states the second rotating module to connect with the first rotating module lower end, is connected with the clamp assemblies on second rotating module,
And the clamp assemblies are corresponding below the vision measurement component.
2. plucking machine device people according to claim 1, which is characterized in that the clamp assemblies include the first support plate and the
Two support plates are equipped with intermeshing first gear and second gear, the first gear connection in first support plate
There is the first gripper jaw, the second gear is connected with the second gripper jaw, and first gripper jaw and the second gripper jaw are oppositely arranged；
Second support plate is equipped with clamping driving motor, and the output shaft of the clamping driving motor and the first gear connect
It connects.
3. plucking machine device people according to claim 2, which is characterized in that in first support plate and position and first
Gear, second gear, the first gripper jaw and the second gripper jaw, which enclose, is provided with first connecting rod and the second connecting rod in the space set,
The first connecting rod and the second connecting rod are symmetrical arranged, and described first connecting rod one end is articulated in first support plate,
The first connecting rod second end is connected to the root of first gripper jaw, and second connecting rod one end is articulated with described
In one support plate, the second connecting rod second end is connected to the root of second gripper jaw.
4. plucking machine device people according to claim 2 or 3, which is characterized in that first gripper jaw and the second gripper jaw
Clamping face be respectively equipped with frosted flexible liner.
5. probe station according to claim 1, which is characterized in that first drive module include the first driving motor,
Motor cabinet upper casing and motor cabinet lower casing, the motor cabinet upper casing are equipped with first through hole corresponding with motor shaft, described the
The first threaded hole is equipped with around one through-hole, first driving motor is installed on the motor cabinet by first threaded hole
On shell, shell-side is additionally provided with the first attachment base on the motor cabinet, and first attachment base will be for that will horizontally rotate component connection
In on straight line electric slide unit component；
The motor cabinet lower casing is equipped with the second through-hole corresponding with the first through hole, is equipped with bearing and and bearing in the second through-hole
First rotating casing of rotation connection, first rotating casing one end are socketed on motor shaft, on the motor cabinet lower casing also
Equipped with the second attachment base being cooperatively connected with first attachment base, second attachment base is hollow channel structure；
First rotating module includes support connecting base, and the support connecting base upper end is equipped with connecting shaft, the connecting bushing
It is connected on the first rotating casing other end；
The support connecting base lower end is additionally provided with first connecting portion；
Second drive module includes the second driving motor and motor cabinet left housing and the right shell of motor cabinet, second driving motor
Horizontally disposed, the motor cabinet left housing is equipped with third through-hole corresponding with the motor shaft of the second driving motor, described the
The second threaded hole is equipped with around three through-holes, second driving motor is installed on the motor cabinet left side by second threaded hole
On shell, motor cabinet left housing upper end is additionally provided with third attachment base；
Second rotating module includes the second rotating casing, and the right shell upper end of motor cabinet is equipped with the 4th attachment base, the electricity
On the right shell of base, it is additionally provided with fourth hole corresponding with the third through-hole positioned at horizontal axis, in motor cabinet left housing and electricity
The right hull shape of base at space in, be respectively equipped with the first support with the position corresponding position of the third through-hole and fourth hole and connect
Seat and the second support connecting base, first support connecting base and the second support connecting base are equipped with bearing, first support
Attachment base is equipped with fifth hole corresponding with the third through-hole, between first support connecting base and the second support connecting base
Equipped with the second rotating casing connecting with the bearing, the motor shaft of second driving motor sequentially passes through the third through-hole
And fifth hole, it is socketed with second rotating casing, positioned at one end of the first support connecting base；
The motor left housing is fixedly connected on the support by the third attachment base and the 4th attachment base with the right shell of motor cabinet
The lower end of attachment base.
6. plucking machine device people according to claim 5, which is characterized in that during the third attachment base and the 4th attachment base be
Empty channel design.
7. plucking machine device people according to claim 5 or 6, which is characterized in that fixed on second rotating casing periphery
It is connected with linking arm, second drive module connects by the way that the second support plate of the linking arm and the clamp assemblies is fixed
It connects.
8. plucking machine device people according to claim 5 or 6, which is characterized in that the vision measurement component includes ribs
Cantilever and vision measurement module, the ribs cantilever are fixedly connected on the support connecting base side, outstanding in the ribs
The free end of arm is equipped with the vision measurement module, and the vision measurement module is for acquiring the location of needle set to be pulled out seat
Mark.
9. a kind of plucking machine device people's pulls out needle method, which is characterized in that comprising steps of
Pin extractor is connected to by the first attachment base can be achieved on horizontal and vertically movable falsework；
User is received to the parameter setting of plucking machine device people control system and falsework drive system, the parameter includes: work
Frame drives the driving end for horizontally rotating component, vision measurement component, vertical rotating component and clamp assemblies of port, pin extractor
Mouthful；
Receive the control instruction of user's input；
It drives vision measurement component detection by the driving port of vision measurement component and measures and obtain the location of needle set seat
Mark；
The location of the needle set that vision measurement component will acquire coordinate is sent to control system or host computer；
The position coordinates of the needle set of control system or host computer based on acquisition, each component cooperation of drive control is to complete pulling out for needle set
It takes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910352470.7A CN110101572B (en) | 2019-04-28 | 2019-04-28 | Needle pulling robot and needle pulling method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910352470.7A CN110101572B (en) | 2019-04-28 | 2019-04-28 | Needle pulling robot and needle pulling method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110101572A true CN110101572A (en) | 2019-08-09 |
| CN110101572B CN110101572B (en) | 2024-04-02 |
Family
ID=67487272
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910352470.7A Active CN110101572B (en) | 2019-04-28 | 2019-04-28 | Needle pulling robot and needle pulling method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110101572B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204263172U (en) * | 2014-11-14 | 2015-04-15 | 福建省泉州市第七中学 | A kind of domestic robot |
| CN104644434A (en) * | 2015-02-14 | 2015-05-27 | 华中科技大学 | Acupuncture and moxibustion device |
| CN106363612A (en) * | 2016-10-18 | 2017-02-01 | 南京航空航天大学 | Visual guidance type omnidirectional mobile double-arm robot and omnidirectional moving method thereof |
| CN107775632A (en) * | 2017-09-07 | 2018-03-09 | 山东科技大学 | A kind of forearm vein Needle-driven Robot |
| CN108247619A (en) * | 2017-12-31 | 2018-07-06 | 柳州福能机器人开发有限公司 | For the robot and its method of work of crawl |
| CN109129485A (en) * | 2018-09-18 | 2019-01-04 | 灵动科技（北京）有限公司 | Mechanical arm Target Acquisition device and operating method |
| CN208645339U (en) * | 2018-06-07 | 2019-03-26 | 武汉智昌智能系统有限责任公司 | A kind of manipulator with vision monitoring function |
-
2019
- 2019-04-28 CN CN201910352470.7A patent/CN110101572B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204263172U (en) * | 2014-11-14 | 2015-04-15 | 福建省泉州市第七中学 | A kind of domestic robot |
| CN104644434A (en) * | 2015-02-14 | 2015-05-27 | 华中科技大学 | Acupuncture and moxibustion device |
| CN106363612A (en) * | 2016-10-18 | 2017-02-01 | 南京航空航天大学 | Visual guidance type omnidirectional mobile double-arm robot and omnidirectional moving method thereof |
| CN107775632A (en) * | 2017-09-07 | 2018-03-09 | 山东科技大学 | A kind of forearm vein Needle-driven Robot |
| CN108247619A (en) * | 2017-12-31 | 2018-07-06 | 柳州福能机器人开发有限公司 | For the robot and its method of work of crawl |
| CN208645339U (en) * | 2018-06-07 | 2019-03-26 | 武汉智昌智能系统有限责任公司 | A kind of manipulator with vision monitoring function |
| CN109129485A (en) * | 2018-09-18 | 2019-01-04 | 灵动科技（北京）有限公司 | Mechanical arm Target Acquisition device and operating method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110101572B (en) | 2024-04-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108968930B (en) | Portable intelligent multi-probe traditional Chinese medicine pulse diagnosis instrument | |
| CN110370247A (en) | A kind of travelling robot walking device | |
| CN201082167Y (en) | All-directional rotating camera shooting device above operating table | |
| CN110251160A (en) | Mammary gland automatic scanning equipment | |
| CN110101572A (en) | A kind of plucking machine device people and its pull out needle method | |
| CN111913844B (en) | Computer hardware testing platform convenient to adjust | |
| CN213547621U (en) | Multi-degree-of-freedom three-dimensional scanning device | |
| CN115256419B (en) | Mechanical arm for clinical operation simulation and simulation method thereof | |
| CN206586930U (en) | A kind of dermal harvest detection means sent based on raspberry | |
| CN210784418U (en) | Automatic mammary gland scanning equipment | |
| CN212755052U (en) | Building engineering management system platform based on BIM network technology | |
| CN212203819U (en) | Device for adjusting position of CCD camera | |
| CN213309646U (en) | Skin detection and facial three-dimensional scanning all-in-one | |
| CN113395851A (en) | Computer vision protection device and use method thereof | |
| CN210958494U (en) | High-efficient collection system of data center inspection robot side image and video | |
| CN217543177U (en) | Auxiliary stand is checked to portable cable secondary termination cap intelligence | |
| CN106002944A (en) | Multi-degree-of-freedom manipulator for intelligent robot for over-water filming operation | |
| CN215111632U (en) | Student information scanning device is used in computer teaching | |
| CN215937670U (en) | Endoscope detector operation panel | |
| CN219532005U (en) | Large-size wafer orientation device | |
| CN212661793U (en) | Acquisition device for fundus images | |
| CN217504673U (en) | Image measuring apparatu height automatic regulating apparatus | |
| CN217587640U (en) | Wireless detector | |
| CN219496183U (en) | Visual appearance detection device | |
| CN212749621U (en) | Detection platform with positioning function for central control box |
Legal Events
| 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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |