CN211250054U

CN211250054U - Cupping robot

Info

Publication number: CN211250054U
Application number: CN201922337079.8U
Authority: CN
Inventors: 邹甜; 邹康; 王勇; 陈武略; 肖露露
Original assignee: Pingxiang University
Current assignee: Pingxiang University
Priority date: 2019-12-23
Filing date: 2019-12-23
Publication date: 2020-08-14
Anticipated expiration: 2029-12-23

Abstract

The utility model discloses a cup robot, belong to medical instrument technical field, fixture passes through linking bridge and buffer gear fixed connection, the one end of jar utensil rotary mechanism is fixed on the linking bridge, the power take off end fixed connection of buffer gear and motion arm, the signal end of control box and jar utensil rotary mechanism's signal end electric connection, when fixture centre gripping suction cup and when removing on the human acupuncture point, buffer gear can cushion the effort of suction cup, the piston rod end that jar utensil rotary mechanism's power take off end can drive the suction cup makes screw drive and makes the internal chamber of the jar body of suction cup form the negative pressure in order to realize the cup. The utility model discloses a cup robot, the cup dynamics is more suitable when making the suction cup carry out the cup action, and the cup action is more nimble steady, guarantees that the suction cup has good gas tightness, improves automatic cup curative effect, and can realize staying the jar, walk multiple cup forms such as jar, improves user's cup and experiences.

Description

Cupping robot

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to a cup robot.

Background

Cupping is popular among people as a traditional Chinese medical treatment mode. The principle of cupping is that air in a cup is discharged by combustion, air extraction and other methods, so that the cup is adsorbed on a designated part of a human body to form negative pressure, and stimulation is generated to cause local congestion, thereby achieving a certain curative effect. However, the traditional cupping generally needs to go to a traditional Chinese medicine museum and can be performed with the assistance of other people, which causes that certain manpower and financial resources are consumed in the cupping process, and the efficiency is low.

The device comprises a camera, a gripper mechanism, a guide air exhaust mechanism, a double-Z-axis mechanism, an XY mechanism and a control module, wherein the camera, the gripper mechanism, the guide air exhaust mechanism, the double-Z-axis mechanism, the XY mechanism and the control module are respectively arranged on a platform, the double-Z-axis mechanism drives the gripper mechanism and the guide air exhaust mechanism to vertically move, the XY mechanism drives the double-Z-axis mechanism to horizontally move, and the control module is connected with the components. However, above-mentioned automatic cup machine people is carrying out automatic cup in-process, because the human body can not guarantee that each position is in same horizontal position, each position skin unevenness promptly, consequently, gripper mechanism can exert certain effort to human back when placing the gas pitcher and pressing from both sides the gas pitcher at cup person's back, at this moment, gas pitcher and gripper mechanism can receive the reaction force of human back different degree, reduce the gas tightness of gas pitcher easily, and make gripper mechanism suffer motion interference and damage even, reduce the cup curative effect, and in order to guarantee that the gas pitcher atress is balanced, above-mentioned automatic cup machine people can only adopt the cup form of staying the jar usually, the function is comparatively single, reduce user experience.

SUMMERY OF THE UTILITY MODEL

In order to overcome prior art's defect, the utility model aims to solve the technical problem that a cup robot is proposed is put forward, the cooperation of the jar utensil machinery tongs that adopts to have buffering damping efficiency has multi freedom's motion arm, it is more suitable to make the cup carry out the cup dynamics of cupping when moving, the cup action is more nimble steady, it has good gas tightness to guarantee the cup, improve automatic cup curative effect, and can realize staying the jar, walk multiple cup forms such as jar, improve user's cup experience.

To achieve the purpose, the utility model adopts the following technical proposal:

the utility model provides a pair of cup robot, including a jar utensil mechanical gripper, the motion arm, an acupuncture point scanning device and a control box for catching human acupuncture point, the power take off end of motion arm and the power input end fixed connection of a jar utensil mechanical gripper, the signal end of control box respectively with acupuncture point scanning device's signal end, the signal end of motion arm and the signal end electric connection of a jar utensil mechanical gripper, after acupuncture point scanning device catches human acupuncture point, acupuncture point scanning device passes through control box transfer signal and gives the motion arm, the motion arm can drive jar utensil mechanical gripper clamp and get cupping device and remove to realize the cup action on the human acupuncture point. The mechanical gripping device for the cupping jar comprises a clamping mechanism, a buffering mechanism, a cupping jar rotating mechanism and a connecting support, wherein the clamping mechanism is fixedly connected with the buffering mechanism through the connecting support, one end of the cupping jar rotating mechanism is fixed on the connecting support, the buffering mechanism is fixedly connected with a power output end of a moving mechanical arm, a signal end of a control box is electrically connected with a signal end of the cupping jar rotating mechanism, and the power output end of the cupping jar rotating mechanism can drive a piston rod end of a cupping device to perform spiral transmission and enable an inner cavity of a jar body of the cupping device to form negative pressure so as to achieve cupping.

The utility model discloses preferred technical scheme lies in, fixture includes a plurality of clamping jaw groups, ring gear, base and upper cover, and the clamp of a plurality of clamping jaw groups is got and is used for pressing from both sides the suction cup of getting between the end mutually supporting, and clamping jaw group joint is on the base, and the one end of clamping jaw group meshes with the ring gear of fixing in the base mutually, and the top at the base is fixed to the upper cover, and the base passes through linking bridge and buffer gear fixed connection.

The utility model discloses preferred technical scheme lies in, buffer gear includes cylinder body, piston spare and balancing weight, and the balancing weight is fixed on the top of piston spare, and the bottom fixed connection of cylinder body and piston spare is passed to linking bridge's one end, and linking bridge can drive the piston spare and make reciprocating piston motion in the cylinder body, and the gas pocket that is used for ventilating that link up is seted up on the top of cylinder body, the power take off end fixed connection of cylinder body and motion arm.

The utility model discloses preferably technical scheme lies in, jar utensil rotary mechanism includes first motor and rises the pole soon, the power take off end of first motor and the top fixed connection who rises the pole soon, the bottom that rises the pole soon can with the piston rod end looks joint of cupping device, the piston rod end that first motor accessible rises the pole soon and drives the cupping device does screw drive, first motor is fixed on linking bridge, the signal end of control box and the signal end electric connection of first motor.

The utility model discloses preferred technical scheme lies in, clamping jaw group includes gripper jaw, connecting rod and planetary gear, and the one end of connecting rod is articulated mutually with the gripper jaw, the other end of connecting rod and planetary gear's wheel core fixed connection, and planetary gear's wheel tooth end meshes mutually with the internal tooth of ring gear, and the connecting rod joint is on the base, and the gripper jaw is used for pressing from both sides to get the cupping device.

The utility model has the preferable technical proposal that the acupuncture point scanning device comprises a camera component, a workbench, a second motor, a gear speed changer, a transmission shaft, a transmission gear set, a pushing rack set and a bearing seat set, wherein the camera component is positioned above the workbench, the power output end of the second motor is fixedly connected with the power input end of the gear speed changer, the power output end of the gear speed changer is fixedly connected with the power input end of the transmission shaft, the transmission shaft is rotatably connected with the bearing seat set, the transmission gear set is sleeved on the outer circular surface of the transmission shaft, and the gear end of the transmission gear group is meshed with a pushing rack group embedded at the bottom of the workbench, the transmission gear group can drive the workbench to perform reciprocating horizontal transmission through the pushing rack group, and the signal end of the control box is respectively and electrically connected with the signal end of the camera shooting assembly, the signal end of the second motor and the signal end of the gear transmission.

The utility model discloses preferred technical scheme lies in, the motion arm includes horizontal motion mechanism and vertical motion, horizontal motion mechanism's bottom and vertical motion's top fixed connection, vertical motion's bottom and buffer gear fixed connection, horizontal motion can drive vertical motion and make horizontal motion on the horizontal plane, vertical motion can drive jar utensil machinery tongs and make gyration elevating movement along vertical direction, the signal end of control box respectively with horizontal motion's signal end and vertical motion's signal end electric connection.

The utility model has the preferable technical proposal that the horizontal movement mechanism comprises a third motor, a crank, a slide block, a fourth motor, a worm gear pair, a driving shaft, a driving gear, a driven shaft, a driven gear, a guide rail rack set and a frame, the third motor is fixed on the frame, a clapboard is fixed on the frame, the power output end of the third motor is fixedly connected with one end of the crank, the other end of the crank slides on the clapboard, the third motor can drive the crank to do rotary motion on the clapboard, a guide groove is arranged on the bottom surface of the crank, one end of the slide block is clamped in the guide groove, the other end of the slide block passes through the clapboard to be fixedly connected with the frame, the slide block can slide in the guide groove, the fourth motor is fixed on the frame, the power output end of the fourth motor is fixedly connected with the worm end of the worm gear pair, the worm gear end of the worm gear pair is sheathed on the driving shaft, the end of, the driving gear is sleeved on the end portion of the driving shaft, the gear tooth end of the driving gear is meshed with a guide rail gear set fixed on the rack, the end portion of the driven shaft penetrates through the base, the driven gear is sleeved on the end portion of the driven shaft, the gear tooth end of the driven gear is meshed with the guide rail gear set, the bottom of the base is fixedly connected with the top of the vertical movement mechanism, when the worm gear and worm pair conducts worm transmission, the driving shaft can be driven to conduct meshing transmission on the guide rail gear set through the driving gear, the base can conduct reciprocating sliding on the driving shaft and the driven shaft in the axial direction, and the signal end of the control box is electrically connected with the signal end of the third motor and the signal end of the fourth motor respectively.

The utility model discloses preferred technical scheme lies in, vertical motion includes the sleeve, a screw thread section of thick bamboo, the threaded rod, spacing snap ring group and fifth motor, the fifth motor is fixed on horizontal motion's bottom, the power take off end of fifth motor and the top fixed connection of a screw thread section of thick bamboo, the fifth motor can drive a screw thread section of thick bamboo and make rotary motion, the screw thread section of thick bamboo cup joints on the threaded rod, and the threaded rod can make screw drive in the screw thread section of thick bamboo, the sleeve cup joints on the screw thread section of thick bamboo, the inner ring difference joint of spacing snap ring group is on sleeve and screw thread section of thick bamboo, the bottom and the buffer gear fixed connection of a screw thread section of thick bamboo, the signal end of control box and the signal end electric connection of fifth.

The utility model discloses preferably technical scheme lies in, cup robot still retrieves belt cleaning device and is used for storing the jars storage device of cupping ware including being used for retrieving abluent jars to the cupping ware, and fixture can press from both sides the cupping ware that is located jars storage device, and the jars are retrieved belt cleaning device and jars storage device and are fixed respectively in the frame, and the motion arm can drive fixture centre gripping cupping ware and remove and retrieve the washing in the jars retrieves belt cleaning device.

The utility model has the advantages that:

the utility model provides a cup robot adopts acupuncture point scanning device to catch human acupuncture point to give motion arm and the mechanical tongs of jars utensil through the control box with position signal transmission and carry out the cup action, can guarantee that the cupping device is fixed a position more accurately on human acupuncture point. The motion mechanical arm and the mechanical gripper of the cupping device can simulate manual cupping action, the power output end of the motion mechanical arm rotates to drive the buffer mechanism to rotate to drive the clamping mechanism to clamp or release the cupping device, when the cupping device performs cupping actions such as cup retention and cup walking on the back of a human body, the cupping device transmits upward acting force of the back of the human body on the cupping device to the buffer mechanism through the clamping mechanism and the connecting bracket in sequence, the buffer mechanism generates downward acting force to offset the upward acting force generated by the back, in the process of the cupping action, the sum of the downward acting force generated by the buffer mechanism and the system friction force is always equal to the resultant force of the back acting on the clamping mechanism and the connecting bracket and enabling the clamping mechanism and the connecting bracket to move upwards, the acting force of the back is offset through the buffer mechanism, and the cupping force is more appropriate when the cupping device performs cupping action, the cupping action is more nimble steady, guarantees that the suction cup has good gas tightness, improves automatic cup curative effect, can realize keeping a jar, walk a plurality of cup forms such as jar, improves user's cup experience. The structure can improve the positioning precision of the cupping device and the action force of cupping, further improve the curative effect of automatic cupping, ensure that the cupping robot can stably and reliably realize automatic cupping, and ensure that the curative effect of automatic cupping is more remarkable.

Drawings

Fig. 1 is a schematic view of an overall structure of a cupping robot according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a cupping robot with a hidden partial frame structure according to an embodiment of the present invention;

fig. 3 is a front view of the cupping robot according to the embodiment of the present invention;

FIG. 4 is a cross-sectional view of the cupping robot of FIG. 3 along D-D direction;

fig. 5 is an enlarged view of the cupping robot in fig. 4, part F;

fig. 6 is an enlarged view of the cupping robot in the portion G of fig. 4 according to the present invention;

FIG. 7 is an assembly view of the mechanical gripper, the motion manipulator, the storage device and the cupping device of the cupping device according to the embodiment of the present invention;

FIG. 8 is an exploded view of the structure of the mechanical gripper, the motion manipulator, the storage device and the cupping device of the cup in accordance with the preferred embodiment of the present invention;

fig. 9 is an enlarged view of the cupping robot of fig. 8, part H;

fig. 10 is an enlarged view of the cupping robot of the part K in fig. 8 according to the present invention;

FIG. 11 is an exploded view of the combination of the mechanical gripper, the robotic arm, the storage device and the cupping device in accordance with an embodiment of the present invention;

fig. 12 is an enlarged view of the cupping robot shown in part I in fig. 11;

fig. 13 is an enlarged view of the cupping robot of fig. 11, part J;

fig. 14 is an enlarged view of the cupping robot of fig. 11, which is shown in section L.

In the figure:

11. a can mechanical gripper; 111. a clamping mechanism; 1111. a jaw set; 1101. a gripper jaw; 1102. a connecting rod; 1103. a planetary gear; 1112. a ring gear; 1113. a base; 1114. an upper cover; 112. a buffer mechanism; 1120. air holes; 1121. a cylinder body; 1122. a piston member; 1123. a balancing weight; 113. a can rotating mechanism; 1131. a first motor; 1132. rotating a lifting rod; 114. connecting a bracket; 12. a motion mechanical arm; 121. a horizontal movement mechanism; 1200. a third motor; 1201. a crank; 1202. a slider; 1203. a fourth motor; 1204. a worm gear pair; 1205. a drive shaft; 1206. a driving gear; 1207. a driven shaft; 1208. a driven gear; 1209. a guide rail rack set; 1210. a machine base; 1211. a guide groove; 122. a vertical movement mechanism; 1221. a sleeve; 1222. a threaded barrel; 1223. a threaded rod; 1224. a limiting snap ring group; 1225. a fifth motor; 13. an acupuncture point scanning device; 131. a camera assembly; 132. a work table; 133. a second motor; 134. a gear transmission; 135. a drive shaft; 136. a drive gear set; 137. pushing the rack group; 138. a bearing seat group; 14. a control box; 2. a tank storage device; 3. a tank recovery cleaning device; 4. a frame; 41. a partition plate; 5. a cupping device.

Detailed Description

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

As shown in fig. 1 to 14, the cupping robot provided in this embodiment includes a mechanical gripper 11 of a cup, a moving mechanical arm 12, an acupuncture point scanning device 13 for capturing acupuncture points of a human body, and a control box 14, wherein a power output end of the moving mechanical arm 12 is fixedly connected to a power input end of the mechanical gripper 11 of the cup, signal ends of the control box 14 are respectively electrically connected to a signal end of the acupuncture point scanning device 13, a signal end of the moving mechanical arm 12, and a signal end of the mechanical gripper 11 of the cup, and the moving mechanical arm 12 can drive the mechanical gripper 11 of the cup to grip a cupping device 5 and move to acupuncture points of the human body to implement a cupping action. After the acupuncture point scanning device 13 captures the acupuncture points of the human body, the acupuncture point scanning device 13 transmits signals to the moving mechanical arm 12 through the control box 14, and the moving mechanical arm 12 can drive the mechanical gripper 11 of the cupping device to clamp the cupping device 5 and move to the acupuncture points of the human body to realize the cupping action. In-process that cup machine people was carrying out the cup, at first, treat that the user of cup catches the scanning on acupuncture point scanning device 13 human acupuncture point, then transmit the scanning result for control box 14, control box 14 confirms the coordinate position of human acupuncture point on acupuncture point scanning device 13 through carrying out the analysis to the scanning result, and transmit position information for motion arm 12, control motion arm 12 carries out horizontal motion and vertical motion, motion arm 12 drives jar utensil machinery tongs 11 and gets cupping device 5 and realize the cup action on removing the human acupuncture point. Wherein, adopt acupuncture point scanning device 13 to catch human acupuncture point to give motion arm 12 and the mechanical tongs 11 of jarring utensil the action of cupping with position signal transmission through control box 14, can guarantee that cupping device 5 fixes a position more accurately on human acupuncture point, and motion arm 12 and the mechanical tongs 11 of jarring utensil can simulate artifical cupping action, guarantee that the action dynamics of cupping is suitable, above-mentioned structure can improve the positioning accuracy of cupping device 5 and improve the action dynamics of cupping, and then improve the curative effect of automatic cupping. In order to ensure that the cupping robot can realize automatic cupping stably and reliably, ensure that the action force of cupping is proper, ensure that the curative effect of automatic cupping is more obvious and improve the cupping experience of users. Further, the mechanical gripper 11 includes a clamping mechanism 111, a buffering mechanism 112, a rotation mechanism 113 and a connecting bracket 114, the clamping mechanism 111 is fixedly connected to the buffering mechanism 112 through the connecting bracket 114, one end of the rotation mechanism 113 is fixed to the connecting bracket 114, the buffering mechanism 112 is fixedly connected to the power output end of the mechanical arm 12, the signal end of the control box 14 is electrically connected to the signal end of the rotation mechanism 113, the power output end of the rotation mechanism 113 can drive the piston rod end of the cupping device 5 to perform spiral transmission and form negative pressure in the inner cavity of the cupping device 5, so as to perform cupping, when the clamping mechanism 111 clamps the cupping device 5 and moves to the acupuncture points of the human body, the buffering mechanism 112 can buffer the upward transmission acting force of the cupping device 5 through the clamping mechanism 111 and the connecting bracket 114. The power output end of the motion mechanical arm 12 rotates to drive the buffer mechanism 112 to rotate, the clamping mechanism 111 is driven to clamp or release the cupping device 5, when the cupping device 5 performs cupping actions such as cup retention, cup walking and the like on the back of a human body, the cupping device 5 transmits an upward acting force of the back of the human body on the cupping device 5 to the buffer mechanism 112 through the clamping mechanism 111 and the connecting support 114 in sequence, the buffer mechanism 112 generates a downward acting force for offsetting the upward acting force generated by the back, in the process of the cupping action, the sum of the downward acting force generated by the buffer mechanism 112 and a system friction force is always equal to a resultant force of the back acting on the clamping mechanism 111 and the connecting support 114 and enabling the clamping mechanism 111 and the connecting support 114 to move upwards, the acting force of the back is offset through the buffer mechanism 112, so that the cupping force of the cupping device 5 is more appropriate during the cupping action, the cupping action is more nimble steady, guarantees that cupping device 5 has good gas tightness, improves automatic cup curative effect, can realize keeping a jar, walk a plurality of cup forms such as jar, improves user's cup experience.

In order to allow the gripping mechanism 111 to smoothly grip or release the cupping device 5. Further, the clamping mechanism 111 comprises a plurality of clamping jaw sets 1111, a gear ring 1112, a base 1113 and an upper cover 1114, the clamping ends of the clamping jaw sets 1111 are matched with each other for clamping the cupping device 5, the clamping jaw sets 1111 are clamped on the base 1113, one end of each clamping jaw set 1111 is meshed with the gear ring 1112 fixed in the base 1113, the upper cover 1114 is fixed at the top end of the base 1113, and the base 1113 is fixedly connected with the buffer mechanism 112 through a connecting bracket 114. The power output end of the motion mechanical arm 12 rotates to drive the buffer mechanism 112 to rotate, so as to drive the gear ring 1112, the base 1113 and the upper cover 1114 to synchronously rotate, at the moment, one end of the clamping jaw set 1111 is in meshing transmission with the gear ring 1112, and the clamping ends of the clamping jaw set 1111 are driven to be matched with each other to clamp or release the cupping device 5. The planetary wheel structure that the gear ring 1112 is meshed with one end of the clamping jaw group 1111 is adopted to clamp or loosen the cupping device 5, so that the clamping is reliable, and labor is saved compared with a common mechanical claw. Through the above process, the gripping mechanism 111 can smoothly grip or release the cupping device 5.

In order to ensure that the damping mechanism 112 can reliably achieve a damping effect. Further, the buffering mechanism 112 includes a cylinder 1121, a piston 1122 and a weight 1123, the weight 1123 is fixed to the top end of the piston 1122, one end of the connecting bracket 114 passes through the cylinder 1121 to be fixedly connected to the bottom end of the piston 1122, the connecting bracket 114 can drive the piston 1122 to reciprocate in the cylinder 1121, a through air hole 1120 for ventilation is formed in the top end of the cylinder 1121, and the cylinder 1121 is fixedly connected to the power output end of the motion arm 12. When the cupping device 5 performs cupping actions such as cupping and cupping, the cupping device 5 transmits the upward acting force of the back of the body on the cupping device 5 to the piston member 1122 through the clamping mechanism 111 and the connecting bracket 114 after passing through the uneven back of the body, and drives the piston member 1122 and the balancing weight 1123 to reciprocate in the cylinder 1121. During the cupping action, the sum of the downward acting force generated by the weight 1123 and the system friction force is always equal to the resultant force of the back acting on the clamping mechanism 111 and the connecting bracket 114 and making the clamping mechanism 111 and the connecting bracket 114 move upward, and the air hole 1120 is used for air suction and exhaust, so that the air pressure in the cylinder 1121 is balanced with the external air pressure. Through the process, the buffer mechanism 112 can reliably offset the acting force on the back, so that the buffer and vibration reduction effects are achieved, the cupping force is more suitable when the cupping device 5 performs cupping action, the cupping action is more flexible and stable, the automatic cupping curative effect is improved, and the cupping experience of a user is improved.

The cupping device is capable of generating negative pressure in the inner cavity of the cupping device 5 so as to enable the cupping rotating mechanism 113 to perform cupping. Further, the jar rotating mechanism 113 includes a first motor 1131 and a rotation rod 1132, a power output end of the first motor 1131 is fixedly connected to a top end of the rotation rod 1132, a bottom of the rotation rod 1132 is clamped to a piston rod end of the cupping device 5, the first motor 1131 can drive the piston rod end of the cupping device 5 to perform a spiral transmission through the rotation rod 1132, the first motor 1131 is fixed on the connecting bracket 114, and a signal end of the control box 14 is electrically connected to a signal end of the first motor 1131. After the clamping mechanism 111 clamps the cupping device 5 and moves to the acupuncture points of the human body, the rod end of the piston rod of the cupping device 5 is clamped with the bottom of the spiral lifting rod 1132, at the moment, after the control box 14 controls the first motor 1131 to start, the power output end of the first motor 1131 rotates to drive the spiral lifting rod 1132 to rotate, the spiral lifting rod 1132 is driven to rotate, the rod end of the piston rod of the cupping device 5 is driven to perform spiral transmission, and after the rod end of the piston rod of the cupping device 5 performs spiral lifting motion, the inner cavity of the cup body of the cupping device 5 forms negative pressure, so that the cupping effect is realized. Through the above process, the cupping device rotating mechanism 113 can make the inner cavity of the cupping device 5 form negative pressure to realize cupping.

In order to ensure that the clamping jaw set 1111 can reliably clamp or release the cupping device 5. Further, the clamping jaw set 1111 comprises a clamping jaw 1101, a connecting rod 1102 and a planetary gear 1103, wherein one end of the connecting rod 1102 is hinged with the clamping jaw 1101, the other end of the connecting rod 1102 is fixedly connected with the wheel core of the planetary gear 1103, the wheel tooth end of the planetary gear 1103 is meshed with the internal tooth of the gear ring 1112, the connecting rod 1102 is clamped on the base 1113, and the clamping jaw 1101 is used for clamping the cupping device 5. When the gear ring 1112, the base 1113 and the upper cover 1114 synchronously rotate, the gear ring 1112 and the planetary gear 1103 are in meshing transmission, the gear ring 1112 rotates to push the planetary gear 1103 to rotate along with the gear ring 1112, the connecting rod 1102 is driven to swing, and then the clamping jaw 1101 is driven to slide on the base 1113 in a reciprocating manner, when the clamping jaws 1101 among the clamping jaw groups 1111 synchronously draw close to the center of the base 1113, the clamping action on the cupping device 5 is realized, and when the clamping jaws 1101 among the clamping jaw groups 1111 synchronously keep away from the center of the base 1113, the releasing action on the cupping device 5 is realized. The clamping claw 1101 is driven by a planetary gear structure with the gear ring 1112 meshed with the planetary gear 1103 to clamp or loosen the cupping device 5, so that the clamping is reliable, and labor is saved compared with a common mechanical claw. Through the process, the clamping jaw group 1111 can reliably clamp or release the cupping device 5.

In order to ensure that the acupuncture point scanning device 13 can accurately capture the acupuncture points of the human body, improve the positioning precision of the cupping device 5 and ensure the curative effect of automatic cupping. Further, the acupuncture point scanning device 13 includes a camera module 131, a workbench 132, a second motor 133, a gear transmission 134, a transmission shaft 135, a transmission gear set 136, a push rack set 137 and a bearing seat set 138, the camera module 131 is located above the workbench 132, a power output end of the second motor 133 is fixedly connected with a power input end of the gear transmission 134, a power output end of the gear transmission 134 is fixedly connected with a power input end of the transmission shaft 135, the transmission shaft 135 is rotatably connected with the bearing seat set 138, the transmission gear set 136 is sleeved on an outer circumferential surface of the transmission shaft 135, and the gear end of the transmission gear set 136 is engaged with the pushing rack set 137 embedded at the bottom of the workbench 132, the transmission gear set 136 can drive the workbench 132 to perform reciprocating horizontal transmission through the pushing rack set 137, and the signal end of the control box 14 is respectively and electrically connected with the signal end of the camera module 131, the signal end of the second motor 133 and the signal end of the gear transmission 134. Firstly, a user waiting for cupping lies on the workbench 132, the control box 14 controls the second motor 133 to start, the power output end of the second motor 133 rotates to drive the power output end of the gear transmission 134 to rotate, the transmission shaft 135 rotates on the bearing seat set 138 to drive the transmission gear set 136 to rotate, the push rack set 137 and the transmission gear set 136 are driven to carry out meshing transmission to drive the workbench 132 to carry out reciprocating horizontal transmission, after the user waiting for cupping transmits the scanning capture range of the camera component 131 along with the workbench 132, the camera component 131 carries out camera scanning on the user waiting for cupping, captures the acupuncture point information of a human body, and then transmits the scanning result to the control box 14. Through the process, the acupuncture point scanning device 13 can accurately capture the acupuncture points of the human body, the positioning precision of the cupping device 5 is improved, and the curative effect of automatic cupping is ensured.

In order to make the mechanical arm 12 drive the mechanical gripper 11 of the cupping device to move along the horizontal and vertical directions, the freedom degree of movement is increased, the cupping action is more flexible, and the working range is widened. Further, the moving mechanical arm 12 includes a horizontal moving mechanism 121 and a vertical moving mechanism 122, the bottom of the horizontal moving mechanism 121 is fixedly connected to the top of the vertical moving mechanism 122, the bottom of the vertical moving mechanism 122 is fixedly connected to the buffering mechanism 112, the horizontal moving mechanism 121 can drive the vertical moving mechanism 122 to horizontally move on the horizontal plane, the vertical moving mechanism 122 can drive the mechanical gripper 11 of the jar to make a revolving lifting movement along the vertical direction, and the signal end of the control box 14 is electrically connected to the signal end of the horizontal moving mechanism 121 and the signal end of the vertical moving mechanism 122 respectively. The control box 14 can respectively control the horizontal movement mechanism 121 and the vertical movement mechanism 122 to start and work, the horizontal movement mechanism 121 can drive the vertical movement mechanism 122 to make horizontal movement on a horizontal plane, and the vertical movement mechanism 122 can drive the mechanical gripper 11 of the can to make rotary lifting movement along a vertical direction. Through the process, the moving mechanical arm 12 can drive the mechanical cupping tool gripper 11 to move along the horizontal direction and the vertical direction, the degree of freedom of movement is increased, cupping actions are more flexible, the working range is widened, the mechanical cupping tool gripper 11 can simulate hands to perform cupping actions on different acupuncture points of a human body, and the cupping curative effect is guaranteed.

In order to make the horizontal movement mechanism 121 more smoothly and reliably perform the horizontal movement. Further, the horizontal movement mechanism 121 includes a third motor 1200, a crank 1201, a sliding block 1202, a fourth motor 1203, a worm-and-gear pair 1204, a driving shaft 1205, a driving gear 1206, a driven shaft 1207, a driven gear 1208, a guide rail rack set 1209 and a base 1210, the third motor 1200 is fixed on the frame 4, a partition plate 41 is fixed on the frame 4, a power output end of the third motor 1200 is fixedly connected with one end of the crank 1201, the other end of the crank 1201 slides on the partition plate 41, the third motor 1200 can drive the crank 1201 to rotate on the partition plate 41, a guide groove 1211 is formed in the bottom surface of the crank 1201, one end of the sliding block 1202 is clamped in the guide groove 1211, the other end of the sliding block 1202 passes through the partition plate 41 and is fixedly connected with the base 1210, the sliding block 1202 can slide in the guide groove 1211, the fourth motor 1203 is fixed on the base 1210, a power output end of the fourth motor 1203 is fixedly connected with a worm of the worm-and, the worm gear end of the worm-gear pair 1204 is sleeved on the driving shaft 1205, the end of the driving shaft 1205 penetrates through the base 1210, the driving gear 1206 is sleeved on the end of the driving shaft 1205, the gear end of the driving gear 1206 is meshed with the guide rail rack group 1209 fixed on the rack 4, the end of the driven shaft 1207 penetrates through the base 1210, the driven gear 1208 is sleeved on the end of the driven shaft 1207, the gear end of the driven gear 1208 is meshed with the guide rail rack group 1209, the bottom of the base 1210 is fixedly connected with the top of the vertical movement mechanism 122, when the worm-gear pair 1204 performs worm transmission, the driving shaft 1205 can be driven to perform meshing transmission on the guide rail rack group 1209 through the driving gear 1206, the base 1210 can perform reciprocating sliding on the driving shaft 1205 and the driven shaft 1207 along the axial direction, and the signal end of the control box 14 is respectively and electrically connected with the signal end of the third motor 1200 and the signal end of the fourth motor. The control box 14 can be respectively started and operated by the third motor 1200 and the fourth motor 1203, after the third motor 1200 is started, the power output end of the third motor 1200 rotates to drive the crank 1201 to make a rotary motion on the partition plate 41, the base 1210 is driven by the slide block 1202 to make a reciprocating slide on the driving shaft 1205 and the driven shaft 1207 along the axial direction, and the slide block 1202 can make a slide in the guide groove 1211. After the fourth motor 1203 is started, a power output end of the fourth motor 1203 rotates to drive a worm end of the worm-gear pair 1204 to rotate, the worm-gear pair 1204 performs worm transmission to drive a worm wheel end of the worm-gear pair 1204 to rotate, the driving shaft 1205 is driven to perform meshing transmission on the guide rail rack group 1209 through the driving gear 1206, the base 1210 is driven to perform reciprocating motion along a direction parallel to the guide rail rack group 1209, the driven shaft 1207 is driven to perform meshing transmission on the guide rail rack group 1209 through the driven gear 1208, and the driven shaft 1207 plays a role in guiding and supporting. Through the above process, the horizontal movement mechanism 121 can realize the horizontal movement more smoothly and reliably.

In order to make the vertical movement mechanism 122 realize the rotary lifting movement along the vertical direction more smoothly and reliably. Further, the vertical movement mechanism 122 includes a sleeve 1221, a threaded cylinder 1222, a threaded rod 1223, a limiting snap ring set 1224 and a fifth motor 1225, the fifth motor 1225 is fixed to the bottom of the horizontal movement mechanism 121, a power output end of the fifth motor 1225 is fixedly connected to the top of the threaded cylinder 1222, the fifth motor 1225 can drive the threaded cylinder 1222 to make a rotation movement, the threaded cylinder 1222 is sleeved on the threaded rod 1223, the threaded rod 1223 can make a screw transmission in the threaded cylinder 1222, the sleeve 1221 is sleeved on the threaded cylinder 1222, inner rings of the limiting snap ring set 1224 are respectively clamped on the sleeve 1221 and the threaded cylinder 1222, the bottom of the threaded cylinder 1222 is fixedly connected to the buffering mechanism 112, and a signal end of the control box 14 is electrically connected to a signal end of the fifth motor 1225. The control box 14 can control the start and operation of the fifth motor 1225, and after the fifth motor 1225 is started, the power output end of the fifth motor 1225 rotates to drive the thread cylinder 1222 to rotate, and drive the threaded rod 1223 to perform spiral transmission in the thread cylinder 1222, so as to drive the mechanical gripper 11 of the jar tool to perform rotary lifting motion synchronously. The sleeve 1221 is sleeved on the thread cylinder 1222 to protect the thread cylinder 1222 and play a role in protection, the limit retaining ring set 1224 is used for limiting the movement of the threaded rod 1223, so that the limit threaded rod 1223 does reciprocating motion within a limited stroke interval, and the threaded rod 1223 is prevented from being improperly displaced and being disengaged from the thread cylinder 1222 to cause damage or cause motion interference to other parts. Through the above process, the vertical movement mechanism 122 can more stably and reliably realize the rotary lifting movement along the vertical direction.

In order to facilitate the cupping robot to transfer the cupping device 5 to the chucking mechanism 111 and to recover and clean the used cupping device 5. Further, the cupping robot further comprises a cupping device recovery and cleaning device 3 used for recovering and cleaning the cupping device 5 and a cupping device storage device 2 used for storing the cupping device 5, the clamping mechanism 111 can clamp the cupping device 5 located in the cupping device storage device 2, the cupping device recovery and cleaning device 3 and the cupping device storage device 2 are respectively fixed on the rack 4, and the motion mechanical arm 12 can drive the clamping mechanism 111 to clamp the cupping device 5 and move the cupping device to the cupping device recovery and cleaning device 3 for recovery and cleaning. By providing the cup storage device 2, it is convenient to store the cupping device 5 and to transfer the cupping device 5 to the chucking mechanism 111. Through setting up the jar utensil and retrieving belt cleaning device 3, be convenient for retrieve the washing to cupping device 5 after using, it is more sanitary convenient.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention. The present invention is not to be limited by the specific embodiments disclosed herein, and other embodiments that fall within the scope of the claims of the present application are intended to be within the scope of the present invention.

Claims

1. The utility model provides a cupping robot, includes a jar utensil machinery tongs (11), motion arm (12), is used for catching acupuncture point scanning device (13) and control box (14) of human acupuncture point, the power take off end of motion arm (12) with the power take off end fixed connection of jar utensil machinery tongs (11), the signal end of control box (14) respectively with the signal end of acupuncture point scanning device (13), the signal end of motion arm (12) and the signal end electric connection of jar utensil machinery tongs (11), motion arm (12) can drive jar utensil machinery tongs (11) are got and are got cupping ware (5) and remove and realize the cupping action on the human body, its characterized in that:

the mechanical can gripper (11) comprises a clamping mechanism (111), a buffer mechanism (112), a can rotating mechanism (113) and a connecting bracket (114);

the clamping mechanism (111) is fixedly connected with the buffer mechanism (112) through the connecting bracket (114);

one end of the pot rotating mechanism (113) is fixed on the connecting bracket (114);

the buffer mechanism (112) is fixedly connected with the power output end of the moving mechanical arm (12);

the signal end of the control box (14) is electrically connected with the signal end of the tank rotating mechanism (113);

the power output end of the cupping tool rotating mechanism (113) can drive the piston rod end of the cupping device (5) to carry out spiral transmission and enable the inner cavity of the cupping device body (5) to form negative pressure so as to realize cupping.

2. The cupping robot as recited in claim 1, wherein:

the clamping mechanism (111) comprises a plurality of clamping jaw sets (1111), a gear ring (1112), a base (1113) and an upper cover (1114);

the clamping ends of the clamping jaw groups (1111) are mutually matched for clamping the cupping device (5);

the clamping jaw set (1111) is clamped on the base (1113), and one end of the clamping jaw set (1111) is meshed with a gear ring (1112) fixed in the base (1113);

the upper cover (1114) is fixed at the top end of the base (1113);

the base (1113) is fixedly connected with the buffer mechanism (112) through the connecting bracket (114).

3. The cupping robot as recited in claim 1 or 2, wherein:

the buffer mechanism (112) comprises a cylinder body (1121), a piston piece (1122) and a balancing weight (1123);

the counterweight (1123) is fixed at the top end of the piston piece (1122);

one end of the connecting bracket (114) penetrates through the cylinder body (1121) and is fixedly connected with the bottom end of the piston piece (1122);

the connecting bracket (114) can drive the piston piece (1122) to do reciprocating piston motion in the cylinder body (1121);

the top end of the cylinder body (1121) is provided with a through air hole (1120) for ventilation;

the cylinder body (1121) is fixedly connected with the power output end of the moving mechanical arm (12).

4. The cupping robot as recited in claim 1 or 2, wherein:

the pot rotating mechanism (113) comprises a first motor (1131) and a rotating lifting rod (1132);

the power output end of the first motor (1131) is fixedly connected with the top end of the rotary lifting rod (1132);

the bottom of the rotary lifting rod (1132) can be clamped with the end of a piston rod of the cupping device (5);

the first motor (1131) can drive the piston rod end of the cupping device (5) to perform spiral transmission through the spiral lifting rod (1132);

the first motor (1131) is fixed on the connecting bracket (114);

and the signal end of the control box (14) is electrically connected with the signal end of the first motor (1131).

5. The cupping robot of claim 2, wherein:

the clamping jaw set (1111) comprises a clamping jaw (1101), a connecting rod (1102) and a planetary gear (1103);

one end of the connecting rod (1102) is hinged with the clamping claw (1101), and the other end of the connecting rod (1102) is fixedly connected with the wheel core of the planetary gear (1103);

the gear tooth end of the planetary gear (1103) is meshed with the internal tooth of the gear ring (1112);

the connecting rod (1102) is clamped on the base (1113);

the clamping claw (1101) is used for clamping the cupping device (5).

6. The cupping robot as recited in claim 1, wherein:

the acupuncture point scanning device (13) comprises a camera shooting assembly (131), a workbench (132), a second motor (133), a gear transmission (134), a transmission shaft (135), a transmission gear set (136), a pushing rack set (137) and a bearing seat set (138);

the camera assembly (131) is positioned above the workbench (132);

the power output end of the second motor (133) is fixedly connected with the power input end of the gear transmission (134), and the power output end of the gear transmission (134) is fixedly connected with the power input end of the transmission shaft (135);

the transmission shaft (135) is rotatably connected with the bearing seat group (138);

the transmission gear set (136) is sleeved on the outer circular surface of the transmission shaft (135), and the gear tooth end of the transmission gear set (136) is meshed with the pushing gear rack set (137) embedded at the bottom of the workbench (132);

the transmission gear set (136) can drive the workbench (132) to perform reciprocating horizontal transmission through the pushing gear set (137);

and the signal end of the control box (14) is respectively and electrically connected with the signal end of the camera component (131), the signal end of the second motor (133) and the signal end of the gear transmission (134).

7. The cupping robot as recited in claim 1, wherein:

the motion mechanical arm (12) comprises a horizontal motion mechanism (121) and a vertical motion mechanism (122);

the bottom of the horizontal movement mechanism (121) is fixedly connected with the top of the vertical movement mechanism (122), and the bottom of the vertical movement mechanism (122) is fixedly connected with the buffer mechanism (112);

the horizontal movement mechanism (121) can drive the vertical movement mechanism (122) to horizontally move on a horizontal plane;

the vertical movement mechanism (122) can drive the mechanical gripper (11) of the pot to do rotary lifting movement along the vertical direction;

and the signal end of the control box (14) is electrically connected with the signal end of the horizontal movement mechanism (121) and the signal end of the vertical movement mechanism (122) respectively.

8. The cupping robot of claim 7, wherein:

the horizontal movement mechanism (121) comprises a third motor (1200), a crank (1201), a sliding block (1202), a fourth motor (1203), a worm-and-gear pair (1204), a driving shaft (1205), a driving gear (1206), a driven shaft (1207), a driven gear (1208), a guide rail rack group (1209) and a machine base (1210);

the third motor (1200) is fixed on a rack (4), a partition plate (41) is fixed on the rack (4), a power output end of the third motor (1200) is fixedly connected with one end of the crank (1201), the other end of the crank (1201) slides on the partition plate (41), and the third motor (1200) can drive the crank (1201) to rotate on the partition plate (41);

a guide groove (1211) is formed in the bottom surface of the crank (1201), one end of the sliding block (1202) is clamped in the guide groove (1211), the other end of the sliding block (1202) penetrates through the partition plate (41) to be fixedly connected with the base (1210), and the sliding block (1202) can slide in the guide groove (1211);

the fourth motor (1203) is fixed on the machine base (1210), the power output end of the fourth motor (1203) is fixedly connected with the worm end of the worm-and-gear pair (1204), and the worm end of the worm-and-gear pair (1204) is sleeved on the driving shaft (1205);

the end part of the driving shaft (1205) penetrates through the base (1210), the driving gear (1206) is sleeved on the end part of the driving shaft (1205), and the gear tooth end of the driving gear (1206) is meshed with the guide rail gear group (1209) fixed on the rack (4);

the end part of the driven shaft (1207) penetrates through the base (1210), the driven gear (1208) is sleeved on the end part of the driven shaft (1207), and the gear tooth end of the driven gear (1208) is meshed with the guide rail gear group (1209);

the bottom of the machine base (1210) is fixedly connected with the top of the vertical movement mechanism (122);

when the worm gear and worm pair (1204) performs worm transmission, the driving shaft (1205) can be driven to perform meshing transmission on the guide rail rack group (1209) through the driving gear (1206);

the machine base (1210) can slide on the driving shaft (1205) and the driven shaft (1207) in a reciprocating mode along the axial direction;

and the signal end of the control box (14) is electrically connected with the signal end of the third motor (1200) and the signal end of the fourth motor (1203) respectively.

9. The cupping robot of claim 7, wherein:

the vertical movement mechanism (122) comprises a sleeve (1221), a threaded barrel (1222), a threaded rod (1223), a limit snap ring set (1224) and a fifth motor (1225);

the fifth motor (1225) is fixed on the bottom of the horizontal movement mechanism (121), the power output end of the fifth motor (1225) is fixedly connected with the top of the threaded cylinder (1222), and the fifth motor (1225) can drive the threaded cylinder (1222) to rotate;

the thread cylinder (1222) is sleeved on the threaded rod (1223), and the threaded rod (1223) can perform screw transmission in the thread cylinder (1222);

the sleeve (1221) is sleeved on the threaded barrel (1222);

the inner rings of the limit clamp ring group (1224) are respectively clamped on the sleeve (1221) and the threaded barrel (1222);

the bottom of the threaded barrel (1222) is fixedly connected with the buffer mechanism (112);

and the signal end of the control box (14) is electrically connected with the signal end of the fifth motor (1225).

10. The cupping robot as recited in claim 1, wherein:

the cupping robot also comprises a cup recovery and cleaning device (3) for recovering and cleaning the cupping device (5) and a cup storage device (2) for storing the cupping device (5);

the clamping mechanism (111) can clamp the cupping device (5) in the cup storage device (2);

the tank recycling and cleaning device (3) and the tank storage device (2) are respectively fixed on the rack (4);

the motion mechanical arm (12) can drive the clamping mechanism (111) to clamp the cupping device (5) and move the cupping device into the cup recovery and cleaning device (3) for recovery and cleaning.