4144354α-------------------------------------- ——一 s —— 五、新型說明： 【新型所屬之技術領威】 [0001]本創作是有關於一種拔罐裝置，特別是可確保拔罐動作 、施力、技巧上之確實者，藉此拔罐裝置提供準確拔罐 動作之三維自動拔罐裝置β 【先前技術】. _2].拔罐法古代曰「角法」’近代民俗通稱「拔火罐」或「 拔罐子法」，其主要係利用燃燒、孤熱或抽氣等方式， 迫使罐内產生負壓，俾使該罐體可直接吸附皮膚表面， 造成皮膚表面充血現象，而達到治療目的，這種療法經 常配合針灸，放血等療法使用。 [0003] 沿襲經驗古法之拔火罐（製造真空吸力）理念，礙於無 可靠之數據，且又因門派、師承的不同，變化亦不一， 這也是經常被醫界所垢病之一。 [0004] 拔罐主要為使罐内產生負壓，俾使該罐體可直接吸附患 者皮膚表面，造成皮膚表面充血現象，進而達到治療功 效；因此拔罐治療功效是否有效，取決於二：一為來自 罐内的吸力、二為施作的時間。兩者若不足夠，則效果 降低，但若過量’則會使患者產生不適感’例如局部疼 痛，嚴重者出現水泡、破皮等生負面效果。 [0005] 再者，患者在拔罐初期亦容易伴隨著緊張而造成肌肉收 縮，或其它原因都會造成罐中有效容積產化變化，導致 該罐體吸力產生變化，且該變化會隨時隨地依狀況而不 定，無法依醫理需求運作。又拔罐個別承受力道之不同 10121369产單編號 Α0101 第4頁/共23頁 1012044105-0 M443540 [0006] ，其醫者實施時力道不同其需求時間亦不同，這些皆需 醫者及專業人員，長時間伴隨監視或經驗累積調整，使 得醫療人員投入的時間增長，成本增加。 因此，如何解決前述拔罐方式及裝置之缺失，使得拔罐 在操作運用上更為便利、確實有效，則為業界所追求的 方向。 [0007] • 【新型内容】 有鑑於上述習知技藝之問題，本創作之目的就是在提供 一種三維自動拔罐裝置，以解決因施作者而產生拔罐動 作與效果不同之缺失。 [0008] • 根據本創作之目的，提出一種三維自動拔罐裝置，係用 以連接一操作裝置以利異地操作。三維自動拔罐裝置包 含一作業平台、一機械定位機構、一光學定位機構及一 拔罐機構。此機械定位機構，設置於作業平台上方，係 包括一 X轴定位組，係在一第一基座兩侧分別設有一轉輪 ，並藉由轉輪套設一傳動履帶，至少有一個轉輪連結一X 軸伺服馬達；一Y軸定位組，係在一第二基座上設有一Y 轴伺服馬達座，其内設有一Y軸伺服馬達，以令Y軸伺服 馬達座可沿該第二基座運動，又第二基座與X軸定位組之 傳動履帶連結，並受其連動；一Z軸定位組，係在Y軸伺 · 服馬達座一側設有一Z軸伺服馬達，並連動有一Z軸桿。 一光學定位機構係設置於作業平台上方，其係為一第一 攝像定位機。一拔罐機構係設置於Z軸桿，且包含一拔罐 杯及一吸排氣管。 [0009] 承上所述，本創作之三維自動拔罐裝置，其可具有一或 101213691^單編號 AQ1Q1 ^ 5 1 / * 23 I 1012044105-0 M44J540--------- — ______ ________________一 多個下述優點： (1) 本創作之三維自動拔罐裝置，不會因拔罐施作者之 不同而產生拔罐動作與效果不一之缺失。 (2) 本創作之三維自動拔罐裝置，拔罐施作者與被施作 者無需直接接觸’以避免無謂的接觸爭議》 【實施方式】 [0010] 以下將參照相關圖式，說明依本創作三維自動拔罐裝置 之實施例，為使便於理解，下述實施例中之相同元件係 ，以相同之符號標示來說明。 [0011] 請參閱第1圖至第3圖’其係為本創作三維自動拔罐裝置 之實施例示意圖、本創作三維自動拔罐裝置之X軸定位組 示意圖’及本創作三維自動拔罐裝置之Y軸定位組示意圖 ，圖中，三維自動拔罐裝置係用以連接一操作裝置5〇以 利異地操作，該三維自動拔罐裝置係於作業平台7上方設 有機械定位機構10、光學定位機構20、拔罐機構3〇，以 及防護機構40 ’配合操作裝置50所組成。使用者藉由操 作裝置50控制，輸出光學定位作動訊號，以令光學定位 機構20取得作業平台7上患者6身體影像訊號，配合輸出 機械定位訊號，令機械定位機構10調整拔罐杯31至患者6 身體預設位置，配合操作裝置50輸出拔罐作動訊號，使 拔罐杯31與該患者6身體緊密貼合，以進行拔罐行程者。 [0012] 請配合參照圖式第2圖及第3圖所示，機械定位機構1〇， 係設置於作業平台7上方，接收並執行操作裝置50之機械 定位訊號。 [0013] 機械定位機構10其係包括X軸定位組11、γ軸定位組12及 1〇121369产單编號A0101 第6頁/共23頁 1012044105-0 M443540 Z軸定位组1 3。χ轴定位組11係在第一基座111兩側分別 設有轉輪112，並藉由轉輪Π2套設傳動履帶113，又至 少有一個轉輪112連結X軸伺服馬達114，俾以驅動該傳動 履帶113 β ¥軸定位組12係在第二基座121上設有Y轴伺服 馬達座122 ’其内設有γ軸伺服馬達1221，以令該Υ軸伺 服馬達座122可沿第二基座121運動，又第二基座121與 該Χ轴定位組11之傳動履帶113連結，並受其連動。Ζ軸定 位組13係設置於Υ轴伺服馬達座12—側，係由Ζ軸伺服馬 達131連動Ζ軸桿132所組成。 [0014] 請配合參照圖式第1圖所示，光學定位機構2〇係設置於作 業平台7上方，以傳遞影像訊號至操作裝置5〇。光學定位 機構20係包括第一攝像定位機21及第二攝像定位機22。 第一攝像定位機21係攝影取得整體之人體俯視影像。第 二攝像定位機22係攝影取得人體局部影像訊號。 [0015] 請配合參閱圖式第1圖及第3圖所示，拔罐機構3〇 ,係設 於Ζ轴桿132—端，接收並執行操作裝置5〇之拔罐作動訊 籲 號。包括拔罐杯31、°及排氣管32及遠紅外線光譜照具33 所組成。拔罐杯31係以軟性材質較佳，其拔罐杯杯體、 杯口大小可依需求替換，拔罐杯31之一端連接於ζ轴桿 132，並受其連動’又拔罐杯31連接一吸排氣㈣用以控 制該拔罐杯31内為正壓或負壓，且為增加拔罐效果，其 拔罐杯31内更設有遠紅外線光譜照具g3，以提供遠紅外 線之熱敷效果。 [_ It配合參閱圖式第3圖所示’防護機構4〇係設置於ζ轴桿 .132側’係包含觸動開關41及力量感測器42。觸動開關 1012136#單編號删1 第7頁/共23頁 1012044105-0 [0017]M44i540 41與2軸伺服馬達131電性連接，當該觸動端411觸發時 ，即令該Z軸伺服馬達131停止。力量感測器42，係感測 該拔罐杯31對患者6之吸力與壓力。 其中，操作裝置50係取得或輸出機械定位作動訊號、拔 罐作動訊號以及光學定位機構之影像訊號，以供使用者 可藉由操作裝置50輸出（或取得）相關作動訊號’藉以 控制上述各機構之作動。 [0018] 藉由上述機構之組成，請配合參閱圖式第1至3圖及第4至 6圖所示，其係為本創作三維自動拔罐裝置之實施例示意 圖二、本創作三維自動拔罐裝置之實施例示意圖三及本 創作三維自動拔罐裝置之作動流程圖一。 [0019] 本創作之三維自動拔罐裝置其作動包含下列步驟： 511 :輸出光學定位作動訊號： 患者6預先平躺於作業平台7上調適心情，以避免患者6緊 張’使用者藉由操作裝置50控制，輸出光學定位作動訊 號’使光學定位機構2〇之第一攝像定位機21，取得作業 平台7上患者6身體之俯視影像訊號，更可配合第二攝像 定位機22，攝影取得人體局部影像訊號，以供操作者更 進*^步的調整® 512 :定義影像X、Y平面影像座標： 藉由第一攝像定位機21與第二攝像定位機22取得之人體 影像訊號，操作裝置50即可將患者6身體劃分若干區域（X 、Y座標）。 513 :設定拔罐點參數： 使用者依其專業或由操作裝置50内之穴位建議與預設拔 1〇1誦产單編號A0101 第8頁/共23頁 1012044105-0 M443540 罐行程，設定各拔罐點參數，例如壓力、溫度或時間等 514 :排序拔罐點參數： 操作裝置50將各拔罐點參數依穴位或血路運行之順序加 以排序。 515 :儲存參數資料： 操作裝置50將各拔罐點參數暫存，以供後續作動使用。 [0020] 請配合參閱圖式第7圖所示，其係為本創作三維自動拔罐 ^ 裝置之作動流程圖二。使用者藉由操作裝置50設定各拔 罐點之參數後，機械定位機構10則依各拔罐點參數執行 定位動作，其包含下列步驟： 521 :讀取拔罐點參數： 操作裝置50讀取上述步驟中，使用者藉由操作裝置50所 設定之各拔罐點參數資料。 522 :輸出機械定位訊號： 操作裝置50輸出機械定位訊號，分別令機械定位機構10 φ 其X軸定位組11之X軸伺服馬達114作動，俾以驅動該傳動 履帶113連動Y轴定位組12之第二基座121，使其移動到 預定之X軸位置（即調整拔罐杯31至患者6身體X點位置） ，再配合Y軸定位組12之Y軸伺服馬達122，沿第二基座 121運動到達預定之Y軸位置（即調整拔罐杯31至患者6身 體Y點位置）。2軸伺服馬達131調節Z軸桿132,使其末 端之拔罐杯31下降。 523 :觸動開關是否作動： 觸動開關41之觸動端411是否觸及患者6身體，即拔罐杯 31與患者6皮膚緊密貼合，如未觸及患者6身體時則執行 10121369产單編號 A〇101 第 9 頁 / 共 23 頁 1012044105-0 M443540 步驟S22，如觸動端411觸及患者6身體時則執行步驟s24 524 :拔罐杯内之數據是否超過拔罐點參數： 力量感測器42隨時取得拔罐杯31對患者之壓力，如壓力 超過拔罐點參數之設定值肖（拔罐杯31與患者6皮膚確實 緊密貼合），即執行步驟S25，反之則執行步驟s23。 525 .輸出機械定位訊號： 操作裝置50輸出機械定位訊號，要求Z軸词服馬達131停 止運轉’以完成拔罐杯到達拔罐點，並與患者6皮膚緊密 貼合。 、 [0021] 請配合參關式第8圖所示，其係為本創作三維自動拔 裝置之作動流程圖三。拔罐杯與患者6皮膚緊密貼合 操作裝置50輸出叫作動訊號，讀行拔罐動作 含下列步驟： 、^ S31 .輸出拔罐作動訊號· 操作裝置5G輸出拔罐作動訊號，以令吸排氣物進〜 亂’俾以改變拔罐杯31内之氣壓（負壓）使之造^ 皮膚表面充血現象’以達拔罐治療之目的。 -者6 S32 ·拔罐㈣之數據是否超過拔罐點參數： 操作裝置50由力量❹咖取得拔罐杯Μ對患 膚之吸力《力’㈣確健罐杯_之有效 ，亦可避免過大的氣壓狀態,導致患者受傷：： 杯31未能與患者6緊密目丄人t 拔罐 以調整 I”… 在貼合時，可適時藉由操作裝置5〇加 S33 :遠紅外線光譜照具作動 10121369产單编號 拔罐杯内之 A0101 遠紅外線料照具33作動，以 $ 10頁/共23頁 提供遠紅外線 M443540 之熱敷效果。 534 :是否到達拔罐點參數之時間 操作裝置50計算此一拔罐點之時間是否己到達拔罐點參 數的時間，如是則執行步驟S 3 5，反之則執行步驟S 3 3。 535 :輸出拔罐作動訊號： 操作裝置50輸出拔罐作動訊號，以令吸排氣管32進行排 氣，俾以改變該拔罐杯31内之氣壓（正壓）。 536 :輸出機械定位訊號： 操作裝置50輸出機械定位訊號，而機械定位機構10作動 ^ ，使X軸定位組11、Y軸定位組12及Z軸定位組1 3作動， 而將拔罐杯31回到起始位置，以執行下一個拔罐點參數 〇 [0022] 以上所述僅為舉例性，而非為限制性者。任何未脫離本 創作之精神與範疇，而對其進行之等效修改或變更，均 應包含於後附之申請專利範圍中。 【圖式簡單說明】 • [0023] 第1圖係為本創作三維自動拔罐裝置之實施例示意圖一。 第2圖係為本創作三維自動拔罐裝置之X轴定位組示意圖 〇 第3圖係為本創作三維自動拔罐裝置之Y軸定位組示意圖 〇 第4圖係為本創作三維自動拔罐裝置之實施例示意圖二。 第5圖係為本創作三維自動拔罐裝置之實施例示意圖三。 第6圖係為本創作三維自動拔罐裝置之作動流程圖一。 第7圖係為本創作三維自動拔罐裝置之作動流程圖二。 10121369产單編號删1 第11頁/共23胃 1012044105-0 M443540 第8圖係為本創作三維自動拔罐裝置之作動流程圖三。 【主要元件符號說明】 [0024] 10 :機械定位機構 11 : X軸定位組 111 :第一基座 112 :轉輪 113:傳動履帶 114 : X軸伺服馬達 12 : Y轴定位組 121 :第二基座 122 : Y軸伺服馬達座. 1221 :Y軸伺服馬達 13 : Ζ軸定位組 131 : Ζ軸伺服馬達 132 : Ζ軸桿 20 :光學定位機構 21 :第一攝像定位機 22 :第二攝像定位機 30 :拔罐機構 31 :拔罐杯 32 :吸排氣管 33 :遠紅外線光譜照具 40 :防護機構 41 :觸動開關 411 :觸動端 42 :力量感測器 1012044105-0 101213691^^^ Α〇101 ^ 12 1 7 ^ 23 1 M443540 50 :操作裝置 6 :患者 7:作業平台 51 卜S15、S2卜S25、S3卜S26 :步驟 101213691^^^^ A〇101 第13頁/共23頁 1012044105-04144354α-------------------------------------- ——One s —— V. New description: [New Technology Alliance] [0001] This creation is about a cupping device, especially for ensuring the cupping action, force, and skill. The cupping device provides a three-dimensional automatic cupping device for accurate cupping action. [Previous technology]. _2]. Cupping method Ancient 曰 "corner method" 'Modern folk custom is called "cupping cup" or "cupping method", which mainly uses combustion, solitary heat or pumping to force negative pressure inside the tank. The cockroach can directly adsorb the surface of the skin, causing congestion on the surface of the skin, and achieving therapeutic purposes. This therapy is often used in combination with acupuncture, bloodletting and the like. [0003] According to the experience of the ancient method of cupping (making vacuum suction) concept, due to the lack of reliable data, and because of the different martial arts, teacher changes, this is also one of the most frequently ill. [0004] cupping is mainly to create a negative pressure inside the tank, so that the tank can directly adsorb the surface of the patient's skin, causing congestion on the surface of the skin, thereby achieving therapeutic effects; therefore, the efficacy of cupping treatment is effective, depending on two: one is from The suction in the tank and the time of the application. If the two are not enough, the effect is lowered, but if the amount is too large, the patient may feel uncomfortable, such as local pain, and severe cases may have negative effects such as blisters and broken skin. [0005] Furthermore, in the initial stage of cupping, the patient is also prone to muscle contraction due to tension, or other reasons may cause an effective volumetric change in the can, resulting in a change in the suction force of the can, and the change may be anytime and anywhere depending on the situation. Unable to operate according to medical needs. The different cupping strength of the cupping is 10121369. The order number is Α0101. Page 4/23 pages 1012044105-0 M443540 [0006], the doctors implement different times and their demand time is different. These are all doctors and professionals. Time is accompanied by monitoring or cumulative adjustment of experience, which increases the time spent by medical personnel and increases costs. Therefore, how to solve the above-mentioned lack of cupping methods and devices makes the cupping more convenient and effective in operation and operation, which is the direction pursued by the industry. [0007] • [New Content] In view of the above-mentioned problems of the prior art, the purpose of the present invention is to provide a three-dimensional automatic cupping device to solve the lack of cupping action and effect due to the author. [0008] According to the purpose of the present invention, a three-dimensional automatic cupping device is proposed for connecting an operating device for operation in a different manner. The three-dimensional automatic cupping device comprises a working platform, a mechanical positioning mechanism, an optical positioning mechanism and a cupping mechanism. The mechanical positioning mechanism is disposed above the work platform and includes an X-axis positioning group, which is respectively provided with a rotating wheel on both sides of a first base, and a driving track is arranged by the rotating wheel, and at least one rotating wheel is disposed. Connecting an X-axis servo motor; a Y-axis positioning group is provided with a Y-axis servo motor seat on a second base, and a Y-axis servo motor is arranged therein to enable the Y-axis servo motor seat to follow the second The pedestal moves, and the second pedestal is coupled to and driven by the drive track of the X-axis positioning group; a Z-axis positioning group is provided with a Z-axis servo motor on the side of the Y-axis servo motor base, and is linked There is a Z axis. An optical positioning mechanism is disposed above the work platform, which is a first camera positioning machine. A cupping mechanism is disposed on the Z-axis rod and includes a cupping cup and a suction tube. [0009] As described above, the three-dimensional automatic cupping device of the present invention may have one or 101213691^ single number AQ1Q1 ^ 5 1 / * 23 I 1012044105-0 M44J540--------- — ______ ________________ A plurality of the following advantages: (1) The three-dimensional automatic cupping device of the present invention does not cause cupping action and the lack of effect due to different cupping authors. (2) The three-dimensional automatic cupping device of the creation, the cupping application author and the subject are not required to directly contact 'to avoid unnecessary contact disputes'. [Embodiment] [0010] The following three-dimensional automatic cupping according to the creation will be described with reference to the related drawings. For the sake of understanding, the same components in the following embodiments are denoted by the same reference numerals. [0011] Please refer to FIG. 1 to FIG. 3 for a schematic diagram of an embodiment of a three-dimensional automatic cupping device, a schematic diagram of an X-axis positioning group of the three-dimensional automatic cupping device of the present invention, and a Y-axis of the three-dimensional automatic cupping device of the present creation. A schematic diagram of a positioning group in which a three-dimensional automatic cupping device is used to connect an operating device 5 for operating in an off-site manner. The three-dimensional automatic cupping device is provided with a mechanical positioning mechanism 10, an optical positioning mechanism 20, and a cupping mechanism above the working platform 7. 3〇, and the guard mechanism 40' is combined with the operating device 50. The user controls the operation of the operating device 50 to output an optical positioning actuation signal, so that the optical positioning mechanism 20 obtains the patient 6 body image signal on the working platform 7, and cooperates with the output of the mechanical positioning signal, so that the mechanical positioning mechanism 10 adjusts the cupping cup 31 to the patient 6. The preset position of the body is combined with the operation device 50 to output a cupping operation signal, so that the cupping cup 31 is closely attached to the body of the patient 6 for the cupping stroke. [0012] Referring to Figures 2 and 3 of the drawings, the mechanical positioning mechanism 1 is disposed above the work platform 7, and receives and executes the mechanical positioning signal of the operating device 50. [0013] The mechanical positioning mechanism 10 includes an X-axis positioning group 11, a γ-axis positioning group 12, and a 〇121369 production order number A0101 page 6/23 pages 1012044105-0 M443540 Z-axis positioning group 1 3. The yoke positioning group 11 is respectively provided with a reel 112 on both sides of the first pedestal 111, and the transmission trajectory 113 is set by the turret 2, and at least one reel 112 is coupled to the X-axis servo motor 114 to drive The drive track 113 β axis positioning group 12 is provided with a Y-axis servo motor seat 122 on the second base 121. The γ-axis servo motor 1221 is disposed therein so that the 伺服-axis servo motor seat 122 can be along the second The base 121 moves, and the second base 121 is coupled to and driven by the drive track 113 of the spindle positioning group 11. The boring shaft positioning group 13 is disposed on the side of the cymbal servo motor base 12, and is composed of a cymbal servo motor 131 and a boring shaft 132. [0014] Referring to FIG. 1 , the optical positioning mechanism 2 is disposed above the work platform 7 to transmit image signals to the operating device 5 . The optical positioning mechanism 20 includes a first imaging positioner 21 and a second imaging positioner 22. The first imaging positioner 21 captures an overall human top view image. The second camera positioning machine 22 captures a human body partial image signal. [0015] Please refer to Figures 1 and 3 of the drawing, the cupping mechanism 3〇 is set at the end of the boring shaft 132, and receives and executes the cupping operation of the operating device 5〇. It consists of cupping cup 31, ° and exhaust pipe 32 and far infrared ray illuminator 33. The cupping cup 31 is preferably made of a soft material, and the size of the cup cup and the cup mouth can be replaced according to requirements. One end of the cup cup 31 is connected to the boring shaft 132, and is connected by the interlocking cup 31. (4) For controlling the positive pressure or the negative pressure in the cupping cup 31, and in order to increase the cupping effect, the cupping cup 31 is further provided with a far-infrared spectrum illumination g3 to provide a hot compress effect of far infrared rays. [_ It is shown in Fig. 3 of the drawing. The guard mechanism 4 is disposed on the side of the cymbal shaft . 132 side includes the touch switch 41 and the force sensor 42. The touch switch 1012136# single number deletion 1 page 7 / 23 page 1012044105-0 [0017] The M44i540 41 is electrically connected to the 2-axis servo motor 131, and when the touch terminal 411 is triggered, the Z-axis servo motor 131 is stopped. The force sensor 42 senses the suction and pressure of the cupping cup 31 against the patient 6. The operation device 50 acquires or outputs the image signals of the mechanical positioning actuation signal, the cupping actuation signal and the optical positioning mechanism, so that the user can output (or obtain) the relevant actuation signal by the operating device 50 to control the above-mentioned various institutions. Actuate. [0018] With the composition of the above-mentioned mechanism, please refer to the figures 1 to 3 and 4 to 6 of the drawings, which is a schematic diagram of an embodiment of the creation of a three-dimensional automatic cupping device, and the creation of the three-dimensional automatic cupping device. The third embodiment of the embodiment and the flow chart 1 of the creation of the three-dimensional automatic cupping device. [0019] The three-dimensional automatic cupping device of the present invention comprises the following steps: 511: output optical positioning actuation signal: the patient 6 is placed on the work platform 7 in advance to adjust the mood to prevent the patient 6 from being nervous. Controlling, outputting the optical positioning actuation signal 'the first imaging positioning machine 21 of the optical positioning mechanism 2, obtaining the bird's-eye image signal of the patient 6 on the working platform 7, and further matching the second imaging positioning machine 22 to obtain a partial image of the human body Signals for the operator to make more adjustments 512: Define the image X, Y plane image coordinates: The human body image signal obtained by the first camera positioner 21 and the second camera positioner 22, the operation device 50 The patient 6 body can be divided into several areas (X, Y coordinates). 513: Setting the cupping point parameter: According to the professional or the acupoint suggestion and preset in the operating device 50, the order number is A1101, page 8/23 pages 1012044105-0 M443540 can be set, and each cupping is set. Point parameters, such as pressure, temperature, or time, etc. 514: Sorting the cupping point parameters: The operating device 50 sorts the parameters of each cupping point according to the order of the acupuncture points or blood circuits. 515: Storage parameter data: The operation device 50 temporarily stores each cupping point parameter for subsequent operation. [0020] Please refer to Figure 7 of the drawing, which is the flow chart 2 of the creation of the three-dimensional automatic cupping device. After the user sets the parameters of each cupping point by the operating device 50, the mechanical positioning mechanism 10 performs a positioning operation according to each cupping point parameter, which includes the following steps: 521: reading the cupping point parameter: the operating device 50 reads the above steps The user selects each cupping point parameter data set by the operating device 50. 522: Output mechanical positioning signal: The operating device 50 outputs a mechanical positioning signal, and the X-axis servo motor 114 of the X-axis positioning group 11 of the mechanical positioning mechanism 10 φ is respectively actuated to drive the driving track 113 to link the Y-axis positioning group 12 The second base 121 is moved to a predetermined X-axis position (ie, the cupping cup 31 is adjusted to the X-point position of the patient 6 body), and then the Y-axis servo motor 122 of the Y-axis positioning group 12 is along the second base 121. The motion reaches the predetermined Y-axis position (ie, the cupping cup 31 is adjusted to the position of the patient's 6 body Y point). The 2-axis servo motor 131 adjusts the Z-axis lever 132 so that the cupping cup 31 at the end thereof is lowered. 523: Whether the touch switch is activated: whether the touch end 411 of the touch switch 41 touches the body of the patient 6, that is, the cupping cup 31 closely fits the skin of the patient 6, and if the body of the patient 6 is not touched, the 10121369 order number A〇101 is executed. Page / Total 23 pages 1012044105-0 M443540 Step S22, if the touch end 411 touches the body of the patient 6, step s24 524 is performed: whether the data in the cupping cup exceeds the cupping point parameter: the force sensor 42 obtains the cupping cup 31 for the patient at any time The pressure, for example, the pressure exceeds the set value of the cupping point parameter XI (the cupping cup 31 and the patient 6 skin do fit closely), that is, step S25 is performed, otherwise, step s23 is performed. 525. Output mechanical positioning signal: The operating device 50 outputs a mechanical positioning signal, and the Z-axis vocal motor 131 is required to stop running 'to complete the cupping cup to reach the cupping point and closely fit the skin of the patient 6. [0021] Please refer to Figure 8 of the Participation Model, which is the flow chart 3 of the creation of the 3D automatic extraction device. The cupping cup and the patient 6 skin close fitting operation device 50 output is called a motion signal, and the reading and cupping action includes the following steps: , ^ S31 . Output cupping actuation signal · Operation device 5G output cupping actuation signal to make the suction and exhaust into the ~ The chaos is used to change the air pressure (negative pressure) in the cupping cup 31 to make the skin surface congested for the purpose of cupping treatment. -Several 6 S32 ·The data of cupping (4) exceeds the cupping point parameter: The operating device 50 obtains the cupping cup from the force ❹ Μ Μ Μ Μ Μ Μ Μ Μ Μ Μ Μ 力 力 力 力 力 力 力 力 力 力 力 力 力 力 力 力 力 力 力 力 力 力 力 力 力 力, causing the patient to be injured:: Cup 31 failed to close the patient with the patient 6 t cupping to adjust I"... When fitting, you can use the operating device 5 to add S33: far infrared ray illuminator to operate 10121369 The A0101 far-infrared illuminator 33 in the cupping cup is used to provide the hot compress effect of the far-infrared ray M443540 for $10/23. 534: Whether the time of the cupping point parameter is reached 50 is the time for calculating the cupping point The time when the cupping point parameter has been reached, if yes, step S3 5 is performed, otherwise step S3 3 is performed. 535: output cupping actuation signal: the operating device 50 outputs a cupping actuation signal to exhaust the suction and exhaust pipe 32. The air pressure (positive pressure) in the cupping cup 31 is changed. 536: Output mechanical positioning signal: The operating device 50 outputs a mechanical positioning signal, and the mechanical positioning mechanism 10 operates to make the X-axis positioning group 11, the Y-axis The positioning group 12 and the Z-axis positioning group 13 are actuated, and the cupping cup 31 is returned to the starting position to perform the next cupping point parameter. [0022] The above description is merely illustrative and not limiting. Any equivalent modifications or changes made to the spirit and scope of this creation shall be included in the scope of the appended patent application. [Simplified illustration] [0023] Figure 1 is the original creation The first embodiment of the three-dimensional automatic cupping device is a schematic diagram of the X-axis positioning group of the three-dimensional automatic cupping device. The third drawing is a schematic diagram of the Y-axis positioning group of the three-dimensional automatic cupping device. The second embodiment of the present invention is a schematic diagram of the embodiment of the three-dimensional automatic cupping device. The fifth figure is a schematic diagram of the third embodiment of the three-dimensional automatic cupping device. The sixth figure is the flow chart of the three-dimensional automatic cupping device. This is the flow chart of the creation of the 3D automatic cupping device. 10121369 The order number is deleted 1 Page 11 / Total 23 stomach 1012044105-0 M443540 The 8th figure is the flow chart of the 3D automatic cupping device [Main component symbol description] [0024] 10: Mechanical positioning mechanism 11: X-axis positioning group 111: First pedestal 112: Reel 113: Transmission crawler 114: X-axis servo motor 12: Y-axis positioning group 121: Second Base 122: Y-axis servo motor seat. 1221: Y-axis servo motor 13: Ζ-axis positioning group 131: Ζ-axis servo motor 132: Ζ shaft 20: optical positioning mechanism 21: first camera positioning machine 22: second camera Positioning machine 30: cupping mechanism 31: cupping cup 32: suction and exhaust pipe 33: far infrared ray illuminator 40: protection mechanism 41: touch switch 411: touch end 42: force sensor 1012044105-0 101213691^^^ Α〇101 ^ 12 1 7 ^ 23 1 M443540 50 : Operating device 6 : Patient 7 : Work platform 51 S15, S2, S25, S3, S26: Step 101213691^^^^ A〇101 Page 13 of 23 1012044105-0