Double mechanical arm collaborative operation cupping bed

Abstract

The invention discloses a double mechanical arm collaborative operation cupping bed. The bed comprises a three-degree-of-freedom platform, a series cooperative arm, a work head, an auxiliary work head, a first lead screw, a first support, a first stepping motor, a bed body, a bed frame, a foot plate, a pillow and a first guide rod. The three coordinate type three-degree-of-freedom platform is connected with two cooperative mechanical arms in series to form a cupping mechanism and an auxiliary mechanism. A seven-degree-of-freedom cupping mechanism cooperates with a six-degree-of-freedom auxiliary mechanism, the work space is large, control is flexible and intelligent, and multiple cupping therapies can be imitated. A camera can scan the human body and measure the distance and is used for determining the cupping part and planning work loci. Automatic cupping can be conducted on any positions of the whole body, and manpower is saved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a double mechanical arm cooperative cupping bed. Background technique [0002] Cupping is to use the pot as a tool to generate negative pressure by means of burning fire and pumping air, so that it can be adsorbed on the body surface, causing local blood stasis, so as to achieve dredging and activating collaterals, promoting qi and blood circulation, reducing swelling and pain, expelling wind and cold, etc. effective therapy. Cupping therapy has a long history in China. As early as the Western Han Dynasty, there is a record of "horn method" in the silk book "Fifty-two Disease Prescriptions", which is similar to the cupping therapy of later generations. Cupping therapy was once popular in ancient Greece and Rome abroad. Key points of flash fire cupping operation: Use tweezers to hold alcohol cotton ball to ignite, wrap around the jar once and then pull it out; quickly cover the j...

AI Technical Summary

Problems solved by technology

For example, the patent number CN201711200197.3 provides "A Special Automatic Cupping Physiotherapy and Massage Equipment for Orthopedic Cervical Spondylosis", which includes a supporting top plate, a downward pressure suction device, two massage devices and a rotating manipulator device, etc. It has the advantage of simple structure and automatic completion. Neck cupping process; the disadvantage is that the degree of intelligence is low, and it is only limited to neck cupping

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