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Universal mechanical arm

A robotic arm, universal technology, applied in bathing devices, physical therapy and other directions, can solve the problems of inconvenience, inability to adjust and position, and inability to pre-mix, etc., to avoid inconvenience in operation.

Pending Publication Date: 2021-01-22
沈阳天仁合一科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] In the existing technical solutions of universal manipulators, most of them are adjusted and positioned before use, and cannot be adjusted and positioned at any time during use
For the fumigation device, in some treatment methods of traditional Chinese medicine fumigation, different prescriptions need to be used successively according to the order of treatment, and the two prescriptions need to be placed in different medicine pots in advance, and cannot be mixed in advance.
Therefore, it is necessary to use multiple fumigation heads and administer medicines in sequence according to the course of treatment. When replacing the fumigation heads for the same fumigation site, it is almost only manually operated multiple times, which is extremely inconvenient to use.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0026] The universal mechanical arm 1 includes several joint links 11 engaged by joint balls 12 and a pretensioning device for positioning the joint links 11 . A pretensioning device (such as a motor with a draw nut) adjusts the friction between the joint link and the joint ball by contracting the draw cable. The two ends of the joint connecting rod 11 are respectively provided with special-shaped holes 112 connected through the middle hole 113 , and the two ends of the joint ball 12 are respectively provided with mutually connected stepped holes 121 . An adjustable-length pulling cable 14 is provided at the output end of the pretensioning device, and the pulling cable 14 passes through the middle hole 113 of each joint link 11 and is fixed on the outside of the most distal joint link 11 . In order to further improve product performance, the special-shaped hole 112 is sequentially provided with a friction part 112a whose inner wall is an arc surface, a stepped part 112b, and a...

Embodiment 2

[0031] The fumigation device of the universal manipulator in Embodiment 1 is used, and in order to cooperate with the position limitation of the drug guide tube assembly 25, a supporting orifice plate 13 is provided on the basis of the original universal manipulator. An annular clamping groove 111 is pre-processed on the joint connecting rod 11 , and an annular clamp (not shown in the figure) is arranged in the clamping groove 111 to limit the position of the supporting hole plate 13 . The support hole plate 13 is provided with a drug guiding tube hole 131 and a wire hole 132 .

[0032] In order to realize the fumigation function, the fumigation head assembly 2 and the drug guide tube assembly 25 limited on the support orifice plate 13 are installed at the front end of the mechanical arm. The assembly 2 is fixed on the front end rod 15, and the cable front end 142 of the traction cable 14 passes through the front end rod 15 and is fixed. The fumigation head assembly 2 include...

Embodiment 3

[0036] This embodiment is the specific application embodiment 1 of embodiment 2 fumigation machine.

[0037] Taking the treatment of dysmenorrhea as an example, it is necessary to improve the efficacy of the drug by sequential administration, which specifically includes the following steps.

[0038] Step 1, traditional single-pipe fumigation, mainly wormwood. Added serpentine arms, multi-tube fumigation, optional prescription medicine.

[0039] In step 2, different prescriptions are used for the treatment of dysmenorrhea symptoms caused by different disease sources. For example, for qi stagnation and blood stasis type dysmenorrhea, take velvet and Cyperus root as the main medicine, and add peach kernel and safflower as auxiliary medicine; Inner Sheng type dysmenorrhea, with velvet antler and Rhizoma Cyperi as the main medicine, and cinnamon and Evodia rutaecarpa as auxiliary medicines.

[0040] While selecting the prescription medicine, the order of fumigation can be adjust...

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PUM

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Abstract

The invention relates to a universal mechanical arm. The universal mechanical arm comprises a plurality of joint connecting rods (11) connected through joint balls (12). The universal mechanical arm is characterized by further comprising a pre-tightening device used for positioning the joint connecting rods (11). Special-shaped holes (112) communicating through a middle hole (113) are formed in the two ends of each joint connecting rod (11) respectively, and stepped holes (121) communicating with each other are formed in the two ends of each joint ball (12) respectively. A length-adjustable traction cable (14) is arranged at the output end of the pre-tightening device, penetrates through the middle hole (113) of each joint connecting rod (11) and is fixed on the outer side of the joint connecting rod (11) at the farthest end. The universal mechanical arm has the advantages of being simple and compact in structure, convenient and fast to use, high in automation degree, high in controllability and the like.

Description

technical field [0001] The invention relates to a universal support structure, which belongs to a manipulator, specifically a universal manipulator with pre-locking and locking functions. The technical solution can realize the loosening and locking of the manipulator at any time, and is convenient for positioning at any time. The present invention also relates to a fumigation device adopting the above-mentioned universal mechanical arm, which belongs to the field of medical equipment, and is mainly suitable for sequential administration of different prescriptions without interference during the treatment process. Background technique [0002] In the existing universal mechanical arm technical solutions, most of them are adjusted and positioned before use, and cannot be adjusted and positioned at any time during use. For the fumigation device, in some treatment methods of traditional Chinese medicine fumigation, different prescriptions need to be used successively according t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H33/06
CPCA61H33/06A61H2033/068
Inventor 董沣乐董丰榕王强许斌郭仪
Owner 沈阳天仁合一科技有限公司