A push pin actuator and method of use thereof

Abstract

The application discloses a kind of press needle actuators, belong to acupuncture field, including operating assembly, air pump box and controller, operating assembly includes shell, pressure sensor, elastic member, suction cup, connecting column and vacuum joint, air pump box is communicated with suction cup by vacuum joint, suction cup is fixedly installed in connecting column, connecting column is slidably connected with shell, pressure sensor and elastic member are contained in shell, elastic member two ends are respectively contacted with pressure sensor and suction cup, controller controls air pump box to pump, suction cup takes press needle;Controller controls air pump box to inflate, suction cup drives press needle to fall and carry out acupuncture, pressure sensor collects the feedback force of press needle actuator, suction cup drives press needle to fall and carry out acupuncture, can stably, efficiently implement press needle acupuncture, improve the stability of press needle acupuncture, so that acupuncture parameter is controllable.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of acupuncture, in particular to a press needle executor and a method for using the same. BACKGROUND

[0002] Acupuncture is a general term for needle therapy and moxibustion. Needle therapy refers to the practice of inserting needles into the body at specific points to stimulate nerves, muscles and other tissue, which can help to relieve pain and promote healing. Moxibustion refers to the practice of burning herbs near the body to stimulate the flow of qi (vital energy) and promote healing.

[0003] In the prior art, acupuncture is usually operated by relevant professionals, and the following problems exist in the use of manual acupuncture:

[0004] (1) The therapeutic effect, pain level during treatment, etc. of acupuncture are related to the level of the practitioner, and the replacement of the practitioner makes it difficult for the patient to obtain stable treatment.

[0005] (2) During long-term acupuncture treatment, as the practitioner's physical strength, energy and attention are consumed, the therapeutic effect, treatment experience, etc. in the later stage of acupuncture treatment are lower than in the early stage of acupuncture treatment.

[0006] (3) The needle manipulation techniques such as twirling and lifting during acupuncture treatment affect the therapeutic effect of acupuncture, and the practitioner relies on experience to judge the parameters of twirling and lifting during manual acupuncture, so compared with the prescribed parameters, the parameters of each acupuncture are deviated, and the phenomenon that the therapeutic effect of acupuncture is inconsistent with the expected effect is prone to occur. SUMMARY

[0007] In order to overcome the shortcomings of the prior art, one of the purposes of the present application is to provide a press needle executor which can stably and efficiently implement press needle acupuncture and improve the stability of press needle acupuncture and make the acupuncture parameters controllable.

[0008] In order to overcome the shortcomings of the prior art, the second purpose of the present application is to provide a method for using a press needle executor which can stably and efficiently implement press needle acupuncture and improve the stability of press needle acupuncture and make the acupuncture parameters controllable.

[0009] One of the purposes of the present application is achieved by adopting the following technical solutions:

[0010] The application discloses a thumbtack executor, which comprises an operating assembly, a gas pump box and a controller, wherein the operating assembly comprises a shell, a pressure sensor, an elastic element, a suction disc, a connecting column and a vacuum joint; the gas pump box is communicated with the suction disc through the vacuum joint; the suction disc is fixedly installed on the connecting column; the connecting column is slidably connected with the shell; the pressure sensor and the elastic element are accommodated in the shell; the elastic element is in abutment with the pressure sensor and the suction disc at two ends respectively; the controller controls the gas pump box to pump air, and the suction disc sucks the thumbtack; the controller controls the gas pump box to inflate, the suction disc slides relative to the shell to make the thumbtack fall to perform needle insertion, and the pressure sensor collects feedback force of the thumbtack executor.

[0011] Further, the thumbtack executor further comprises a control assembly, wherein the control assembly comprises a control button, the control button is electrically connected with the controller, and the control button is used for manually controlling the gas pump box to work.

[0012] Further, the control button is located on the top of the shell.

[0013] Further, the elastic element is a spring.

[0014] Further, the operating assembly is installed at the end of a mechanical arm.

[0015] Further, the thumbtack executor further comprises a thumbtack, wherein the surface of the thumbtack is provided with a film capable of being adsorbed by the suction disc.

[0016] The second purpose of the application is achieved by the following technical scheme.

[0017] A use method of the thumbtack executor, which comprises the following steps.

[0018] The mechanical arm drives the operating assembly to approach the thumbtack.

[0019] The controller controls the gas pump box to pump air, and the suction disc sucks the thumbtack.

[0020] The mechanical arm drives the operating assembly to move to a needle insertion position.

[0021] The control button is manually operated, the gas pump box is inflated, and the thumbtack falls to perform needle insertion.

[0022] Further, the method further comprises the following steps: the pressure sensor collects feedback force of the thumbtack executor, and when the feedback force is greater than a preset safety threshold, the mechanical arm drives the operating assembly to retreat or the gas pump box drives the suction disc to move upward.

[0023] Compared with the prior art, the press needle executor of the application can stably and efficiently implement press needle acupuncture, improve the stability of press needle acupuncture and make acupuncture parameters controllable. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a schematic view of the press needle executor of the application.

[0025] Figure 2 It is a sectional view of the vacuum device of the press needle executor of the application.

[0026] In the figure: 10, operation assembly; 11, shell; 12, pressure sensor; 13, elastic member; 14, suction cup; 15, connecting column; 16, vacuum joint; 20, mechanical arm; 30, press needle. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0028] It should be noted that when an assembly is referred to as being “fixed” to another assembly, it can be directly on the other assembly or there can be another intermediate assembly. When an assembly is referred to as being “connected” to another assembly, it can be directly connected to the other assembly or there can be another intermediate assembly. When an assembly is referred to as being “disposed” on another assembly, it can be directly disposed on the other assembly or there can be another intermediate assembly. The terms “vertical”, “horizontal”, “left”, “right” and similar expressions used herein are for illustrative purposes only.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term “and / or” includes any and all combinations of one or more of the associated listed items.

[0030] Figure 1 And Figure 2 It is a structural schematic view of the press needle executor of the application, which comprises an operation assembly 10, a mechanical arm 20, a press needle 30, a gas pump box and a controller.

[0031] The operating component 10 is used to pick up the press needle 30 and move the press needle 30 to perform acupuncture. The operating component 10 includes a housing 11, a pressure sensor 12, an elastic element 13, a suction cup 14, a connecting post 15, a vacuum connector 16, and a control component.

[0032] The pressure sensor 12 and the elastic element 13 are housed in the housing 11. The pressure sensor 12 is used to collect the feedback force of the actuator. When the feedback force is greater than the preset safety threshold, the robotic arm 20 drives the operating component 10 to retract or the air pump box draws air to drive the suction cup 14 to move upward, so as to prevent the needle from being inserted too deeply due to equipment instability issues, which would cause stinging pain to the human body.

[0033] The elastic element 13 is a spring, and its two ends abut against the pressure sensor 12 and the suction cup 14, respectively. In this embodiment, since the suction cup 14 is fixed to the connecting post 15, the elastic element 13 indirectly abuts against the suction cup 14 by abutting against the connecting post 15. In this embodiment, the elastic element 13 plays two roles: firstly, it can provide feedback force from the actuator; secondly, it provides an initial downward force on the suction cup 14, preventing the suction cup 14 from becoming unstable.

[0034] The suction cup 14 is fixed to the connecting post 15, which is slidably mounted on the housing 11 and sealed with the housing 11. The housing 11 and the connecting post 15 are hollow structures, forming a chamber and an airflow channel. When the suction cup 14 is attracted to the press needle 30, the chamber is sealed. Inflating the chamber with air can cause the connecting post 15 to move downward relative to the housing 11 for needle application.

[0035] The control components include a control button, which is mounted on the top of the housing 11 and electrically connected to the controller. The control button allows manual control of the air pump box and manual control of the press needle 30 for needle application.

[0036] The operating component 10 is installed at the end of the robotic arm 20, and the robotic arm 20 drives the operating component 10 to the needle application position.

[0037] The surface of the push pin 30 is provided with a thin film that can be adsorbed by the suction cup 14.

[0038] The air pump box is connected to the vacuum connector 16 for pumping or filling air into the suction cup 14. The air pump box is electrically connected to the controller, which controls the operation of the air pump box.

[0039] When the pluck needle executor is used, the mechanical arm 20 drives the operation assembly 10 to move to the vicinity of the pluck needle 30, the controller controls the air pump box to exhaust, and the suction cup 14 sucks the pluck needle 30; the mechanical arm 20 drives the operation assembly 10 and the pluck needle 30 to move to the needle application position near the acupoint, the control button is pressed manually, the controller controls the air pump box to inflate, the suction cup 14 slides (moves downward) relative to the shell 11 to make the pluck needle 30 fall to apply the needle, and the pressure sensor 12 collects the feedback force of the pluck needle executor.

[0040] The application also relates to a use method of the pluck needle executor.

[0041] The mechanical arm 20 drives the operation assembly 10 to move to the vicinity of the pluck needle 30.

[0042] The controller controls the air pump box to exhaust, and the suction cup 14 sucks the pluck needle 30.

[0043] The mechanical arm 20 drives the operation assembly 10 to move to the needle application position.

[0044] The control button is pressed manually, the air pump box inflates, and the pluck needle 30 falls to apply the needle.

[0045] The pressure sensor 12 collects the feedback force of the pluck needle 30 executor, when the feedback force is greater than a preset safety threshold, the mechanical arm 20 drives the operation assembly 10 to retreat or the air pump box drives the suction cup 14 to move upward.

[0046] Compared with the prior art, the pluck needle 30 executor can stably and efficiently implement the pluck needle 30 acupuncture, improve the stability of the pluck needle 30 acupuncture, and make the acupuncture parameters controllable.

[0047] The above embodiments only express several implementation manners of the application, and the description is relatively specific and detailed, but it cannot be understood as the limitation of the patent scope of the application. It should be pointed out that, for ordinary skilled persons in the art, without departing from the concept of the application, a plurality of modifications and improvements can be made, which are equivalent modifications and improvements of the above embodiments according to the essential technology of the application, and these all belong to the protection scope of the application.

Claims

1. A push-button actuator, comprising an operating component, characterized in that: The press needle actuator also includes an air pump box and a controller. The operating components include a housing, a pressure sensor, an elastic element, a suction cup, a connecting column, and a vacuum connector. The air pump box is connected to the suction cup through the vacuum connector. The suction cup is fixedly installed on the connecting column, which is slidably connected to the housing. The pressure sensor and the elastic element are housed in the housing. Both ends of the elastic element abut against the pressure sensor and the suction cup, respectively. The controller controls the air pump box to pump air, and the suction cup picks up the press needle. The controller controls the air pump box to inflate, the suction cup slides relative to the housing to drive the press needle to fall and perform needle application, and the pressure sensor collects the feedback force of the press needle actuator.

2. The push-button actuator according to claim 1, characterized in that: The press-pin actuator also includes a control component, which includes a control button electrically connected to the controller, allowing manual control of the air pump box.

3. The push-button actuator according to claim 2, characterized in that: The control button is located on the top of the housing.

4. The push-button actuator according to claim 1, characterized in that: The elastic element is a spring.

5. The push-button actuator according to claim 1, characterized in that: The operating components are mounted on the end of the robotic arm.

6. The push-button actuator according to claim 1, characterized in that: The presser actuator also includes a presser pin, the surface of which is provided with a thin film that can be adsorbed by the suction cup.

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