Intelligent robot for acupoint treatment before and after anesthesia

Abstract

The invention relates to the technical field of intelligent robots, in particular to an intelligent robot for acupoint treatment before and after anesthesia, which comprises a mechanical arm, a base, an adjusting mechanism and a plurality of massage heads. Wherein the base is arranged on the mechanical arm, and a driving assembly is arranged in the base; the adjusting mechanism is arranged on the base; the massage heads are arranged on the adjusting mechanism, the adjusting mechanism is used for adjusting the positions of the massage heads so that one of the massage heads can be connected with the driving assembly, and the driving assembly is used for driving the massage heads to work. The effect of enlarging the application range of the robot is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent robots, and in particular to an intelligent robot for acupuncture point treatment before and after anesthesia. Background Art

[0002] Currently, anesthesia is a commonly used technique in surgery to ensure that patients do not feel pain during the operation. However, patients may experience various uncomfortable symptoms before and after anesthesia, such as pain, nausea and vomiting, abdominal distension, etc., which can affect the patient's comfort and recovery process. Acupoint massage is a traditional Chinese medicine therapy that has been shown to have potential effects in relieving certain symptoms. However, acupoint massage requires professional masseurs to perform the operation, and its implementation in a hospital environment has certain limitations. Therefore, in the related art, there is a case of using massage robots to massage human acupoints.

[0003] Regarding the above-mentioned related technologies: the massage head on the massage robot is of a relatively simple form and cannot be adjusted according to the actual situation of the patient, which results in a relatively small application range of the massage robot. Summary of the invention

[0004] In order to expand the application scope of the robot, the present application provides an intelligent robot for acupoint treatment before and after anesthesia.

[0005] The present application provides an intelligent robot for acupuncture treatment before and after anesthesia, which adopts the following technical solutions: An intelligent robot for acupoint treatment before and after anesthesia, comprising: Robotic arm; A base, arranged on the mechanical arm, wherein a driving assembly is arranged in the base; an adjustment mechanism, disposed on the base; and A plurality of massage heads are respectively arranged on the adjustment mechanism, and the adjustment mechanism is used to adjust the positions of the plurality of massage heads so that one of the plurality of massage heads is connected to the driving assembly, and the driving assembly is used to drive the massage heads to work.

[0006] By adopting the above technical solution, the adjustment mechanism can adjust the positions of multiple massage heads, so that the massage heads can be connected to the driving assembly and driven by the driving assembly to work, thereby facilitating the diversification of massage forms by replacing the massage heads to adapt to the actual situation of the patients, thereby helping to increase the flexibility and scope of application of the robot.

[0007] Optionally, a receiving cavity is provided in the base, and the driving assembly comprises a first driving member, a second driving member and a support plate, the first driving member is arranged in the receiving cavity, and the support plate is slidably arranged in the receiving cavity and connected to the first driving member; The second driving member is arranged on the support plate, and a connecting rod is arranged at one end of the second driving member away from the support plate. The first driving member is used to drive the support plate to approach or move away from the massage head, so that the second driving member drives the connecting rod to be detachably connected to the massage head, and the second driving member can drive the massage head to rotate through the connecting rod.

[0008] By adopting the above technical solution, the first driving member can drive the support plate to move closer to or away from the massage head, and the support plate can drive the second driving member and the connecting rod to move, so that the connecting rod can be detachably connected to the massage head, thereby facilitating the switching of the massage head to further improve the flexibility and applicability of the massage. When the connecting rod is connected to the massage head, the second driving member can drive the massage head to rotate through the connecting rod, thereby facilitating the use of the massage head to massage the patient's acupuncture points to relieve the patient's symptoms.

[0009] Optionally, a snap-in groove is provided at one end of the massage head close to the accommodating cavity, the cross-section of the snap-in groove is non-circular, and the end of the connecting rod away from the second driving member is adapted to the shape of the snap-in groove so that the connecting rod can be inserted into the snap-in groove.

[0010] By adopting the above technical solution, the cross section of the clamping groove is non-circular, and the connecting rod is adapted to the shape of the clamping groove, so that when the connecting rod is inserted into the clamping groove, the second driving member can drive the massage head to rotate through the connecting rod. When the massage head needs to be switched, the first driving member is first started, and the first driving member drives the connecting rod to disengage from the clamping groove through the support plate and the second driving member, and then the adjustment mechanism is started, and the adjustment mechanism removes the old massage head and moves the new designated massage head to the position corresponding to the connecting rod. At this time, the first driving member can drive the connecting rod to be inserted into the clamping groove again to complete the switching of the massage head.

[0011] Optionally, the adjustment mechanism includes a rotating assembly, which is rotatably connected to the base, and the multiple massage heads are respectively connected to the rotating assembly, and the rotating assembly is used to drive the massage heads to rotate to a position corresponding to the connecting rod.

[0012] By adopting the above technical solution, the rotating component is rotatably connected to the base, so that the rotation of the rotating component can be used to drive the multiple massage heads to move, thereby facilitating the adjustment of the positions of the multiple massage heads.

[0013] Optionally, a rotating groove is provided on the base, one end of the connecting rod extends into the rotating groove, the rotating assembly includes a rotating driving member and a turntable, the rotating driving member is installed on the base, the turntable is inserted into the rotating groove and is rotatably connected to the base, the rotating driving member is connected to the turntable, and the plurality of massage heads are evenly distributed on the turntable along the axial direction surrounding the turntable.

[0014] By adopting the above technical solution, when the position of the massage head needs to be adjusted, the rotary drive member works to drive the turntable to rotate, and the turntable drives multiple massage heads to move, thereby facilitating the movement of the massage head to a specified position so as to facilitate the connection between the connecting rod and the massage head.

[0015] Optionally, a limiting ring groove is provided on the inner wall of the rotating groove, and a limiting ring is provided on the circumferential side wall of the rotating disk. The limiting ring is slidably inserted in the limiting ring groove and fits against the inner wall of the limiting ring groove.

[0016] By adopting the above technical solution, the limiting ring is inserted into the limiting ring groove and fits against the inner wall of the limiting ring groove, so that the limiting ring can be used to limit the turntable to reduce the possibility of shaking of the turntable, which is beneficial to improve the stability of the turntable.

[0017] Optionally, the adjustment mechanism includes a supporting assembly, the supporting assembly includes an elastic member, the turntable is provided with through holes, the number of the through holes is equal to the number of the massage heads, the massage heads are slidably inserted into the through holes, a first limit block is provided at one end of the massage head close to the accommodating cavity, the elastic member is provided between the first limit block and the turntable, and the elastic member can push the massage head to move into the rotating groove through the first limit block.

[0018] By adopting the above technical solution, when a massage head is connected to the connecting rod, the first driving member pushes the massage head to move away from the rotating groove through the support plate, the second driving member and the connecting rod in sequence, so that the massage head is not in the same plane as other massage heads, which is conducive to reducing the possibility of interference between adjacent massage heads. When the massage head is separated from the connecting rod, the elastic member rebounds, thereby facilitating the massage head to be pushed back to its original position through the first limit block.

[0019] Optionally, the support assembly includes a support sleeve, which is slidably inserted in the through hole and sleeved on the massage head, and a second limit block is provided on the circumferential outer wall of the support sleeve, the first limit block is in conflict with the second limit block, and the elastic member is provided between the second limit block and the turntable.

[0020] By adopting the above technical solution and the setting of the supporting sleeve, the elastic member is not easy to directly contact with the first limit block, which is beneficial to reduce the possibility of wear between the first limit block and the elastic member on the one hand, and on the other hand, it is beneficial to reduce the possibility of the elastic member interfering with the rotation of the massage head through the first limit block, thereby facilitating the massage head to rotate stably and smoothly.

[0021] Optionally, a pressure sensor is provided on the massage head.

[0022] By adopting the above technical solution, the pressure sensor can detect the pressure applied by the massage head to the patient, thereby facilitating accurate adjustment of the pressure applied by the massage head to the patient to improve the massage experience and safety.

[0023] Optionally, a control host is included, and an identification component is arranged on the base, and the identification component is used to identify acupuncture points of the human body. The control host is electrically connected to the mechanical arm, the adjustment mechanism, the driving component and the identification component respectively.

[0024] By adopting the above technical solution, the control host can control the operation of the robotic arm, adjustment mechanism, drive component and identification component. The identification component can intelligently identify the acupuncture points of the human body, which is beneficial to improve the accuracy of massage and to a certain extent realize the intelligent control of the entire massage process, which is beneficial to improve the efficiency and effect of massage.

[0025] In summary, the present application includes at least one of the following beneficial technical effects: 1. By arranging multiple massage heads on the adjustment mechanism, the adjustment mechanism can adjust the positions of the multiple massage heads and connect the designated massage heads to the driving assembly, so as to facilitate the diversification of massage forms by replacing the massage heads to adapt to the actual conditions of the patients, thereby increasing the flexibility and application scope of the robot; 2. Through the cooperation between the first driving member, the second driving member, the support plate and the connecting rod, the first driving member can drive the connecting rod to approach or move away from the massage head through the support plate and the second driving member, so that the connecting rod can be inserted into or pulled out of the clamping groove, thereby facilitating the switching of the massage head, thereby facilitating the flexibility and applicability of massage; 3. Through the cooperation between the rotating drive member, the turntable and the limit ring, the rotating drive member can stably drive the multiple massage heads to move through the turntable; 4. Through the mutual cooperation of the rotating drive member, the turntable, the elastic member and the supporting sleeve, the massage head is not in the same plane with the adjacent massage head when working, which is helpful to reduce the possibility of interference between adjacent massage heads, and then facilitate the use of the massage head to accurately massage the patient's acupuncture points. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the intelligent robot for acupoint treatment before and after anesthesia in the embodiment of the present application.

[0027] Figure 2 is along Figure 1 Partial structural cross-sectional view along line AA.

[0028] Figure 3 In Example 2 of this application, Figure 1 Partial structural cross-sectional view of line AA in FIG.

[0029] Description of reference numerals: 1. Control host; 2. Robotic arm; 3. Base; 31. Driving assembly; 311. First driving member; 312. Second driving member; 3121. Connecting rod; 313. Support plate; 32. Identification assembly; 33. Accommodating chamber; 34. Rotating groove; 35. Limiting ring groove; 4. Adjusting mechanism; 41. Rotating assembly; 411. Rotating driving member; 412. Turntable; 4121. Limiting ring; 4122. Through hole; 42. Support assembly; 421. Elastic member; 422. Support sleeve; 4221. Second limiting block; 5. Massage head; 51. Snap-in groove; 52. First limiting block. DETAILED DESCRIPTION

[0030] The following is combined with Figure 1-3 This application is described in further detail.

[0031] The embodiment of the present application discloses an intelligent robot for acupoint treatment before and after anesthesia.

[0032] It should be noted that, in the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0033] Example 1 Reference Figure 1 and Figure 2The intelligent robot for acupuncture point treatment before and after anesthesia surgery includes a control host 1, a mechanical arm 2, a base 3, an adjustment mechanism 4 and a plurality of massage heads 5. The mechanical arm 2 is mounted on the control host 1, the base 3 is mounted on the mechanical arm 2, and a driving component 31 is arranged in the base 3. The adjustment mechanism 4 is arranged on the base 3, and the plurality of massage heads 5 are respectively arranged on the adjustment mechanism 4. The adjustment mechanism 4 can adjust the positions of the plurality of massage heads 5 so that one of the plurality of massage heads 5 is connected to the driving component 31, and the driving component 31 is used to drive the massage head 5 to work.

[0034] An identification component 32 is installed on the base 3. In this embodiment, the identification component 32 is a camera for identifying acupuncture points of the human body. The control host 1 is electrically connected to the mechanical arm 2, the adjustment mechanism 4, the drive component 31 and the identification component 32, respectively, so that the control host 1 can control the mechanical arm 2, the adjustment mechanism 4, the drive component 31 and the identification component 32 to improve the accuracy of the massage, and to a certain extent realize the intelligent control of the entire massage process, which is conducive to improving the efficiency and effect of the massage.

[0035] It should be noted that, in the embodiment of the present application, how the control host 1 specifically controls the operation of the mechanical arm 2, the adjustment mechanism 4, the drive component 31 and the identification component 32 is a conventional technical means for those skilled in the art. Therefore, it will not be described in detail in the embodiment of the present application.

[0036] Reference Figure 2 , a receiving chamber 33 is provided in the base 3, a rotating groove 34 is provided on the base 3, and the rotating groove 34 is located on the side of the receiving chamber 33 away from the robot arm 2. The driving assembly 31 includes a first driving member 311, a second driving member 312 and a supporting plate 313. Among them, the first driving member 311 is installed in the receiving chamber 33, and the supporting plate 313 is slidably arranged in the receiving chamber 33 and connected to the first driving member 311. In this embodiment, the first driving member 311 is a cylinder, so that it is convenient to use the first driving member 311 to drive the supporting plate 313 to approach or move away from the rotating groove 34. In other embodiments, the first driving member 311 can also be set as an electric push rod.

[0037] The second driving member 312 is mounted on the support plate 313, and one end of the second driving member 312 away from the support plate 313 is fixedly connected to a connecting rod 3121, the cross section of the connecting rod 3121 is non-circular, and the end of the connecting rod 3121 away from the second driving member 312 extends into the rotating groove 34. In this embodiment, the second driving member 312 is a motor, so that the second driving member 312 is used to drive the connecting rod 3121 to rotate.

[0038] Reference Figure 1 and Figure 2The adjustment mechanism 4 includes a rotating assembly 41 and a supporting assembly 42. The rotating assembly 41 includes a rotating drive member 411 and a rotating disk 412. The rotating drive member 411 is installed on the base 3. The rotating disk 412 is inserted into the rotating groove 34 and is rotatably connected to the base 3. The rotating drive member 411 is fixedly connected to the rotating disk 412. In this embodiment, the rotating drive member 411 is a motor, so that the rotating drive member 411 can be used to drive the rotating disk 412 to rotate.

[0039] Reference Figure 2 A limiting ring groove 35 is provided on the inner wall of the rotating groove 34, and the limiting ring groove 35 is coaxially arranged with the rotating disk 412. A limiting ring 4121 is fixedly connected to the circumferential side wall of the rotating disk 412, and the limiting ring 4121 is slidably inserted in the limiting ring groove 35 and fits with the inner wall of the limiting ring groove 35, so that the limiting ring 4121 is convenient for limiting the rotating disk 412, so as to reduce the possibility of shaking of the rotating disk 412, thereby facilitating the stability of the rotating disk 412.

[0040] The turntable 412 is provided with through holes 4122, the number of which is equal to the number of the massage heads 5, and the plurality of through holes 4122 are evenly distributed on the turntable 412 along the axis direction surrounding the turntable 412. A massage head 5 is slidably inserted into a through hole 4122, so that the turntable 412 can be used to drive the plurality of massage heads 5 to rotate synchronously, so as to adjust the positions of the massage heads 5.

[0041] The end of the massage head 5 close to the accommodating cavity 33 is provided with a snap-in groove 51, which is adapted to the shape of the connecting rod 3121. When the specific massage head 5 is needed, the specific massage head 5 is first moved to a position corresponding to the connecting rod 3121 by using the turntable 412, and then the first driving member 311 is started. The first driving member 311 drives the second driving member 312 and the connecting rod 3121 to move through the support plate 313, so that the connecting rod 3121 is inserted into the snap-in groove 51, so that the second driving member 312 can drive the specific massage head 5 to rotate through the connecting rod 3121.

[0042] When the massage head 5 needs to be switched, the first driving member 311 works in reverse to drive the second driving member 312 and the connecting rod 3121 to move in reverse through the support plate 313, so that the connecting rod 3121 disengages from the engaging groove 51, thereby facilitating the turntable 412 to remove the old massage head 5 and move the new designated massage head 5 to the position corresponding to the connecting rod 3121 to complete the switching of the massage head 5.

[0043] Reference Figure 2 The support assembly 42 includes an elastic member 421. The end of the massage head 5 close to the accommodating cavity 33 is fixedly connected with a first limit block 52, and the elastic member 421 is disposed between the first limit block 52 and the rotating disk 412. In this embodiment, the elastic member 421 is a spring.

[0044] When the connecting rod 3121 is inserted into the clamping groove 51, the connecting rod 3121 can apply pressure to the massage head 5 to push the massage head 5 to move away from the rotating groove 34, so that the massage head 5 is not in the same plane as other massage heads 5, which is conducive to avoiding the possibility of interference between adjacent massage heads 5, so as to improve the application range of the massage head 5, so that the massage head 5 can accurately massage the patient's acupuncture points. At this time, the elastic member 421 is compressed by the pressure of the first limit block 52. And when the connecting rod 3121 is out of the clamping groove 51, the elastic member 421 rebounds and can push the massage head 5 to reset through the first limit block 52.

[0045] Reference Figure 2 A pressure sensor (not shown) is installed on the massage head 5, and the pressure sensor is electrically connected to the control host 1. The pressure sensor can detect the pressure applied by the massage head 5 to the patient and transmit the detection data to the control host 1, so as to facilitate accurate adjustment of the pressure applied by the massage head 5 to the patient, so as to improve the massage experience and safety.

[0046] It should be noted that in the embodiment of the present application, the specific structure and model of the multiple massage heads 5 can be designed by technical personnel in this field according to actual needs, so that it is convenient to achieve diversified massage forms by switching the massage heads 5 to adapt to the actual situation of the patients, which is beneficial to increase the flexibility and scope of application of the robot.

[0047] The implementation principle of the intelligent robot for acupoint treatment before and after anesthesia in the embodiment of the present application is as follows: when a patient needs to be massaged to relieve the patient's symptoms, the patient's problem is first determined according to the patient's actual situation, and then the identification component 32 is started to identify the acupoints on the patient.

[0048] Next, the rotating driving member 411 is started, and the rotating driving member 411 moves the specific massage head 5 to a position corresponding to the connecting rod 3121 through the turntable 412, and then the first driving member 311 is started, and the first driving member 311 drives the second driving member 312 and the connecting rod 3121 to move through the support plate 313, so that the connecting rod 3121 is inserted into the clamping groove 51 to complete the switching of the massage head 5.

[0049] Finally, the robotic arm 2 drives the massage head 5 to move to the designated acupuncture points of the patient, and performs acupuncture, pressing or kneading on the acupuncture points of the patient according to actual needs to relieve the patient's symptoms.

[0050] Example 2 Reference Figure 3 The difference between this embodiment and embodiment 1 is that the support assembly 42 includes a support sleeve 422 .

[0051] The support sleeve 422 is slidably inserted into the through hole 4122 and sleeved on the massage head 5. The second limit block 4221 is fixedly connected to the circumferential outer wall of the support sleeve 422, and the first limit block 52 is in conflict with the second limit block 4221. In this embodiment, the contact surface between the second limit block 4221 and the first limit block 52 is smoothly arranged, so as to reduce the friction between the first limit block 52 and the second limit block 4221, thereby enabling the first limit block 52 and the second limit block 4221 to stably and smoothly rotate relative to each other.

[0052] The elastic member 421 is disposed between the second limiting block 4221 and the rotating disk 412 , so that the elastic member 421 does not directly contact the first limiting block 52 , thereby facilitating reducing the possibility of wear between the first limiting block 52 and the elastic member 421 .

[0053] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An intelligent robot for acupoint treatment before and after anesthesia, characterized in that: include: Robotic arms (2); A base (3) is arranged on the mechanical arm (2), and a driving component (31) is arranged in the base (3); an adjusting mechanism (4) arranged on the base (3); and A plurality of massage heads (5) are respectively arranged on the adjustment mechanism (4); the adjustment mechanism (4) is used to adjust the positions of the plurality of massage heads (5) so that one of the plurality of massage heads (5) is connected to the drive assembly (31); the drive assembly (31) is used to drive the massage head (5) to work.

2. The intelligent robot for acupoint treatment before and after anesthesia according to claim 1 is characterized by: The base (3) has an accommodating chamber (33) therein, the driving assembly (31) comprising a first driving member (311), a second driving member (312) and a support plate (313), the first driving member (311) being arranged in the accommodating chamber (33), the support plate (313) being slidably arranged in the accommodating chamber (33) and being connected to the first driving member (311); The second driving member (312) is arranged on the support plate (313); a connecting rod (3121) is arranged at one end of the second driving member (312) away from the support plate (313); the first driving member (311) is used to drive the support plate (313) to approach or move away from the massage head (5), so that the second driving member (312) drives the connecting rod (3121) to be detachably connected to the massage head (5); and the second driving member (312) can drive the massage head (5) to rotate via the connecting rod (3121).

3. The intelligent robot for acupoint treatment before and after anesthesia according to claim 2 is characterized by: An end of the massage head (5) close to the accommodating cavity (33) is provided with a snap-fitting groove (51), the cross section of the snap-fitting groove (51) being non-circular, and an end of the connecting rod (3121) away from the second driving member (312) is adapted to the shape of the snap-fitting groove (51), so that the connecting rod (3121) can be inserted into the snap-fitting groove (51).

4. The intelligent robot for acupoint treatment before and after anesthesia according to claim 2, characterized in that: The adjusting mechanism (4) comprises a rotating assembly (41), the rotating assembly (41) being rotatably connected to the base (3), the plurality of massage heads (5) being respectively connected to the rotating assembly (41), and the rotating assembly (41) being used to drive the massage heads (5) to rotate to a position corresponding to the connecting rod (3121).

5. The intelligent robot for acupoint treatment before and after anesthesia according to claim 4 is characterized by: The base (3) is provided with a rotation groove (34), one end of the connecting rod (3121) extends into the rotation groove (34), the rotating assembly (41) comprises a rotation driving member (411) and a rotating disk (412), the rotation driving member (411) is mounted on the base (3), the rotating disk (412) is inserted into the rotation groove (34) and is rotationally connected to the base (3), the rotation driving member (411) is connected to the rotating disk (412), and a plurality of massage heads (5) are evenly distributed on the rotating disk (412) along an axial direction surrounding the rotating disk (412).

6. The intelligent robot for acupoint treatment before and after anesthesia according to claim 5 is characterized by: A limit ring groove (35) is provided on the inner wall of the rotating groove (34), and a limit ring (4121) is provided on the circumferential side wall of the rotating disk (412). The limit ring (4121) is slidably inserted in the limit ring groove (35) and fits against the inner wall of the limit ring groove (35).

7. The intelligent robot for acupoint treatment before and after anesthesia according to claim 5 is characterized by: The adjustment mechanism (4) comprises a support assembly (42), the support assembly (42) comprises an elastic member (421), the rotating disk (412) is provided with through holes (4122), the number of the through holes (4122) is equal to the number of the massage heads (5), the massage heads (5) are slidably arranged in the through holes (4122), a first limit block (52) is arranged at one end of the massage head (5) close to the accommodating cavity (33), the elastic member (421) is arranged between the first limit block (52) and the rotating disk (412), and the elastic member (421) can push the massage head (5) to move into the rotating groove (34) through the first limit block (52).

8. The intelligent robot for acupoint treatment before and after anesthesia according to claim 7 is characterized by: The support assembly (42) comprises a support sleeve (422), the support sleeve (422) being slidably inserted into the through hole (4122) and sleeved on the massage head (5), a second limit block (4221) being arranged on the circumferential outer wall of the support sleeve (422), the first limit block (52) being in contact with the second limit block (4221), and the elastic member (421) being arranged between the second limit block (4221) and the rotating disk (412).

9. The intelligent robot for acupoint treatment before and after anesthesia according to claim 1, characterized in that: The massage head (5) is provided with a pressure sensor.

10. The intelligent robot for acupoint treatment before and after anesthesia according to claim 1, characterized in that: The invention comprises a control host (1), wherein the base (3) is provided with an identification component (32), the identification component (32) is used to identify acupuncture points of the human body, and the control host (1) is electrically connected to the mechanical arm (2), the adjustment mechanism (4), the driving component (31) and the identification component (32) respectively.

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