Automatic medical instrument taking equipment

Abstract

The invention relates to the technical field of medical equipment, in particular to automatic medical instrument taking equipment which comprises a mechanical arm and further comprises a fixing seat, and the fixing seat is arranged at the end of the mechanical arm; the mounting seat is arranged at one end, far away from the mechanical arm, of the fixed seat; the number of the main clamping plates is two, and the two main clamping plates are arranged in the mounting base; the sterilizing lamp is arranged on the side, close to the main clamping plate, of the mounting base; the main clamping unit is arranged on the mounting seat; according to the automatic medical instrument taking equipment, when a medical worker takes instruments, the instruments of different sizes can be directly clamped through the main clamping unit and the auxiliary clamping unit, the instruments can be adjusted according to the examination requirements of a doctor, meanwhile, scissors type instruments can be clamped and opened by a certain angle in advance, and the medical instrument taking efficiency is improved. And the medical staff can directly use the nursing tray after taking the nursing tray, so that the operation efficiency of the medical staff is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, in particular to an automated medical instrument taking device. Background Art

[0002] In medical work, bacterial cross infection is easy to occur when taking medical instruments. The existing operation method to avoid bacterial infection is that doctors wear gloves. Even if bacterial infection is avoided, it is inconvenient to take special medical instruments during some special operations, and gloves need to be changed constantly. For example, in dental implant surgery, the implant is placed in the gums, and after the implant and the gums grow firmly, a realistic porcelain tooth is connected to the implant, which can be called a simulated tooth. Implants can be divided into submucosal implants, subperiosteal implants, intraroot implants, intraosseous implants, mandibular implants, etc. according to the implantation site. In the existing dental implant surgery, two medical staff mostly use four-handed operating instruments to exchange and transfer, but this method not only has low exchange efficiency, but also increases the workload of medical staff;

[0003] Furthermore, some technicians designed instrument gripping devices, which enable different instruments to be gripped by mechanical arms, and then the gripped instruments are passed to the medical staff performing the operation, thus reducing the number of medical staff during the operation and greatly reducing their workload.

[0004] However, we found in actual use that when transferring instruments during dental implant surgery, most of the existing instrument clamping devices clamp the instruments at a preset position and then directly transfer them to medical staff. After the medical staff takes over the medical instruments, they need to adjust the position of the instruments by themselves in order to operate them on the patients. For example, instruments such as dental scrapers and flap openers with two ends in different directions, or instruments such as mouth mirrors and knife handles with bent ends, need to be adjusted according to the patient's implant position when in use. That is, when implanting teeth on the lower gums, the end of the instrument needs to be facing downward to facilitate operation by medical staff; when using scissors-like instruments, the scissors need to be opened at a certain angle in advance to facilitate the medical staff to hold and use them. For the above situations, the medical staff are required to rotate and open the instruments after getting them, which reduces the operating efficiency of the medical staff to a certain extent. For this reason, we propose an automated medical instrument picking device. Summary of the invention

[0005] A technical problem to be solved by the present application is: how to adjust the clamped instrument to a suitable position in advance when the medical staff takes the instrument.

[0006] In order to solve the above technical problems, the embodiment of the present application provides an automated medical device taking device, including a mechanical arm and a fixing seat, wherein the fixing seat is arranged at the end of the mechanical arm;

[0007] A mounting seat, the mounting seat is arranged at an end of the fixing seat away from the mechanical arm;

[0008] A main clamping plate, wherein two main clamping plates are provided and are respectively arranged in the mounting seat;

[0009] A disinfection lamp, which is arranged on a side of the mounting base close to the main clamping plate;

[0010] A main gripping unit is used to directly grip instruments of different sizes and can adjust the instruments according to the doctor's examination requirements. The main gripping unit is arranged on the mounting seat;

[0011] Auxiliary clamping plates, used to respectively cooperate with adjacent main clamping plates to clamp scissors-like instruments, wherein two auxiliary clamping plates are provided and are respectively arranged on the back sides of the two main clamping plates;

[0012] The auxiliary clamping unit is used to clamp the scissors-like instrument and cooperate with the main clamping unit to pre-open the scissors-like instrument to a certain angle. The auxiliary clamping unit is arranged on the mounting seat.

[0013] In some embodiments, the main gripping unit includes a connecting seat arranged on a side of the mounting seat close to the fixing seat, a controller is arranged in the connecting seat, and an adjustment component for adjusting the instrument according to the doctor's examination requirements is arranged on the fixing seat and the mounting seat;

[0014] A synchronous shifting member for driving the two main clamping plates to move synchronously is arranged in the mounting seat.

[0015] In some embodiments, the adjustment assembly includes a first motor disposed in a fixing seat, and an output end of the first motor is connected to a connecting seat.

[0016] In some embodiments, the synchronous shifting member includes a sliding frame arranged in a mounting seat, a bidirectional screw is rotatably arranged in the sliding frame, and the ends of the two main clamping plates are provided with shifting plates slidably connected to the sliding frame. The two shifting plates are respectively threadedly connected to the two sides of the bidirectional screw, and a second motor connected to the bidirectional screw is arranged on the sliding frame.

[0017] In some embodiments, the auxiliary gripping unit comprises two movable chambers respectively arranged on opposite sides of the main gripping plate, the mounting seat is provided with a fixed chamber, and the mounting seat is provided with a driving member for pushing the gas in the fixed chamber into the movable chamber respectively;

[0018] A synchronous extension and retraction member for driving the two auxiliary clamping plates to be synchronously extended and retracted is arranged in the mounting seat.

[0019] In some embodiments, the driving member includes an electric push rod disposed on the fixed cavity, a U-shaped rod is disposed at the end of the electric push rod, and a first piston connected to the U-shaped rod is slidably disposed in the fixed cavity.

[0020] In some embodiments, the synchronous expansion and contraction component includes two second pistons respectively slidably arranged in the movable cavity, connecting rods are arranged on opposite sides of the second pistons, the auxiliary clamping plates are respectively arranged at the ends of adjacent connecting rods, and hoses respectively connected to the two ends of the fixed cavity are arranged at both ends of the two movable cavities, and the hoses are movably passed through the main clamping plate and the mounting seat.

[0021] In some embodiments, the adjustment assembly includes an extension plate disposed on the mounting seat, and the extension plate is provided with a clamping member for clamping instruments of different sizes;

[0022] A reversing member for adjusting the instrument is arranged between the two main clamping plates.

[0023] In some embodiments, the clamping member includes a micro air pump disposed on the extension plate, and fixing blocks are respectively disposed on opposite sides of the two main clamping plates, and air bags connected to the micro air pump are disposed in the two fixing blocks.

[0024] In some embodiments, the fixed blocks are provided with mounting grooves for use in conjunction with each other, the switching member includes two rotating blocks movably arranged in the mounting grooves, the fixed blocks are provided with arc plates, one side of the airbag is in an arc structure and is connected to the arc plate, any one of the fixed blocks is provided with a third motor, the output end of the third motor is provided with a driving gear, the top of the arc plate is provided with an arc rod, the arc rod is provided with a plurality of tooth grooves for use in conjunction with the driving gear, and electric sheets for use in conjunction with each other are provided on opposite sides of the two fixed blocks, and the electric sheets are connected to the controller for powering the micro air pump.

[0025] The present invention has at least the following beneficial effects:

[0026] 1. When picking up instruments, medical staff can use the main gripping unit and the auxiliary gripping unit to directly grip instruments of different sizes, and can adjust the instruments according to the doctor's examination needs. At the same time, it can grip scissors-like instruments and pre-open them at a certain angle, which is convenient for medical staff to use directly after picking them up, greatly improving the operating efficiency of medical staff;

[0027] 2. The instruments for direct clamping are classified, and are also applicable to instruments with two ends in different directions such as dental scrapers and flap openers, as well as instruments with bent ends such as mouth mirrors and knife handles, making the clamping equipment more versatile. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 For the present invention Figure 1 Another structural diagram;

[0030] Figure 3 For the present invention Figure 1 Schematic diagram of the local cross-section structure;

[0031] Figure 4 It is a schematic diagram of the cross-sectional structure of the present invention and 3 parts;

[0032] Figure 5 It is a schematic diagram of the structure of the main clamping plate and the auxiliary clamping unit of the present invention;

[0033] Figure 6 For the present invention Figure 5 Schematic diagram of the local cross-section structure;

[0034] Figure 7 This is a schematic diagram of the overall structure of Embodiment 2 of the present invention;

[0035] Figure 8 For the present invention Figure 7 Schematic diagram of the local cross-section structure;

[0036] Fig. 9 For the present invention Figure 8 Schematic diagram of the structure after the adjustment components are removed;

[0037] Fig.10 This is a schematic diagram of the structure of the main clamping plate and the adjustment assembly of the present invention;

[0038] Fig.11 For the present invention Fig.10 Schematic diagram of some structures after explosion;

[0039] Fig.12 This is a schematic diagram of the structure of the commutator of the present invention;

[0040] Fig.13 It is a schematic diagram of the structure of the present invention after clamping a rectangular device.

[0041] In the figure: 1, mechanical arm; 2, main gripping unit; 21, connecting seat; 22, controller; 3, adjustment component; 31, first motor; 4, synchronous shifting member; 41, sliding frame; 42, two-way screw rod; 43, shifting plate; 44, second motor; 5, auxiliary gripping unit; 51, moving chamber; 52, fixed chamber; 6, driving member; 61, electric push rod; 62, U-shaped rod; 63, first piston; 7, synchronous unfolding and retracting member; 71, The second piston; 72, connecting rod; 8, clamping member; 81, micro air pump; 82, fixing block; 83, air bag; 9, reversing member; 91, mounting groove; 92, rotating block; 93, arc plate; 94, third motor; 95, driving gear; 96, arc rod; 97, tooth groove; 98, electric sheet; 10, fixing seat; 11, mounting seat; 12, main clamping plate; 13, disinfection lamp; 14, auxiliary clamping plate; 15, extension plate. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] Example 1

[0044] See also Figure 1-6 , the present invention provides a technical solution:

[0045] An automated medical device taking device includes a mechanical arm 1, which is a common structure and will not be described in detail herein, and also includes a fixing seat 10, which is arranged at the end of the mechanical arm 1;

[0046] A mounting seat 11, which is arranged at one end of the fixing seat 10 away from the robot arm 1, and the end of the mounting seat 11 away from the fixing seat 10 is in an open state to ensure the normal adjustment and displacement of the main clamping plate 12 and the auxiliary clamping plate 14;

[0047] A main clamping plate 12, wherein two main clamping plates 12 are provided and are respectively arranged in the mounting seat 11;

[0048] A disinfection lamp 13 is arranged on the side of the mounting seat 11 close to the main clamping plate 12, and is used to disinfect the clamped instrument to ensure the sterility of the instrument. At the same time, the main clamping plate 12 and the auxiliary clamping plate 14 can also be disinfected to further improve the cleanliness of the clamping;

[0049] The main gripping unit 2 is used to directly grip instruments of different sizes and can adjust the instruments according to the doctor's examination requirements. The main gripping unit 2 is arranged on the mounting seat 11;

[0050] The auxiliary clamping plates 14 are used to respectively cooperate with the adjacent main clamping plates 12 to clamp the scissors-like instruments. Two auxiliary clamping plates 14 are provided and are respectively arranged on the opposite sides of the two main clamping plates 12;

[0051] The auxiliary clamping unit 5 is used to clamp the scissors-like instrument and cooperate with the main clamping unit 2 to pre-open the scissors-like instrument to a certain angle. The auxiliary clamping unit 5 is arranged on the mounting seat 11.

[0052] The main gripping unit 2 includes a connecting seat 21 disposed on the side of the mounting seat 11 close to the fixing seat 10, a controller 22 is disposed in the connecting seat 21, and an adjustment component 3 for adjusting the instrument according to the doctor's examination requirements is disposed on the fixing seat 10 and the mounting seat 11;

[0053] A synchronous shifting member 4 is provided in the mounting seat 11 for driving the two main clamping plates 12 to move synchronously;

[0054] The adjustment assembly 3 includes a first motor 31 disposed in the fixing seat 10, and an output end of the first motor 31 is connected to the connecting seat 21;

[0055] The synchronous shifting member 4 includes a sliding frame 41 arranged in the mounting seat 11, a bidirectional screw rod 42 is rotatably arranged in the sliding frame 41, and the ends of the two main clamping plates 12 are provided with shifting plates 43 slidably connected to the sliding frame 41, and the two shifting plates 43 are respectively threadedly connected to the two sides of the bidirectional screw rod 42, and a second motor 44 connected to the bidirectional screw rod 42 is arranged on the sliding frame 41, and the shifting plate 43 is in contact with the inner wall of the sliding frame 41, providing a guiding effect for the displacement of the main clamping plates 12;

[0056] The auxiliary gripping unit 5 includes two movable chambers 51 respectively arranged on opposite sides of the main gripping plate 12, a fixed chamber 52 is arranged on the mounting seat 11, and a driving member 6 for pushing the gas in the fixed chamber 52 into the movable chamber 51 is arranged on the mounting seat 11;

[0057] A synchronous unfolding and retracting member 7 is provided in the mounting seat 11 for driving the two auxiliary clamping plates 14 to unfold and retract synchronously;

[0058] The driving member 6 comprises an electric push rod 61 arranged on the fixed cavity 52, a U-shaped rod 62 is arranged at the end of the electric push rod 61, and a first piston 63 connected to the U-shaped rod 62 is slidably arranged in the fixed cavity 52;

[0059] The synchronous unfolding and receiving member 7 includes two second pistons 71 respectively slidably arranged in the movable chamber 51, and connecting rods 72 are arranged on opposite sides of the second pistons 71. The auxiliary clamping plates 14 are respectively arranged at the ends of the adjacent connecting rods 72. Both ends of the two movable chambers 51 are provided with hoses respectively connected to the two ends of the fixed chamber 52, and the hoses are movably passed through the main clamping plate 12 and the mounting seat 11.

[0060] When in use, the clamping device will clamp the corresponding instruments according to the needs of the medical staff according to the program control. When clamping instruments such as dental scrapers and flap openers with two ends in different directions, the mechanical arm 1 rotates to the front of the instrument, and the second motor 44 starts to drive the main clamping plate 12 to shift, and cooperates with the adjustment of the mechanical arm 1 to adjust the instrument to between the main clamping plates 12, and then the second motor 44 works in reverse to clamp the instrument. After clamping, the instrument is adjusted according to the patient's surgical position. If adjustment is required, the first motor 31 starts and drives the connecting seat 21 and the instrument to rotate 180°, so that the two ends of instruments such as dental scrapers and flap openers are swapped, thereby realizing the adjustment of the instrument;

[0061] When a scissors-like instrument is needed, the robotic arm 1 rotates to the front of the instrument, and the electric push rod 61 is started to drive the U-shaped rod 62 and the first piston 63 to shift, so that the gas in the fixed chamber 52 enters the two movable chambers 51 respectively, causing the second piston 71 inside to shift, which causes the auxiliary clamping plate 14 to shift relative to the main clamping plate 12, thereby achieving separate clamping of the two arms of the scissors-like instrument. Then the second motor 44 is started to drive the main clamping plate 12 to shift, so that the instrument can be pre-opened to a certain angle for easy use by medical staff.

[0062] Example 2

[0063] See also Figure 1-13 , the present invention provides a technical solution:

[0064] In actual use, it is found that for instruments with bent ends such as mouth mirrors and knife handles, since they only have one end, when the instrument is rotated 180°, it is impossible to adjust the instrument. Therefore, when designing, it is necessary to design a structure that allows the instrument to rotate itself. This not only solves the problem of instrument adjustment, but also reduces the range occupied by the instrument during adjustment. The details are as follows:

[0065] Different from the embodiment 1, the present solution provides another implementation of the adjustment assembly 3: the adjustment assembly 3 comprises an extension plate 15 arranged on the mounting seat 11, and a clamping member 8 for clamping instruments of different sizes is arranged on the extension plate 15;

[0066] A reversing member 9 for adjusting the instrument is provided between the two main clamping plates 12;

[0067] The clamping member 8 includes a micro air pump 81 disposed on the extension plate 15, and fixing blocks 82 are respectively disposed on opposite sides of the two main clamping plates 12. Air bags 83 connected to the micro air pump 81 are disposed in the two fixing blocks 82, and the micro air pump 81 and the air bag 83 are connected by a hose.

[0068] The fixed blocks 82 are provided with mounting grooves 91 for use in coordination, and the commutator 9 includes two rotating blocks 92 movably arranged in the mounting grooves 91, and the fixed blocks 82 are provided with arc plates 93. One side of the airbag 83 is in an arc structure and is connected to the arc plate 93. A third motor 94 is provided on any fixed block 82, and a driving gear 95 is provided at the output end of the third motor 94. The top of the arc plate 93 is provided with an arc rod 96, and the arc rod 96 is provided with a plurality of tooth grooves 97 for use in coordination with the driving gear 95. The opposite sides of the two fixed blocks 82 are provided with electric sheets 98 for use in coordination, and the electric sheets 98 are connected to the controller 22 for supplying power to the micro air pump 81.

[0069] like Fig.13 As shown, the airbag 83 can not only clamp cylindrical instruments, but also rectangular instruments, but is not limited to these two types.

[0070] When in use, the clamping device will clamp the corresponding instruments according to the needs of medical staff according to program control. When clamping instruments such as dental scrapers and flap openers with two ends in different directions or instruments with bent ends such as mouth mirrors and knife handles, the mechanical arm 1 rotates to the front of the instrument, and the second motor 44 starts to drive the main clamping plate 12 to shift, and cooperates with the adjustment of the mechanical arm 1 to adjust the instrument between the main clamping plates 12, and then the second motor 44 works in reverse to clamp the instrument. At this time, the two electric sheets 98 are fitted together, and the micro air pump 81 is powered to inflate the airbag 83 to fit the instrument, thereby clamping the instrument. After clamping, the instrument is adjusted according to the patient's surgical position. If necessary, When the third motor 94 is started to drive the driving gear 95 to rotate, the driving gear 95 drives the tooth groove 97 matched therewith to rotate, so that the rotating blocks 92 on the two arc-shaped plates 93 rotate 180° in the mounting groove 91. At this time, the two rotating blocks 92 are respectively rotated to the other mounting groove 91. Because the micro air pump 81 is connected to the air bag 83 through a hose, and the two main clamping plates 12 do not need to move too much when taking the instrument, it will not affect the doctor's normal taking of the instrument. After the taking and use are completed, the main clamping plate 12 is reversed to re-clamp the instrument, and the third motor 94 rotates in the opposite direction, so that the rotating block 92 is reset and the hose is also restored to its original position for the next use;

[0071] When a scissors-like instrument is needed, the robotic arm 1 rotates to the front of the instrument, and the electric push rod 61 is started to drive the U-shaped rod 62 and the first piston 63 to shift, so that the gas in the fixed chamber 52 enters the two movable chambers 51 respectively, causing the second piston 71 inside to shift, which causes the auxiliary clamping plate 14 to shift relative to the main clamping plate 12, thereby achieving separate clamping of the two arms of the scissors-like instrument. Then the second motor 44 is started to drive the main clamping plate 12 to shift, so that the instrument can be pre-opened to a certain angle for easy use by medical staff.

[0072] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0073] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automated medical device handling device, comprising a robotic arm (1), characterized in that: It also includes a fixing seat (10), wherein the fixing seat (10) is arranged at the end of the mechanical arm (1); A mounting seat (11), wherein the mounting seat (11) is arranged at an end of the fixing seat (10) away from the mechanical arm (1); A main clamping plate (12), wherein two main clamping plates (12) are provided and are respectively arranged in the mounting seat (11); A disinfection lamp (13), wherein the disinfection lamp (13) is arranged on a side of the mounting seat (11) close to the main clamping plate (12); A main gripping unit (2) is used to directly grip instruments of different sizes and can adjust the instruments according to the doctor's examination requirements, and the main gripping unit (2) is arranged on the mounting seat (11); Auxiliary clamping plates (14) are used to respectively cooperate with adjacent main clamping plates (12) to clamp scissor-type instruments, and two auxiliary clamping plates (14) are provided and are respectively arranged on the opposite sides of the two main clamping plates (12); The auxiliary clamping unit (5) is used to clamp the scissors-like instrument and cooperate with the main clamping unit (2) to pre-open the scissors-like instrument to a certain angle. The auxiliary clamping unit (5) is arranged on the mounting seat (11).

2. The automated medical device handling device according to claim 1, characterized in that: The main gripping unit (2) comprises a connecting seat (21) arranged on a side of the mounting seat (11) close to the fixing seat (10), a controller (22) being arranged in the connecting seat (21), and an adjusting component (3) for adjusting the instrument according to the doctor's examination requirements being arranged on the fixing seat (10) and the mounting seat (11); A synchronous shifting member (4) for driving the two main clamping plates (12) to move synchronously is arranged in the mounting seat (11).

3. The automated medical device handling device according to claim 2, characterized in that: The adjustment component (3) comprises a first motor (31) arranged in a fixing seat (10), and an output end of the first motor (31) is connected to a connecting seat (21).

4. The automated medical device handling device according to claim 2, characterized in that: The synchronous shifting member (4) comprises a sliding frame (41) arranged in a mounting seat (11), a bidirectional screw rod (42) being rotatably arranged in the sliding frame (41), a shifting plate (43) slidably connected to the sliding frame (41) being arranged at the ends of the two main clamping plates (12), the two shifting plates (43) being respectively threadedly connected to the two sides of the bidirectional screw rod (42), and a second motor (44) connected to the bidirectional screw rod (42) being arranged on the sliding frame (41).

5. The automated medical device handling device according to claim 4, characterized in that: The auxiliary gripping unit (5) comprises two movable chambers (51) respectively arranged on opposite sides of the main gripping plate (12); a fixed chamber (52) is arranged on the mounting seat (11); and a driving member (6) is arranged on the mounting seat (11) for pushing the gas in the fixed chamber (52) into the movable chamber (51); A synchronous extension and retraction member (7) for driving the two auxiliary clamping plates (14) to be synchronously extended and retracted is arranged in the mounting seat (11).

6. The automated medical device handling device according to claim 5, characterized in that: The driving member (6) comprises an electric push rod (61) arranged on the fixed cavity (52), a U-shaped rod (62) being arranged at the end of the electric push rod (61), and a first piston (63) connected to the U-shaped rod (62) being slidably arranged in the fixed cavity (52).

7. The automated medical device handling device according to claim 6, characterized in that: The synchronous unfolding and receiving member (7) comprises two second pistons (71) respectively slidably arranged in the movable chamber (51), and connecting rods (72) are arranged on opposite sides of the second pistons (71). The auxiliary clamping plates (14) are respectively arranged at the ends of the adjacent connecting rods (72), and both ends of the two movable chambers (51) are respectively provided with hoses connected to the two ends of the fixed chamber (52), and the hoses are movably passed through the main clamping plate (12) and the mounting seat (11).

8. The automated medical device handling device according to claim 7, characterized in that: The adjustment assembly (3) comprises an extension plate (15) arranged on the mounting seat (11), and a clamping member (8) for clamping instruments of different sizes is arranged on the extension plate (15); A reversing member (9) for adjusting the instrument is arranged between the two main clamping plates (12).

9. The automated medical device handling device according to claim 8, characterized in that: The clamping member (8) comprises a micro air pump (81) arranged on the extension plate (15), and fixing blocks (82) are respectively arranged on opposite sides of the two main clamping plates (12), and air bags (83) connected to the micro air pump (81) are arranged in the two fixing blocks (82).

10. The automated medical device handling device according to claim 9, characterized in that: The fixed blocks (82) are each provided with a mounting groove (91) for use in conjunction with each other. The reversing member (9) comprises two rotating blocks (92) movably arranged in the mounting grooves (91) respectively. The fixed blocks (82) are each provided with an arc plate (93). One side of the air bag (83) is in an arc structure and is connected to the arc plate (93). A third motor (94) is provided on any one of the fixed blocks (82). A driving gear (95) is provided at the output end of the third motor (94). The top of the arc plate (93) is provided with an arc rod (96). The arc rod (96) is provided with a plurality of tooth grooves (97) for use in conjunction with the driving gear (95). An electric sheet (98) for use in conjunction with each other is provided on opposite sides of the two fixed blocks (82). The electric sheet (98) is connected to the controller (22) and is used to supply power to the micro air pump (81).

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