Acupuncture robot and intelligent acupuncture system

Abstract

The invention discloses an acupuncture robot and an intelligent acupuncture system, and belongs to the technical field of medical care equipment. An acupuncture and moxibustion robot comprises a robot support, a pulse emission head, a rotating disc and an acupuncture point acupuncture and moxibustion mold plate, an installation cover is installed at the front end of the robot support, a plurality of fixing sleeves are arranged in the installation cover, and tension springs are arranged between the fixing sleeves and the pulse emission head; visual modules are installed on the two sides of the rotating disc. The problems that in the actual using process of an existing acupuncture robot, the acupuncture position cannot be accurately positioned after positioning, working precision is poor, and intelligence is common are solved, the position and the acupuncture point are judged through the processor module, the corresponding acupuncture point acupuncture mold plate is determined, and therefore the acupuncture position can be accurately positioned by installing the corresponding acupuncture point acupuncture mold plate. The acupuncture and moxibustion device is simple in structure and good in position stability, the corresponding pulse emitting heads are adjusted according to different acupuncture points, acupuncture and moxibustion treatment work is carried out, and the treatment precision is high.

Description

Technical Field

[0001] The present invention relates to the technical field of medical care equipment, and in particular to an acupuncture robot and an intelligent acupuncture system. Background Art

[0002] Electronic acupuncture and massage therapy is one of the commonly used health care and treatment methods at this stage. The commonly used electronic acupuncture and massage treatment methods are mainly: handheld treatment pen, the doctor holds the treatment pen and aims it at the acupuncture points of the human body for treatment, and only one acupuncture point can be treated at a time. Palm binding method, that is, the electrode is tied to the palm with a binding belt, the doctor aims the electrode at the patient's acupuncture point and presses it, then ties it to the patient's palm, and connects the electric pulse generator to perform electric pulse treatment on the patient.

[0003] The Chinese patent with announcement number CN106730346B discloses an acupuncture robot and an intelligent acupuncture system, which relate to the field of medical care equipment. The acupuncture robot includes an acupuncture treatment host, treatment electrodes and a palm holder. The intelligent acupuncture system includes an acupuncture robot and a server. The acupuncture robot and intelligent acupuncture system provided by the patent can perform acupuncture and massage treatment for different patients, and realize remote auxiliary treatment, and upload the treatment effect in real time, so that medical staff can better serve patients.

[0004] In actual use, the acupuncture robot of the above patent cannot accurately locate the acupuncture position after positioning, has poor working accuracy, and is generally intelligent; therefore, it cannot meet existing needs. In this regard, we propose an acupuncture robot and an intelligent acupuncture system. Summary of the invention

[0005] The purpose of the present invention is to provide an acupuncture robot and an intelligent acupuncture system, which solve the problems that the acupuncture robot proposed in the above background technology cannot accurately locate the acupuncture position after positioning during actual use, has poor working accuracy, and is generally intelligent.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an acupuncture robot and an intelligent acupuncture system, comprising a robot bracket, a pulse transmitter, a rotating disk and an acupuncture point mold plate, a mounting cover is installed at the front end of the robot bracket, a plurality of fixed sleeves are arranged inside the mounting cover, the pulse transmitter penetrates the inside of the fixed sleeve and is slidably connected with the fixed sleeve, and a tension spring is arranged between the fixed sleeve and the pulse transmitter; The rotating disk is mounted outside the mounting cover and is rotatably connected to the mounting cover via a bearing, and vision modules are mounted on both sides of the rotating disk; The acupuncture point mold plate is arranged inside the mounting cover and is fixedly connected to the mounting cover via a buckle.

[0007] Preferably, a connecting arm is installed on one side of the upper end of the robot bracket, a telescopic arm is installed between the connecting arm and the robot bracket, one end of the telescopic arm extends into the interior of the robot bracket and is slidably connected to the robot bracket, and an electric lead screw is installed inside the robot bracket, and the electric lead screw passes through the telescopic arm and is threadedly connected to the telescopic arm.

[0008] Preferably, a motor is installed at the lower end of the connecting arm, and the motor is connected to the connecting arm and one side of the telescopic arm through a fixing screw. A driving gear is installed at the lower end of the motor, and an integrally formed adjusting tooth is provided on the outer side of the rotating disk, and the driving gear is meshingly connected with the adjusting tooth.

[0009] Preferably, a support base is installed at the lower end of the robot bracket, and an integrally formed elastic pad is provided at the upper end of the support base, and the elastic pad is used to support the body part of the patient.

[0010] Preferably, an electric cylinder is installed above the mounting cover, a reduction motor is installed at the upper end of the electric cylinder, a motor shaft of the reduction motor is fixedly connected to the upper end of the electric cylinder, and the connecting arm is fixedly connected to the outside of the reduction motor.

[0011] Preferably, support frames are installed at the four corners of the lower end of the mounting cover, and a damping pad is provided at the lower end of the support frame, and the damping pad and the elastic pad are used to clamp the patient's body to assist in positioning.

[0012] Preferably, a telescopic cylinder is installed at the lower end of the electric cylinder, and a plurality of spring rods are provided at the lower end of the telescopic cylinder. The lower end of the telescopic cylinder is fixedly connected to the upper ends of the plurality of spring rods through a connecting plate, and a pressing sleeve is provided at the lower end of the spring rod. A pressure spring is installed inside the pressing sleeve, and the pressure spring is fixedly connected to the pressing sleeve and the spring rod, respectively.

[0013] Preferably, the interior of the acupuncture mold plate is provided with an integrally formed pressing port, the pressing sleeve passes through the pressing port and extends to the bottom of the acupuncture mold plate to be pressed against the pulse transmitter, and the elastic force of the pulse transmitter is smaller than the elastic force of the pressure spring.

[0014] Preferably, the rotating disk is connected to the visual module via fixing screws, a sensor probe is provided at the lower end of the visual module, and the sensor probe is connected to the processor module via a transmission module.

[0015] Preferably, a plurality of positioning mechanisms are arranged on the support base, the positioning mechanisms include a winding chamber, a limiting chamber and a positioning flexible belt, the winding chamber and the limiting chamber are respectively arranged in the support base, a winding motor is arranged in the winding chamber, a winding drum is arranged at the output end of the winding motor, a sliding plate is slidably arranged in the limiting chamber, the bottom of the sliding plate is connected to the bottom wall of the limiting chamber through a reset spring, one end of the positioning flexible belt bypasses the winding drum and is connected to the outer wall of the winding drum, the other end of the positioning flexible belt is connected to the upper surface of the sliding plate, a spring rod is arranged on the upper surface of the sliding plate, a pressure sensor is arranged on the upper end of the spring rod, positioning cylinders are symmetrically arranged on the left and right sides of the positioning flexible belt, the positioning cylinders are connected to the support base through a support tube, and the lower end of the support tube extends to Inside the support base, a piston plate is slidably arranged inside the positioning cylinder, a piston rod is arranged near one end of the piston plate near the positioning flexible belt, the piston rod is extended to the outside of the positioning cylinder near one end of the positioning flexible belt and a mounting frame is arranged, a contact roller and a distance sensor are arranged on the mounting frame, an air cavity is arranged inside the support base, an air pump is arranged at the bottom of the support base, one end of the air pump is connected to the air cavity through an air hole, a valve is arranged in the air hole, a first airway is arranged inside the support tube, the air cavity is connected to one end of the first airway through the second airway, and the other end of the first airway is connected to the end of the positioning cylinder away from the contact roller through the air pipe, a controller is arranged at the bottom of the support base, and the controller is electrically connected to the winding motor, pressure sensor, distance sensor and air pump respectively. An intelligent acupuncture system for an acupuncture robot includes a processor module and a control terminal, the input end of the processor module is connected to the output end of the motor and the sensor probe respectively; The sensor probe is configured to default to original custom data, combined with detecting the patient's skin condition and acupuncture point location, and also includes identification of the patient's skin thickness and identification of the patient's body part; The motor is configured as a forward and reverse adjustment structure, and based on the angle of the rotating disk, the rotation of the sensor probes on both sides is adjusted after the processing is completed; The output end of the processor module is connected to the input end of the control terminal; The control terminal is configured to receive the judgment information of the processor module, judge the acupoint information of the patient according to the data detection information of the sensor probe, and pre-process the acupoint information for the visual module. The control terminal is configured as a two-dimensional operating platform, and the control terminal is configured to provide corresponding acupoint information, and the structure initial data provides the corresponding acupoint acupuncture mold plate; The output end of the processor module is connected to the input end of the electric cylinder, the reduction motor, the vision module and the pulse transmitter respectively; The reduction motor is configured as a forward and reverse rotation adjustment structure, and based on the output command of the processor module, the serialized defined data information is used as standard custom data, and the height and angle of the mounting cover and the pulse transmitter head are adjusted based on the above custom data; The electric cylinder is configured as an electromagnetic control structure. Based on the output command of the processor module, the serialized defined data information is used as standard custom data. The length of the electric cylinder is adjusted based on the custom data. In combination with the position data information output of the visual module, the telescopic length of the electric cylinder is defined as custom data. The defined data information is adjusted based on the custom data of the telescopic length to press the sleeve to squeeze the pulse transmitter to perform acupuncture work; The pulse transmitter head is configured as a contact current transmitter module, and the pulse transmitter head adjusts the size of the current transmitter module based on the skin thickness information recognized by the sensor probe. After the current transmitter module contacts the skin, it transmits electric pulses to the acupuncture points in combination with the output command of the processor module.

[0016] Preferably, based on the data detection information of the sensor probe, the actual emission current of the current emission module is calculated by the following formula: in, is the actual emission current, To preset the emission current, is the first weight coefficient, The actual skin condition of the patient detected by the sensor probe. For standard skin condition, is the second weight coefficient, The thickness of the patient's skin detected by the sensor probe, The preset minimum skin thickness.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. During operation of the acupuncture robot of the present invention, the patient places the position where acupuncture treatment is required above the support base and the elastic pad, and the acupuncture position of the patient is fixed by the support base and the support frame. After the position is fixed, the visual module and the sensor probe are driven by the rotating disk to visually monitor the skin surface. After the detection, the position and acupoints are judged by the processor module, and the corresponding acupoint acupoint mold plate is determined, so that accurate acupoint positioning work can be performed by installing the corresponding acupoint acupoint mold plate. The robot has a simple structure and good position stability. The corresponding pulse transmitter is adjusted according to different acupoints to perform acupuncture treatment work with high treatment accuracy.

[0018] 2. When the acupuncture robot of the present invention is in operation, the electric cylinder drives the telescopic cylinder to press down the spring rod, and the spring rod drives the pressing sleeve to pass through the pressing port to squeeze the pulse transmitter head. The pulse transmitter head extends out of the fixed sleeve, so that the pulse transmitter head corresponding to the acupuncture point can be accurately extended, while the remaining pulse transmitter heads are blocked by the acupuncture point mold plate. The spring rod retracts into the pressing sleeve and remains inside the fixed sleeve, thereby further improving the positioning accuracy of the acupuncture points.

[0019] 3. The acupuncture robot of the present invention can limit the two sides of the patient's limbs by the positioning flexible belt through the squeezing of the contact rollers on both sides. At the same time, the patient's limbs are fixed in the positioning flexible belt through the contact between the positioning flexible belt and the upper part of the patient's limbs. The positioning of the patient's limbs by at least two positioning mechanisms can improve the reliability of the patient's limb positioning, avoid the displacement of the acupuncture points caused by the patient's subconscious dodging when the pulse transmitter head is extended, and further improve the positioning accuracy of acupuncture.

[0020] 4. The acupuncture robot of the present invention adjusts the emission current of the current emission module so that the emission current is equal to the actual emission current, thereby accurately emitting electric pulses to the acupuncture points, thereby improving the acupuncture effect on the patient. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Axonometric view of the present invention from the front Figure 2 It is an axonometric view of the present invention from above; Figure 3 An axonometric view of the present invention viewed from above; Figure 4 For the present invention Figure 3 A partial enlarged view of area A in the middle; Figure 5 An axonometric view of the interior of the mounting cover of the present invention from the front; Figure 6 An axonometric view of the interior of the installation cover of the present invention when viewed from above; Figure 7 It is the system principle diagram of the present invention; Figure 8 It is a schematic diagram of the positioning mechanism of the present invention; Fig. 9 For the present invention Figure 8 Partial cross-sectional view at the middle BB; Fig.10 For the present invention Fig. 9 A partial enlarged view of the middle C area; Fig.11 For the present invention Fig. 9 A partial enlarged view of area D in the middle.

[0022] In the figure: 1. Robot bracket; 2. Connecting arm; 201. Telescopic arm; 202. Motor; 203. Driving gear; 3. Support base; 301. Elastic pad; 4. Electric cylinder; 401. Mounting cover; 402. Speed ​​reduction motor; 403. Support frame; 404. Fixed sleeve; 405. Pulse transmitter; 406. Telescopic cylinder; 407. Spring rod; 408. Press sleeve; 5. Rotating disk; 501. Visual module; 502. Sensor probe; 503 , adjusting teeth; 6, acupuncture point mold plate; 601, pressing port; 7, processor module; 8, control terminal; 901, winding chamber; 902, limiting chamber; 903, positioning flexible belt; 904, winding drum; 905, sliding plate; 906, reset spring; 907, spring rod; 908, positioning cylinder; 909, support tube; 910, piston plate; 911, piston rod; 912, contact roller; 913, air cavity; 914, second airway; 915, air pipe. DETAILED DESCRIPTION

[0023] 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.

[0024] In order to solve the problems of existing acupuncture robots in actual use, such as the inability to accurately locate acupuncture positions after positioning, poor working accuracy, and general intelligence, please refer to Figure 1 - Figure 4 , this embodiment provides the following technical solutions: An acupuncture robot comprises a robot support 1, a pulse transmitter 405, a rotating disk 5 and an acupuncture point mold plate 6. A mounting cover 401 is mounted at the front end of the robot support 1. A plurality of fixed sleeves 404 are arranged inside the mounting cover 401. The pulse transmitter 405 penetrates the inside of the fixed sleeve 404 and is slidably connected to the fixed sleeve 404. A tension spring is arranged between the fixed sleeve 404 and the pulse transmitter 405. The rotating disk 5 is installed outside the mounting cover 401 and is rotatably connected to the mounting cover 401 through a bearing, and visual modules 501 are installed on both sides of the rotating disk 5; The acupuncture point mold plate 6 is arranged inside the mounting cover 401 and is fixedly connected to the mounting cover 401 by snap fastening.

[0025] A connecting arm 2 is installed on one side of the upper end of the robot bracket 1, and a telescopic arm 201 is installed between the connecting arm 2 and the robot bracket 1. One end of the telescopic arm 201 extends into the interior of the robot bracket 1 and is slidably connected to the robot bracket 1. An electric lead screw is installed inside the robot bracket 1, and the electric lead screw passes through the telescopic arm 201 and is threadedly connected to the telescopic arm 201.

[0026] A motor 202 is installed at the lower end of the connecting arm 2, and the motor 202 is connected to the connecting arm 2 and one side of the telescopic arm 201 through fixing screws. A driving gear 203 is installed at the lower end of the motor 202, and an integrally formed adjusting tooth 503 is provided on the outer side of the rotating disk 5, and the driving gear 203 is meshed and connected with the adjusting tooth 503.

[0027] Support frames 403 are installed at the four corners of the lower end of the mounting cover 401, and a damping pad is provided at the lower end of the support frame 403. The damping pad and the elastic pad 301 are used to clamp the patient's body to assist in positioning. A support base 3 is installed at the lower end of the robot bracket 1, and an integrally formed elastic pad 301 is provided at the upper end of the support base 3. The elastic pad 301 is used to support the patient's body parts. During use, the patient places the position where acupuncture treatment is required above the support base 3 and the elastic pad 301, and the acupuncture part of the patient is fixed by the support base 3 and the support frame 403.

[0028] The rotating disk 5 is connected to the visual module 501 through fixing screws. A sensor probe 502 is provided at the lower end of the visual module 501. The sensor probe 502 is connected to the processor module 7 through a transmission module. The rotating disk 5 drives the visual module 501 and the sensor probe 502 to perform visual monitoring of the skin surface. After detection, the processor module 7 determines the position and acupoints.

[0029] Specifically, during use, the patient places the position where acupuncture treatment is required above the support base 3 and the elastic pad 301, and the patient's acupuncture position is fixed by the support base 3 and the support frame 403. After the position is fixed, the visual module 501 and the sensor probe 502 are driven by the rotating disk 5 to visually monitor the skin surface. After the detection, the position and acupoints are judged by the processor module 7, and the corresponding acupoint acupoint mold plate 6 is determined, so that accurate acupoint positioning work can be performed by installing the corresponding acupoint acupoint mold plate 6. The structure is simple and the position stability is good. The corresponding pulse transmitter 405 is adjusted according to different acupoints to perform acupuncture treatment work with high treatment accuracy.

[0030] In one embodiment, Figure 8-Figure 11As shown, a plurality of positioning mechanisms are arranged on the support base 3, and the positioning mechanisms include a winding chamber 901, a limiting chamber 902 and a positioning flexible belt 903. The winding chamber 901 and the limiting chamber 902 are respectively arranged in the support base 3, a winding motor is arranged in the winding chamber 901, and a winding drum 904 is arranged at the output end of the winding motor. A sliding plate 905 is slidingly arranged in the limiting chamber 902, and the bottom of the sliding plate 905 is connected to the bottom wall of the limiting chamber 902 through a reset spring 906. One end of the positioning flexible belt 903 bypasses the winding drum 904 and is connected to the outer wall of the winding drum 904, and the other end of the positioning flexible belt 903 is connected to the upper surface of the sliding plate 905. A spring rod 907 is arranged on the upper surface of the sliding plate 905, and a pressure sensor is arranged on the upper end of the spring rod 907. Positioning cylinders 908 are symmetrically arranged on the left and right sides of the positioning flexible belt 903, and the positioning cylinder 908 is connected to the support base 3 through a support tube 909. The lower end of the support tube 909 extends to the inside of the support base 3, and a piston plate 910 is slidably arranged in the positioning cylinder 908. A piston rod 911 is arranged near one end of the piston plate 910 near the positioning flexible belt 903. The piston rod 911 extends to the outside of the positioning cylinder 908 near one end of the positioning flexible belt 903 and a mounting frame is arranged. A contact roller 912 and a distance sensor are arranged on the mounting frame. An air cavity 913 is arranged in the support base 3, and an air pump is arranged at the bottom of the support base 3. One end of the air pump is connected to the air cavity 913 through an air hole, and a valve is arranged in the air hole. A first air channel is arranged in the support tube 909, and the air cavity 913 is connected to one end of the first air channel through a second air channel 914. The other end of the first air channel is connected to the end of the positioning cylinder 908 away from the contact roller 912 through an air pipe 915. A controller is arranged at the bottom of the support base 3, and the controller is electrically connected to the winding motor, the pressure sensor, the distance sensor and the air pump respectively.

[0031] Specifically, the patient places the position where acupuncture treatment is required on the support base 3, and then passes the limb through at least two positioning flexible belts 903 according to the position where acupuncture treatment is required, and the rest can be pressed under the limb, and then the winding motor corresponding to the positioning flexible belt 903 passed by the limb is started, and the winding motor drives the winding drum 904 to rotate, and the winding drum 904 rotates so that the positioning flexible belt 903 is wound around the winding drum 904, and the positioning flexible belt 903 is pulled, so that the positioning flexible belt 903 presses the limb against the support base 3, and the positioning flexible belt 903 drives the sliding plate 905 to slide in the limiting cavity 902 when it is wound, and the reset spring 906 The sliding plate 905 drives the spring rod 907 to move upward, and the pressure sensor gradually contacts the top wall of the limiting cavity 902. The pressure sensor is used to detect the pressure value when contacting the top wall of the limiting cavity 902. When the detection value of the pressure sensor reaches the preset pressure value, the controller controls the winding motor to stop rotating. The winding motor adopts a self-locking motor. After the winding motor stops, the positioning flexible belt 903 cannot be loosened from the winding drum 904. Then, the controller controls the air pump to start, and the air pump transports external gas to the air cavity 913 through the air hole, and then the gas flows into the first air channel through the second air channel 914, and flows into the positioning cylinder 908 through the air pipe 915. Under the action of gas pressure, the piston plate 910 moves toward the direction of the positioning flexible belt 903, and drives the contact roller 912 to move toward the direction of the positioning flexible belt 903 through the piston rod 911. The contact roller 912 contacts the outer wall of the positioning flexible belt 903 and pushes the positioning flexible belt 903 toward the limb. One end of the positioning flexible belt 903 pulls the sliding plate 905 to continue to rise, and the spring rod 907 is compressed. The distance sensor is used to detect the actual distance from the piston rod 911 to the patient's limb. When the actual distance detected by the distance sensor reaches the preset distance range, the controller controls the air pump to stop working and the valve is closed, so that the gas in the air cavity 913 is kept. The positioning flexible belt 903 is kept stable, and the squeezing of the contact rollers 912 on both sides can limit the positions of the patient's limbs on both sides. At the same time, the contact between the positioning flexible belt 903 and the upper part of the patient's limbs can fix the patient's limbs in the positioning flexible belt 903. The positioning of the patient's limbs by at least two positioning mechanisms can improve the reliability of the positioning of the patient's limbs, avoid the displacement of the acupuncture points caused by the patient's subconscious dodging when the pulse transmitter 405 is extended, and further improve the positioning accuracy of acupuncture. There are multiple positioning mechanisms, and the patient can choose the appropriate positioning flexible belt 903 according to the acupuncture position and pass through it, thereby improving the scope of application.

[0032] In order to solve the problems of existing acupuncture robots in actual use, such as the inability to accurately locate acupuncture positions after positioning, poor working accuracy, and general intelligence, please refer to Figure 1 , Figure 5 - Figure 7 , this embodiment provides the following technical solutions: An intelligent acupuncture system of an acupuncture robot comprises a processor module 7 and a control terminal 8, wherein the input end of the processor module 7 is connected to the output end of the motor 202 and the sensor probe 502 respectively; The sensor probe 502 is configured to default to raw custom data, combined with detecting the patient's skin condition and acupuncture point locations, and also includes identification of the patient's skin thickness and identification of the patient's body parts; The motor 202 is configured as a forward and reverse adjustment structure, and based on the angle of the rotating disk 5, the sensor probes 502 on both sides are adjusted to rotate after the processing is completed; The output end of the processor module 7 is connected to the input end of the control terminal 8; The control terminal 8 is configured to receive the judgment information of the processor module 7, judge the acupoint information of the patient according to the data detection information of the sensor probe 502, and pre-process the acupoint information by the visual module 501. The control terminal 8 is configured as a two-dimensional operation platform, and the control terminal 8 is configured to provide the corresponding acupoint information, and the structure initial data provides the corresponding acupoint acupuncture mold plate 6; The output end of the processor module 7 is respectively connected to the input end of the electric cylinder 4, the reduction motor 402, the vision module 501 and the pulse transmitter 405; The reduction motor 402 is configured as a forward and reverse rotation adjustment structure. Based on the output command of the processor module 7, the serialized defined data information is used as the standard custom data, and the height and angle of the mounting cover 401 and the pulse emission head 405 are adjusted based on the above custom data; The electric cylinder 4 is configured as an electromagnetic control structure. Based on the output command of the processor module 7, the serialized defined data information is used as the standard custom data. The length of the electric cylinder 4 is adjusted based on the above custom data. In combination with the position data information output by the visual module 501, the telescopic length of the electric cylinder 4 is defined as the custom data. The defined data information is adjusted based on the custom data of the telescopic length to press the sleeve 408 to squeeze the pulse transmitter 405 to perform acupuncture work; The pulse transmitting head 405 is configured as a contact current transmitting module, and the pulse transmitting head 405 adjusts the size of the current transmitting module based on the skin thickness information recognized by the sensor probe 502. After the current transmitting module contacts the skin, it transmits electric pulses to the acupuncture points in combination with the output command of the processor module 7. The processor module 7 determines the position and acupuncture points, and determines the corresponding acupuncture mold plate 6. Therefore, accurate acupuncture point positioning can be performed by installing the corresponding acupuncture mold plate 6. The structure is simple and the position stability is good. The corresponding pulse transmitting head 405 is adjusted according to different acupuncture points to perform acupuncture treatment with high treatment accuracy.

[0033] An electric cylinder 4 is installed above the mounting cover 401, and a reduction motor 402 is installed at the upper end of the electric cylinder 4. The motor shaft of the reduction motor 402 is fixedly connected to the upper end of the electric cylinder 4, and the connecting arm 2 is fixedly connected to the outside of the reduction motor 402. When the acupuncture robot is working, the electric cylinder 4 drives the telescopic cylinder 406 to press down the spring rod 407, and the spring rod 407 drives the pressing sleeve 408 to pass through the pressing port 601 to squeeze the pulse transmitter 405.

[0034] The lower end of the electric cylinder 4 is provided with a telescopic cylinder 406, and the lower end of the telescopic cylinder 406 is provided with a plurality of spring rods 407, and the lower end of the telescopic cylinder 406 is fixedly connected to the upper ends of the plurality of spring rods 407 through a connecting plate, and the lower end of the spring rod 407 is provided with a pressing sleeve 408, and a pressure spring is installed inside the pressing sleeve 408, and the pressure spring is fixedly connected to the pressing sleeve 408 and the spring rod 407 respectively, and the acupuncture mold plate 6 is provided with an integrally formed pressing port 601, and the pressing sleeve 408 is provided with a pressing sleeve 408. 8 passes through the pressing port 601 and extends to the bottom of the acupuncture mold plate 6 to be pressed against the pulse transmitter head 405. The elastic force of the pulse transmitter head 405 is smaller than the elastic force of the pressure spring. The pulse transmitter head 405 extends out of the fixed sleeve 404, so that the pulse transmitter head 405 corresponding to the acupuncture point can be accurately extended, while the remaining pulse transmitter heads 405 are blocked by the acupuncture mold plate 6. The spring rod 407 retracts into the pressing sleeve 408 and remains inside the fixed sleeve 404, thereby further improving the positioning accuracy of the acupuncture points.

[0035] Specifically, when the acupuncture robot is working, the electric cylinder 4 drives the telescopic cylinder 406 to press down the spring rod 407, and the spring rod 407 drives the pressing sleeve 408 to pass through the pressing port 601 to squeeze the pulse transmitter 405, and the pulse transmitter 405 extends out of the fixed sleeve 404, so that the pulse transmitter 405 corresponding to the acupoint can be accurately extended, while the remaining pulse transmitters 405 are blocked by the acupoint acupuncture mold plate 6, and the spring rod 407 retracts into the pressing sleeve 408 and remains inside the fixed sleeve 404, thereby further improving the positioning accuracy of the acupoint. In one embodiment, based on the data detection information of the sensor probe 502, the actual emission current of the current emission module is calculated by the following formula: in, is the actual emission current, To preset the emission current, is the first weight coefficient, is the actual skin condition of the patient detected by the sensor probe 502, For standard skin condition, is the second weight coefficient, is the patient's skin thickness detected by the sensor probe 502, The preset minimum skin thickness.

[0036] The sensor probe 502 can detect the patient's skin condition and the patient's skin thickness, and then based on the detection results, the processor module 7 can calculate the actual emission current of the current emission module through the above formula, and then adjust the emission current size of the current emission module so that the emission current size is equal to the actual emission current, thereby accurately transmitting electric pulses to the acupuncture points, thereby improving the acupuncture effect on the patient, wherein is the emission current adjustment coefficient, and The value of is determined according to different patients. Preferably, and The value can be 0.5. Through the above scheme, the actual emission current can be adjusted based on the patient's skin condition and skin thickness adaptability. Combined with the patient's actual situation, the accuracy of acupuncture is further improved.

[0037] Working principle: When in use, the patient places the position where acupuncture treatment is required above the support base 3 and the elastic pad 301, and the patient's acupuncture position is fixed by the support base 3 and the support frame 403. After the position is fixed, the visual module 501 and the sensor probe 502 are driven by the rotating disk 5 to visually monitor the skin surface. After detection, the processor module 7 determines the position and acupoints, and determines the corresponding acupoint acupoint mold plate 6, so that accurate acupoint positioning work can be performed by installing the corresponding acupoint acupoint mold plate 6. The structure is simple, the position stability is good, and the corresponding pulse is adjusted according to different acupoints. The pulse transmitting head 405 is used to perform acupuncture treatment with high treatment accuracy. When the acupuncture robot is working, the electric cylinder 4 drives the telescopic cylinder 406 to press down the spring rod 407, and the spring rod 407 drives the pressing sleeve 408 to pass through the pressing port 601 to squeeze the pulse transmitting head 405. The pulse transmitting head 405 extends out of the fixed sleeve 404, so that the pulse transmitting head 405 corresponding to the acupoint can be accurately extended, while the remaining pulse transmitting heads 405 are blocked by the acupoint acupuncture mold plate 6, and the spring rod 407 retracts into the pressing sleeve 408 and remains inside the fixed sleeve 404, thereby further improving the positioning accuracy of the acupoints.

[0038] 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", "comprises" or any other variations 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.

[0039] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. An acupuncture robot, comprising a robot support (1), a pulse transmitter (405), a rotating disk (5) and an acupuncture point mold plate (6), characterized in that: The front end of the robot support (1) is provided with a mounting cover (401), a plurality of fixed sleeves (404) are arranged inside the mounting cover (401), the pulse transmitter (405) penetrates the inside of the fixed sleeve (404) and is slidably connected to the fixed sleeve (404), and a tension spring is arranged between the fixed sleeve (404) and the pulse transmitter (405), an electric cylinder (4) is installed above the mounting cover (401), and the rotating disk (5) is installed on the mounting cover (401). The outside of the mounting cover (401) is rotatably connected to the mounting cover (401) via a bearing; a telescopic cylinder (406) is mounted at the lower end of the electric cylinder (4); a plurality of spring rods (407) are disposed at the lower end of the telescopic cylinder (406); an integrally formed pressing port (601) is disposed inside the acupuncture point mold plate (6); and the pressing sleeve (408) passes through the pressing port (601) and extends to the bottom of the acupuncture point mold plate (6) to be pressed against the pulse transmitter (405).

2. An acupuncture robot according to claim 1, characterized in that: A connecting arm (2) is installed on one side of the upper end of the robot support (1), a telescopic arm (201) is installed between the connecting arm (2) and the robot support (1), one end of the telescopic arm (201) extends into the interior of the robot support (1) and is slidably connected to the robot support (1), and an electric lead screw is installed inside the robot support (1), and the electric lead screw passes through the telescopic arm (201) and is threadedly connected to the telescopic arm (201).

3. An acupuncture robot according to claim 2, characterized in that: A motor (202) is mounted at the lower end of the connecting arm (2); the motor (202) is connected to the connecting arm (2) and one side of the telescopic arm (201) via fixing screws; a driving gear (203) is mounted at the lower end of the motor (202); an integrally formed adjusting tooth (503) is disposed on one side of the outer portion of the rotating disk (5); and the driving gear (203) is meshingly connected to the adjusting tooth (503).

4. The acupuncture robot according to claim 1, characterized in that: A support base (3) is installed at the lower end of the robot support (1), and an integrally formed elastic pad (301) is provided at the upper end of the support base (3), wherein the elastic pad (301) is used to support a body part of a patient.

5. The acupuncture robot according to claim 4, characterized in that: A reduction motor (402) is mounted on the upper end of the electric cylinder (4), support frames (403) are mounted at the four corners of the lower end of the mounting cover (401), and a damping pad is disposed at the lower end of the support frame (403), and the damping pad and the elastic pad (301) are used to clamp the patient's body to assist in positioning.

6. The acupuncture robot according to claim 5, characterized in that: The lower end of the telescopic cylinder (406) is fixedly connected to the upper ends of a plurality of spring rods (407) via a connecting plate; a pressing sleeve (408) is provided at the lower end of the spring rod (407); a pressure spring is installed inside the pressing sleeve (408), and the pressure spring is fixedly connected to the pressing sleeve (408) and the spring rod (407), respectively; and the elastic force of the pulse transmitter (405) is smaller than the elastic force of the pressure spring.

7. The acupuncture robot according to claim 6, characterized in that: Vision modules (501) are installed on both sides of the rotating disk (5); the rotating disk (5) and the vision module (501) are connected via fixing screws; a sensor probe (502) is provided at the lower end of the vision module (501); and the sensor probe (502) and the processor module (7) are connected via a transmission module.

8. The acupuncture robot according to claim 4, characterized in that: A plurality of positioning mechanisms are arranged on the support base (3), the positioning mechanisms comprising a winding chamber (901), a limiting chamber (902) and a positioning flexible belt (903), the winding chamber (901) and the limiting chamber (902) are arranged in the support base (3) respectively, a winding motor is arranged in the winding chamber (901), a winding drum (904) is arranged at the output end of the winding motor, a sliding plate (905) is slidably arranged in the limiting chamber (902), and the bottom of the sliding plate (905) is connected to the limiting chamber (902) by a reset spring (906). 02) bottom wall, one end of the positioning flexible belt (903) passes over the winding drum (904) and is connected to the outer wall of the winding drum (904), the other end of the positioning flexible belt (903) is connected to the upper surface of the sliding plate (905), a spring rod (907) is provided on the upper surface of the sliding plate (905), a pressure sensor is provided on the upper end of the spring rod (907), positioning cylinders (908) are symmetrically provided on the left and right sides of the positioning flexible belt (903), and the positioning cylinders (908) are connected to the support base (3) through a support tube (909) The support tube (909) is connected to the support base (3), the lower end of the support tube (909) extends to the inside of the support base (3), a piston plate (910) is slidably arranged in the positioning cylinder (908), a piston rod (911) is arranged at one end of the piston plate (910) close to the positioning flexible belt (903), the piston rod (911) extends to the outside of the positioning cylinder (908) close to the end of the positioning flexible belt (903), and a mounting frame is arranged, a contact roller (912) and a distance sensor are arranged on the mounting frame, an air cavity (913) is arranged in the support base (3), and the support base (3) An air pump is arranged at the bottom, one end of the air pump is connected to the air cavity (913) through an air hole, a valve is arranged in the air hole, a first air channel is arranged in the support tube (909), the air cavity (913) is connected to one end of the first air channel through a second air channel (914), the other end of the first air channel is connected to one end of the positioning cylinder (908) away from the contact roller (912) through an air pipe (915), and a controller is arranged at the bottom of the support base (3), and the controller is electrically connected to the winding motor, the pressure sensor, the distance sensor and the air pump respectively.

9. An intelligent acupuncture system of an acupuncture robot according to claim 7, comprising a processor module (7) and a control terminal (8), characterized in that: The input end of the processor module (7) is connected to the output end of the motor (202) and the sensor probe (502) respectively; The sensor probe (502) is configured to default to original custom data, combined with detecting the patient's skin condition and acupuncture point location, and also includes identification of the patient's skin thickness and identification of the patient's body part; The motor (202) is configured as a forward and reverse adjustment structure, and based on the angle of the rotating disk (5), the rotation of the sensor probes (502) on both sides is adjusted after the processing is completed; The output end of the processor module (7) is connected to the input end of the control terminal (8); The control terminal (8) is configured to receive the judgment information of the processor module (7), judge the acupoint information of the patient according to the data detection information of the sensor probe (502), and pre-process the acupoint information by the visual module (501). The control terminal (8) is configured as a two-dimensional operation platform, and the control terminal (8) is configured to provide corresponding acupoint information and structure initial data to provide corresponding acupoint acupuncture mold plate (6); The output end of the processor module (7) is respectively connected to the input ends of the electric cylinder (4), the reduction motor (402), the vision module (501) and the pulse transmitter (405); The reduction motor (402) is configured as a forward and reverse rotation adjustment structure, and based on the output command of the processor module (7), the serialized defined data information is used as standard custom data, and the height and angle of the installation cover (401) and the pulse emission head (405) are adjusted based on the custom data; The electric cylinder (4) is configured as an electromagnetic control structure. Based on the output command of the processor module (7), the serialized defined data information is used as standard custom data. The length of the electric cylinder (4) is adjusted based on the custom data. In combination with the position data information output of the visual module (501), the telescopic length of the electric cylinder (4) is defined as custom data. The defined data information is used to adjust the pressing sleeve (408) to squeeze the pulse transmitter (405) to perform acupuncture based on the custom data of the telescopic length. The pulse transmitting head (405) is configured as a contact current transmitting module, and the pulse transmitting head (405) adjusts the size of the current transmitting module based on the skin thickness information identified by the sensor probe (502); after the current transmitting module contacts the skin, it transmits electric pulses to the acupuncture points in combination with the output command of the processor module (7).

10. The intelligent acupuncture system of the acupuncture robot according to claim 9, characterized in that: Based on the data detection information of the sensor probe (502), the actual emission current of the current emission module is calculated by the following formula: in, is the actual emission current, To preset the emission current, is the first weight coefficient, is the actual skin condition of the patient detected by the sensor probe (502), For standard skin condition, is the second weight coefficient, is the patient's skin thickness detected by the sensor probe (502), The preset minimum skin thickness.

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