Digital intelligent robot for traditional Chinese medicine acupoint application and automatic preparation and application method of Vongnine patch

Abstract

The invention provides a digital intelligent robot for traditional Chinese medicine acupoint application and an automatic preparation and application method for a Vongnine patch. The robot comprises a pasting mechanism, a six-axis collaborative robot pasting mechanism, an automatic rotating seat and an upper computer control system. The patch making mechanism is used for automatically completing preparation of the Vongnine patch; the six-axis collaborative robot application mechanism is used for grabbing the prepared finished product medicine patch from the patch making mechanism and applying the finished product medicine patch to the corresponding acupuncture point of the patient; the automatic rotating seat is used for bearing a patient and adjusting the posture of the patient in real time to be matched with application; the upper computer control system is used for controlling cooperative operation of the pasting mechanism, the six-axis cooperative robot pasting mechanism and the automatic rotating seat. The full-process automation of traditional Chinese medicine acupoint application is realized, the dosage accuracy and the quality controllability are ensured, the high-quality traditional Chinese medicine application service can be copied in a standardized manner, the system integration and modular design is realized, all mechanisms are controlled by a unified upper computer, and the cooperative work is smooth.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of full-automatic preparation and application of traditional Chinese medicine external-use patches, in particular to a digital traditional Chinese medicine acupoint application intelligent robot and an automatic preparation and application method of Fugiu patch. BACKGROUND

[0002] Fugiu patch, as a typical practice of the traditional Chinese medicine theory of "treating winter diseases in summer" and "treating summer diseases in winter", is widely used in the prevention and treatment of chronic bronchitis, asthma, allergic rhinitis and other diseases. The traditional operation process of using Fugiu patch to prevent and treat diseases includes: manually tearing off the release paper of the blank patch, manually applying a certain amount of medicinal paste, and manually scattering a small amount of medicinal powder (such as musk), and finally positioning and applying the patch to the corresponding acupoint of the patient according to the experience of the doctor.

[0003] However, the above traditional mode has the following significant defects: (1) Low efficiency, difficult to scale: The pure manual operation steps are tedious, time-consuming and labor-intensive, and it is difficult to meet the concentrated treatment needs of a large number of patients during high demand periods such as "Three Sizzling Days" and "Three Cold Days".

[0004] (2) Hygiene and quality control risks: The hands directly contact the drugs and the patch, which is easy to introduce pollution. The dosage of the medicinal paste and the medicinal powder depends entirely on the experience of the operator, which has poor consistency, affecting the stability of the therapeutic effect and the safety of drug use.

[0005] (3) Application accuracy depends on personal experience: The accuracy of acupoint positioning depends entirely on the professional level and on-site state of the doctor, and there are differences between different doctors or even different operations of the same doctor, which affects the standardization and repeatability of the treatment effect.

[0006] (4) Patient experience needs to be improved: Long waiting time and discomfort caused by improper operation during the application process affect the patient's experience of seeking medical treatment.

[0007] At present, some semi-automatic drug application or packaging devices have appeared on the market, but most of them have single functions and have not achieved full-process automation of the closed loop from "blank patch" to "application completion". In particular, a system combining high-precision, flexible robot technology with complex traditional Chinese medicine patch preparation and application technology is still a technical blank. Therefore, we urgently need to develop an integrated, intelligent and standardized Fugiu patch automatic drug preparation and application system, which has important practical application value and market prospects. SUMMARY

[0008] The present application aims to solve the technical problems of low efficiency, poor quality control, low dosage accuracy and poor standardization of application of the traditional mode of using Fugiu patch to prevent and treat diseases.

[0009] Therefore, the primary objective of this invention is to propose a digital intelligent robot for applying traditional Chinese medicine acupoint patches.

[0010] The second objective of this invention is to provide an automated method for preparing and applying Fu Jiu Tie (a traditional Chinese medicine patch).

[0011] To achieve the above objectives, the first aspect of the present invention provides a digital TCM acupoint application intelligent robot. This digital TCM acupoint application intelligent robot includes: a patch-making mechanism, a six-axis collaborative robot application mechanism, an automatic rotating seat, and a host computer control system; the patch-making mechanism is used to automatically prepare finished Fu Jiu medicinal patches; the six-axis collaborative robot application mechanism is used to pick up the prepared Fu Jiu medicinal patches from the patch-making mechanism and apply them to the target acupoints on the patient's body surface; the automatic rotating seat is used to support the patient and adjust the patient's posture in real time according to the target acupoints of the Fu Jiu medicinal patch application to facilitate the application and improve the patient's comfort; the host computer control system is used to uniformly control the coordinated operation of the patch-making mechanism, the six-axis collaborative robot application mechanism, and the automatic rotating seat.

[0012] Preferably, the patch-making mechanism includes an aluminum profile frame, which is divided into a detachable upper frame and a lower frame. The upper frame integrates motion execution components, and the lower frame houses electrical control components, including a PLC controller. The PLC controller receives corresponding control commands from the host computer control system and sends these commands to the motion execution components to enable them to automatically complete the preparation of the finished Fu Jiu medicinal patches. A transmission line runs through the upper frame of the patch-making mechanism, and several trays for carrying the finished Fu Jiu medicinal patches are provided on the transmission line. The conveyor along the transmission line... The sequentially arranged motion execution components include: a blank patch picking and placing station, a film-tearing station, an ointment injection and flattening station, a powder dispensing station, and a material tray interaction station; the blank patch picking and placing station is used to transport blank Fu Jiu patches from the hopper to the tray; the film-tearing station is used to tear off the release paper from the blank Fu Jiu patches; the ointment injection and flattening station is used to quantitatively inject ointment into the blank Fu Jiu patches after the release paper has been torn off and flatten the ointment; the powder dispensing station is used to quantitatively dispense powder onto the flattened ointment surface; the material tray interaction station is used to prepare and hand over finished Fu Jiu patches to the six-axis collaborative robot application mechanism.

[0013] Preferably, the blank patch picking and placing station includes: a feeding bin box, which is provided with a lifting tray driven by a stepper motor, on which blank Fu Jiu patches are placed; A PTU pick-and-place structure is provided, with an electric suction cup installed at its end for picking up blank Fu Jiu medicated patches from the feed hopper and placing them on the tray; a linkage clamping mechanism is provided on both sides of the tray for clamping and fixing the blank Fu Jiu medicated patches when they are placed.

[0014] Preferably, the film-tearing station includes: a driving rod and a driven rod, the driving rod and the driven rod being connected by a belt, with the adhesive tape wound between the two rods; a linkage mechanism driven by an electric push rod, the end of which is provided with a small shaft that can rotate freely, for pressing down and adhering the adhesive side of the adhesive tape to the release paper; a sliding mechanism for driving the entire film-tearing station to move laterally; and film-tearing pressing mechanisms disposed on both sides of the tray for pressing the patch tightly during film tearing.

[0015] Preferably, the ointment injection and flattening station includes: an ointment injection unit, which includes a first medicine storage funnel, the first medicine storage funnel being provided with a stirring and conveying mechanism composed of rotating blades and screw conveying blades, a gear pump for receiving ointment from the funnel and quantitatively injecting ointment into the blank Fu Jiu medicated patch after the release paper has been removed; and an ointment flattening unit, located downstream of the ointment injection unit, for flattening the injected ointment.

[0016] Preferably, the powder dispensing station includes: a second medicine storage funnel made of transparent material, with rotating stirring blades inside; a pull-out plate extending below the second medicine storage funnel, the pull-out plate having a powder discharge hole, and being movable between a receiving position and a dispensing position by a drive mechanism; wherein, when the powder discharge hole is aligned with the discharge port of the second medicine storage funnel, the pull-out plate is in the receiving position; when the powder discharge hole is located above the central area of ​​the patch, the pull-out plate is in the dispensing position; and a vibration motor installed above the pull-out plate, used to shake the powder in the powder discharge hole off when in the dispensing position.

[0017] Preferably, the feeding tray interactive station includes: a feeding tray, which moves left and right via a linear guide rail and moves up and down via an electric push rod; wherein, the feeding tray is rectangular, and multiple buffer rods and support rods are distributed around the feeding tray, the support rods and buffer rods cooperating with each other to bend the four corners of the finished Fu Jiu medicated patch into a certain angle, so that the finished Fu Jiu medicated patch is formed into a shape that is easy to grasp.

[0018] Preferably, the six-axis collaborative robot application mechanism includes: a six-axis collaborative robot, which has a robot controller installed inside; the robot controller stores the opening and closing program of the end effector and the motion program of the six-axis collaborative robot; the robot controller is used to receive corresponding control commands sent by the host computer control system, and execute the opening and closing program of the end effector and the motion program of the six-axis collaborative robot according to the corresponding control commands; an end effector installed on the end flange of the six-axis collaborative robot; the end effector integrates: a 3D vision camera for identifying acupoints on the patient's body surface; a pair of pressure plates connected by positive and negative screws, driven by a motor to clamp or release the finished Fu Jiu medicated patch; a silicone block with a chamfered front end, the chamfered shape of the silicone block matching the four corners of the bent medicated patch on the feeding tray; a Z-axis micro-motion module for driving the silicone block and pressure plates to perform a final smooth push when applying the finished Fu Jiu medicated patch; and a pressure diaphragm sensor for detecting the application pressure of the finished Fu Jiu medicated patch and triggering an alarm when the application pressure exceeds the limit.

[0019] Preferably, the automatic rotating seat includes: a seat body, driven by a rotary support and a gear motor to achieve 180-degree rotation; an automatically moving headrest to ensure the patient's sitting posture is correct; and a control system for the seat, which is connected to the host computer control system. The control system receives corresponding control commands sent by the host computer control system and controls the seat body and headrest according to the corresponding control commands.

[0020] The second aspect of the present invention provides an automated method for preparing and applying Fu Jiu Tie (a traditional Chinese medicine patch). This automated method includes: Step S1: Sending an automated preparation instruction, an application instruction, and a patient-supporting application instruction to the patch-making mechanism, the six-axis collaborative robot application mechanism, and the automatic rotating seat via the host computer control system; Step S2: Receiving the automated preparation instruction via the patch-making mechanism to automatically complete the preparation of the finished Fu Jiu Tie according to the process, and preparing the finished Fu Jiu Tie into a form easy to grasp; Step S3: Receiving the application instruction via the six-axis collaborative robot application mechanism to identify the patient's acupoints; Step S4: Grabbing the prepared finished Fu Jiu Tie from the patch-making mechanism via the six-axis collaborative robot application mechanism and applying the finished Fu Jiu Tie to the target acupoints on the patient's body surface; Step S5: Receiving the patient-supporting application instruction via the automatic rotating seat to support the patient and adjust the patient's posture in real time according to the target acupoints for application.

[0021] The beneficial effects of this invention are: This invention relates to the field of medical device automation and robotics application technology, and in particular to a digital intelligent robot for applying traditional Chinese medicine acupoints, which combines automated pharmaceutical manufacturing, machine vision, and precise robotic operation. The beneficial effects of this system are as follows: (1) Full-process automation and integration: The entire process from raw materials (blank patches, ointments, powders) to the final application to the patient's acupoints is automated, which overturns the traditional manual mode and significantly improves efficiency.

[0022] (2) Precise dosage and controllable quality: The quantitative injection by the gear pump and the quantitative dispensing by the cavity ensure that the dosage of ointment and powder in each Fu Jiu Tie is highly consistent, which improves the reliability and safety of the therapeutic effect.

[0023] (3) Intelligent and standardized application: By combining machine vision and force control robots, the objectification of acupoint recognition and the standardization and smoothing of application actions are realized, reducing the dependence on the experience of operators and enabling the standardized replication of high-quality TCM application services.

[0024] (4) Ergonomics and safety: The automatic rotating seat improves patient comfort; the robot's force control function and pressure sensing ensure the safety of the application process and avoid mechanical injury.

[0025] (5) System integration and modular design: All mechanisms are controlled by a unified host computer and work together smoothly; the frame of the pasting mechanism adopts a layered modular design, which is convenient to maintain and has a compact structure.

[0026] Additional aspects and advantages of the invention will become apparent from the description which follows, or may be learned by practice of the invention. Attached Figure Description

[0027] Figure 1 A schematic diagram of the overall three-dimensional layout of a digital TCM acupoint patching intelligent robot according to an embodiment of the present invention is shown. Figure 2 A schematic diagram of the aluminum profile frame of the bonding mechanism according to an embodiment of the present invention is shown (showing the upper and lower layers). Figure 3 A detailed structural diagram of the blank patch dispensing and placing station according to an embodiment of the present invention is shown; Figure 4 A schematic diagram of the film-tearing station according to an embodiment of the present invention is shown (showing the tape, linkage mechanism and sliding mechanism). Figure 5 A schematic diagram of the ointment injection and flattening station according to an embodiment of the present invention is shown; Figure 6 This diagram illustrates the structural breakdown and working principle of a powder dispensing station according to an embodiment of the present invention. Figure 7 This diagram illustrates the structure of the feeding tray interaction station according to an embodiment of the present invention and its interaction with the medicated patch. Figure 8 A detailed structural diagram of the end effector of a six-axis collaborative robot applicator according to an embodiment of the present invention is shown; Figure 9 A schematic diagram of the structure of an automatic rotating seat according to an embodiment of the present invention is shown; Figure 10 A block diagram illustrating the control principle of a digital TCM acupoint patching intelligent robot according to an embodiment of the present invention is shown. Figure 11 The diagram illustrates the workflow logic of the digital TCM acupoint patching intelligent robot of the present invention, according to one embodiment of the present invention.

[0028] Among them, 100 is the application mechanism, 200 is the six-axis collaborative robot application mechanism, 300 is the automatic rotating seat, 102 is the upper frame, 103 is the lower frame, 104 is the transmission line, 111 is the feeding bin, 112 is the stepper motor, 113 is the lifting pallet, and 114 is the [missing information]. PTU loading and unloading structure, 115 electric suction cup, 121 driving rod, 122 driven rod, 123 belt, 124 conveyor belt, 125 electric actuator, 126 linkage mechanism, 127 small shaft, 128 sliding mechanism, 131 first drug storage funnel, 132 rotating blade, 133 screw conveyor blade, 134 gear pump, 135 ointment flattening unit, 141 second drug storage funnel, 142 rotating stirring blade, 143 pull-out plate, 144 powder discharge hole, 145 vibration motor, 151 feeding tray, 152 linear guide, 153 electric actuator, 154 buffer rod, 155 support rod, 201 six-axis collaborative robot, 202 end effector, 203 3D vision camera, 204 forward and reverse screws, 205 pressure plate, 206 silicone block, 207 Z-axis micro-motion module, 208 pressure diaphragm sensor, 301 seat body, 302 slewing support, 303 gear motor, 304 headrest. Detailed Implementation

[0029] To better understand the above-mentioned objects, features, and advantages of the present invention, such as Figures 1 to 11 As shown in the accompanying drawings and specific embodiments, the present invention will be further described in detail below. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0030] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0031] Figure 1 A three-dimensional layout schematic diagram of a digital TCM acupoint application intelligent robot according to an embodiment of the present invention is shown. Figure 1 As shown, the digital TCM acupoint patching intelligent robot includes: a patching mechanism 100, a six-axis collaborative robot patching mechanism 200, an automatic rotating seat 300, and a host computer control system (not shown in the figure). The patch-making mechanism 100 is used to automatically complete the preparation of the Fu Jiu medicated patch; The six-axis collaborative robot application mechanism 200 is used to pick up the prepared finished Fu Jiu medicinal patch from the patch making mechanism 100 and apply the finished Fu Jiu medicinal patch to the target acupoint on the patient's body surface. The automatic rotating seat 300 is used to support the patient and adjust the patient's posture in real time according to the target acupoints of the Fu Jiu medicated patch to facilitate the application and improve the patient's comfort. The host computer control system (not shown in the figure) is used to uniformly control the coordinated operation of the application mechanism 100, the six-axis collaborative robot application mechanism 200, and the automatic rotating seat 300.

[0032] In this embodiment, the digital TCM acupoint application intelligent robot provided by the present invention integrates a patch-making mechanism 100, a six-axis collaborative robot application mechanism 200, and an automatic rotating seat 300. The present invention achieves full automation of the TCM acupoint application process, ensuring accurate dosage and controllable quality, enabling standardized replication of high-quality TCM patch services. The automatic rotating seat enhances patient comfort, and the system achieves integrated and modular design. All mechanisms work smoothly and collaboratively through unified upper-level computer control.

[0033] The technical solution of the present invention will be demonstrated below with several specific embodiments.

[0034] Example 1: Overall structure of a digital TCM acupoint patching intelligent robot.

[0035] See Figure 1 The digital TCM acupoint application intelligent robot mainly consists of three parts: an application mechanism 100, a six-axis collaborative robot application mechanism 200, and an automatic rotating seat 300. These three parts are arranged in an "L" shape to optimize the workspace. The host computer control system (not shown in the figure, but typically an industrial computer) communicates with the PLC controller of the application mechanism 100, the robot controller of the six-axis collaborative robot application mechanism 200, and the control system of the automatic rotating seat 300 via Ethernet or fieldbus (such as EtherCAT) to achieve overall coordinated control.

[0036] In this embodiment 1, the digital TCM acupoint patching intelligent robot mainly includes a patching mechanism 100, a six-axis collaborative robot patching mechanism 200, and an automatic rotating seat 300, and is uniformly scheduled and controlled by a host computer control system (not shown in the figure).

[0037] Example 2: Frame and transmission of the application mechanism 100.

[0038] See Figure 2 The application mechanism 100 is mounted on a robust aluminum profile frame. This frame is clearly divided into an upper frame 102 and a lower frame 103, connected by quick-release connectors (such as clips or bolts). The upper frame 102 houses all motion modules (motors, guide rails, station actuators, etc.), while the lower frame 103 houses the electrical cabinet, PLC, stepper / servo drivers, power supply, etc. The transmission line 104 uses synchronous belt or chain drive, precisely driven by a servo motor to achieve intermittent motion. There are 10 trays (not shown in the figure), matching the number of workstations, ensuring that each workstation has a tray (not shown in the figure) in a working position during any pause in the transmission line 104.

[0039] In this embodiment 2, the patch-making mechanism 100 is the core manufacturing unit of the digital TCM acupoint patch application intelligent robot. Its main body is a modular aluminum profile frame, divided into detachable upper and lower layers. The upper layer integrates all motion execution components, while the lower layer houses electrical components such as the PLC, driver, and power supply, facilitating maintenance and heat dissipation. The patch-making process is completed on a transmission line 104 that runs through multiple workstations. Multiple trays are evenly distributed on the transmission line 104 to hold the patches.

[0040] Example 3: Blank patch placement station.

[0041] See Figure 3 The stacked blank patches are manually placed into the feeding bin 111. Stepper motor 112, driven by PTU pick-and-place structure 114, drives the lifting tray 113 to rise gradually. PTU pick-and-place structure 114 (which can be a three-axis Cartesian robot) moves electric suction cup 115 to directly above the bin. After picking up the top blank patch, electric suction cup 115 moves to the center of the tray on the transmission line 104 and sets it down. Immediately, the linkage clamping mechanism (not shown in the figure), driven by cylinders or small electric cylinders on both sides of the tray, actuates, pressing the patch firmly from its edge. Suction cup 115 releases the vacuum and lifts, and PTU structure 114 returns to its standby position, ready for the next pick-up. Simultaneously, stepper motor 112 drives the lifting tray 113 to rise a distance equal to the thickness of one patch.

[0042] In this embodiment 3, a lifting tray 113 driven by a stepper motor 112 ensures that the top layer of blank patches is always at an easily accessible height. The PTU pick-and-place structure 114 drives the electric suction cup 115 at the end to achieve precise positioning and transport of the patches from the feeding bin 111 to the tray of the conveyor line 104. The linkage clamping mechanism on both sides of the tray (not shown in the figure) clamps the patches instantly after the suction cup places them to prevent displacement.

[0043] Example 4: Film peeling station.

[0044] See Figure 4 After the tray carrying the blank Fu Jiu patches moves to the film-tearing station (not shown in the figure), the linkage clamping mechanism (which can be the same as the blank patch pick-and-place station, not shown in the figure) clamps the patch body. At this time, the electric push rod 125 retracts, driving the small shaft 127 at the end to press down through the linkage mechanism 126, so that one end of the adhesive tape 124 is tightly attached to the release paper of the blank patch. After the adhesion is firm, the sliding mechanism 128 (such as a linear module) that drives the entire film-tearing station is activated, driving the active rod 121, driven rod 122, linkage mechanism 126, etc. to move to the left (or right). At the same time, the rotary motor that drives the active rod 121 (not shown in the figure, usually installed at one end of the active rod 121) rotates synchronously, winding up the adhesive tape 124. Under the combined action of lateral movement and tape winding, the release paper is smoothly and completely torn off and adhered to the adhesive tape 124 and carried away. After completion, the electric actuator 125 is lifted, the small shaft 127 is picked up, and the sliding mechanism 128 is reset.

[0045] In this embodiment 4, a unique "tape 124 adhesion - linkage mechanism 126 pressing down - lateral tearing" mechanism is employed. A motor synchronously drives the driving rod 121 and driven rod 122 via a belt, causing the tape 124 to circulate. A small, freely rotatable shaft 127, at the end of the linkage mechanism 126 driven by an electric push rod 125, is used to precisely press the tape 124 down and adhere it to the release paper. Subsequently, the entire tearing station moves laterally under the action of the sliding mechanism 128, using the tape 124 to completely and smoothly tear off the release paper. This design avoids damage to the patch that might be caused by direct clamping.

[0046] Example 5: Ointment injection and flattening station.

[0047] See Figure 5The ointment is pre-filled into the first storage funnel 131. The rotating blades 132 and screw conveyor blades 133 inside are driven by a motor via the same stepped shaft. The rotating blades 132 primarily function to stir and prevent agglomeration, while the screw conveyor blades 133 stably push the ointment towards the inlet of the gear pump 134 below. The gear pump 134 is precisely controlled by a stepper or servo motor, outputting a fixed volume of ointment per revolution. When the tray is in position, the gear pump 134 rotates at a predetermined angle, injecting a measured amount of ointment into the center of the pre-peeled blank label through the injection head. Subsequently, the conveyor line 104 delivers the workpiece to the adjacent ointment flattening unit 135, where a smooth-surfaced flattening head (which can be Teflon coated) is pressed down by a cylinder, flattening the ointment into a uniformly thick circle.

[0048] In this embodiment 5, the ointment is stored in the first storage funnel 131. The combination of the internal rotating blades 132 and the screw conveying blades 133 prevents the ointment from settling and caking, while ensuring stable delivery to the gear pump 134. The high-precision gear pump 134 is crucial for quantitative injection, ensuring a highly consistent dosage for each ointment application. After injection, the ointment is compacted at the next station by a dedicated flattening head to form a uniformly thick circular ointment layer.

[0049] Example 6: Powder application station.

[0050] See Figure 6 The second medicine storage funnel 141, made of transparent acrylic material, contains medicinal powders such as musk. The internal rotating stirring blades 142, driven by a micro-motor, rotate continuously and slowly to prevent the powder from absorbing moisture, clumping, or forming "bridges" that prevent it from falling. Initially, the pull-out plate 143 is in the "receiving position," with its powder-feeding hole 144 aligned with the discharge port of the second medicine storage funnel 141, and the powder fills the powder-feeding hole 144 by gravity. When dispensing is required, the drive mechanism (such as a small cylinder) pulls the pull-out plate 143 to the "dispensing position," at which point the powder-feeding hole 144 is positioned directly above the center area of ​​the patch. The vibration motor 145 (such as a flat vibrator) mounted above the pull-out plate 143 starts instantly, generating high-frequency micro-vibrations that shake all the powder that may be adhering to the walls of the powder-feeding hole 144 onto the surface of the ointment below.

[0051] In this embodiment 6, a "quantitative cavity - pull-out transfer - vibration emptying" scheme was designed to address the challenge of accurately dispensing trace amounts of medicinal powder such as musk. The second medicine storage funnel 141, made of transparent acrylic material, facilitates observation of the remaining amount, while the internal rotating stirring blades 142 prevent bridging. The powder dispensing hole 144 on the pull-out plate 143 receives a fixed volume of medicinal powder at the "receiving position," and after moving to the "dispensing position," the vibration motor 145 above is activated, ensuring that all the medicinal powder in the hole falls accurately into the center of the patch through high-frequency micro-vibration.

[0052] Example 7: Interactive workstation for unloading trays.

[0053] See Figure 7 The finished patch arrives at this station. The feeding tray 151 can be adjusted laterally via the linear guide rail 152 and raised and lowered via the electric actuator 153. As the feeding tray 151 descends, its surrounding support rods 155 first contact the transmission line tray or the edge of the patch, positioning it. As it continues to descend, the buffer rod 154 (which may contain a spring) is compressed, while the support rods 155 force the four corners of the patch to bend upwards, forming a "bowl-shaped" structure with a concave center and raised corners. This shape greatly facilitates the gripping of the end effector 202 of the six-axis collaborative robot application mechanism 200.

[0054] In this embodiment 7, this station serves as the interface between the patch-making mechanism and the robot. The feeding tray can achieve precise movement within a two-dimensional plane via linear guides and electric actuators. Its unique square design, combined with circumferentially distributed buffer rods and support rods, allows the four corners of the flexible patch to be pre-bent and shaped, forming a structure similar to a "small gripper," greatly facilitating the robot's end-effector grasping operation.

[0055] Example 8: Six-axis collaborative robot applicator 200.

[0056] See Figure 8 A six-axis collaborative robot 201 (such as those from UR or Aubo) is fixed to the ground or platform. Its end effector 202 is an integrated functional module. A 3D vision camera 203 (such as structured light or binocular vision based) is mounted on the front or upper side of the end effector 202 to scan and locate markings on the patient. When medication needs to be retrieved, the six-axis collaborative robot 201 moves above the feeding tray 151, and the Z-axis micro-motion module 207 of the end effector 202 (e.g., composed of a servo motor and ball screw) drives the silicone block 206 and the pressure plate 205 to move downwards as a whole. The chamfer at the front end of the silicone block 206 engages with the four corners of the raised patch, and simultaneously, the motor drives the positive and negative screws 204 to move the pressure plates 205 on both sides toward each other, clamping the raised edges of the patch. The six-axis collaborative robot 201 then moves with the patch above the visually recognized acupoint. The Z-axis micro-motion module 207 moves again, smoothly pushing the patch onto the skin surface. The pressure diaphragm sensor 208, integrated into the bottom or inside of the silicone block 206, monitors the pressure in real time. When the pressure value reaches the preset bonding threshold (e.g., 0.5N-2N), the system determines that the bonding is successful, the pressure plate 205 is released, and the six-axis collaborative robot 201 picks it up.

[0057] In this embodiment 8, the end effector 202 is directly controlled by the robot controller inside the six-axis collaborative robot 201. The opening and closing program of the end effector 202 and the motion program of the six-axis collaborative robot 201 are programmed into each program package. The host computer control system sends instructions to control each program package.

[0058] The six-axis collaborative robot applicator 200 is the system's precision execution unit. The six-axis collaborative robot 201 possesses high flexibility, high repeatability, and inherent safety features. Its end effector 202 is the key technology integration point. (1) 3D vision camera 203: responsible for recognizing red crosses or other positioning marks that the doctor has marked on the patient's acupoints in advance, converting visual information into spatial coordinates, and guiding the robot to move.

[0059] (2) Clamping and alignment mechanism: A pair of pressure plates 205, driven by a motor and synchronously controlled by a forward and reverse screw 204, are responsible for reliably clamping the patches received from the feed tray 151. The silicone block 206 at the front end is designed with a specific chamfer, which can perfectly fit with the four corners of the pre-bent patch to ensure accurate gripping and alignment.

[0060] (3) Z-axis micro-motion and force control module: An independent Z-axis micro-motion module 207 (such as driven by a servo motor and electric screw) is responsible for the final application action. An integrated pressure diaphragm sensor 208 monitors the application pressure in real time. When the pressure reaches the preset safety threshold, the system determines that the application is complete or issues an overload alarm, realizing "compliant application" and avoiding discomfort or damage to the patient due to improper force.

[0061] Example 9: Automatic rotating seat 300.

[0062] See Figure 9 The patient sits on the seat body 301. When it is necessary to apply acupoints to the back, the host computer control system sends a control command to the control system of the seat, which then controls the seat body and headrest according to the command. Specifically, the gear motor 303 drives the entire seat to rotate 180 degrees via the rotary support 302. The headrest 304 can be raised and lowered by another small motor according to the patient's height, ensuring that the cervical spine is supported, the head remains upright, and the acupoints on the back are fully exposed and in a stable position.

[0063] In this embodiment 9, the automatic rotating seat 300 is the human-machine collaboration unit of the system. The patient sits on it, and the seat can automatically rotate 180 degrees via the rotary support 302 and gear motor 303, facilitating the robot's application of acupoints (such as Tian Tu and Tan Zhong) and back (such as Da Zhui and Fei Shu). The electrically adjustable headrest 304 helps patients of different heights maintain an upright sitting posture, ensuring that acupoints are exposed within the robot's workspace. The seat's control is fully integrated into the host computer control system, achieving seamless linkage with the application and treatment process.

[0064] Example 10: Workflow of a digital TCM acupoint application intelligent robot.

[0065] See Figure 10 andFigure 11 After the digital TCM acupoint patching intelligent robot is powered on and initialized, the host computer control system (i.e. Figure 10 The automatic application system in the system issues a start command. The PLC and the host computer control system (i.e., Figure 10 The automatic application system communicates with the local area network (LAN) for data transmission, while the host computer control system (i.e., Figure 10 The automatic application system in the system has the function of sending instructions to the PLC and also has the function of receiving the execution results from the PLC, hence the double arrow.

[0066] (1) Patch making process: The PLC controller controls the 104-step movement of the transmission line and coordinates the sequential actions of each station. From the blank patch picking and placing station, the film peeling station, the ointment injection and flattening station, the powder spreading station, to the material unloading tray interaction station, the feeding, film peeling, ointment injection and flattening, powder spreading, and finished product preparation are completed in sequence. The whole process is carried out in a cycle.

[0067] (2) Application process: After the patient is seated, the host computer control system (i.e., Figure 10 The automatic application system (in the system) controls the automatic rotating seat 300 to adjust to a suitable angle according to the prescription information. The 3D vision camera 203 of the six-axis collaborative robot application mechanism 200 locates the acupoints. The six-axis collaborative robot 201 moves to the feeding tray 151 to pick up the finished medicated patch, and then moves to the acupoint to complete the smooth application.

[0068] (3) Collaborative control: host computer control system (i.e. Figure 10 The automated application system (APS) is the brain of the entire system, ensuring that the application rhythm matches the manufacturing rhythm. For example, when the six-axis collaborative robot application mechanism 200 is applying, the application mechanism can continue to produce and buffer finished patches; when the automatic rotating seat 300 rotates, the six-axis collaborative robot application mechanism 200 can pause application and wait for positioning. All status information is stored in the host computer control system (i.e., the automated application system). Figure 10 The information is displayed in real time on the human-machine interface (HMI) of the automatic application system.

[0069] In summary, in the above embodiments, the patch-making mechanism 100, through multi-station collaborative operation on an aluminum profile frame, sequentially completes the automatic feeding and positioning of blank patches, precise removal of release paper, quantitative injection and flattening of ointment, precise application of micro-powder, and pre-grabbing of finished patches. The six-axis collaborative robot application mechanism 200 is equipped with a dedicated actuator and a 3D vision camera 203 at its end, enabling it to automatically identify patient surface markings (such as red crosses) and grasp finished patches from the patch-making mechanism, applying them precisely and smoothly to the corresponding acupoints. The automatic rotating seat 300 can rotate 180 degrees and adjust the headrest 304, cooperating with the robot to complete the application to the front and back of the body. This invention achieves full automation, intelligence, and standardization of the entire process from preparation to application of the Fu Jiu patch, greatly improving efficiency, accuracy, and safety.

[0070] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A digital intelligent robot for applying traditional Chinese medicine acupoint patches, characterized in that, include: A patching mechanism, a six-axis collaborative robot patching mechanism, an automatic rotating seat, and a host computer control system; The patch-making mechanism is used to automatically complete the preparation of the finished Fu Jiu medicated patch; The six-axis collaborative robot application mechanism is used to pick up the finished Fu Jiu medicinal patch from the patch making mechanism and apply the finished Fu Jiu medicinal patch to the target acupoints on the patient's body surface. The automatic rotating seat is used to support the patient and adjust the patient's posture in real time according to the target acupoints of the Fu Jiu medicated patch to facilitate the application and improve the patient's comfort. The host computer control system is used to uniformly control the coordinated operation of the application mechanism, the six-axis collaborative robot application mechanism, and the automatic rotating seat.

2. The digital TCM acupoint application intelligent robot according to claim 1, characterized in that, The patch-making mechanism includes an aluminum profile frame, which is divided into a detachable upper frame and a lower frame. The upper frame integrates motion execution components, and the lower frame is equipped with electrical control components, including a PLC controller. The PLC controller receives corresponding control commands from the host computer control system and sends the corresponding control commands to the motion execution components to enable the motion execution components to automatically complete the preparation of the finished Fu Jiu medicated patches. A transmission line runs through the upper frame of the patch-making mechanism, and several trays for carrying the finished Fu Jiu medicated patches are set on the transmission line. The motion execution components arranged sequentially along the conveying direction of the transmission line include: a blank patch picking and placing station, a film tearing station, a medicated paste injection and flattening station, a medicated powder spreading station, and a material unloading tray interaction station. The blank patch picking and placing station is used to move blank Fu Jiu patches from the silo to the tray; The film-tearing station is used to tear off the release paper from the blank Fu Jiu medicated patch; The ointment injection and flattening station is used to inject ointment into the blank Fu Jiu medicated patch after the release paper has been removed and to flatten the ointment. The powder application station is used to apply a quantitative amount of powder to the flattened ointment surface; The feeding tray interaction station is used to prepare and hand over the finished Fu Jiu medicated patches to the six-axis collaborative robot application mechanism.

3. The digital TCM acupoint application intelligent robot according to claim 2, characterized in that, The blank patch dispensing and placing station includes: A feeding hopper box, inside which is a lifting tray driven by a stepper motor, on which blank Fu Jiu medicinal patches are placed; A PTU pick-and-place structure is provided, with an electric suction cup installed at its end, for picking up blank Fu Jiu medicated patches from the feed hopper and placing them on the tray; The linkage clamping mechanism located on both sides of the tray is used to clamp and fix the blank Fu Jiu medicated patch when it is placed.

4. The digital TCM acupoint application intelligent robot according to claim 2, characterized in that, The film-peeling station includes: One driving rod and one driven rod are connected by a belt, with the belt wound between the two rods; A linkage mechanism driven by an electric actuator, the end of which is provided with a small shaft that can rotate freely, for pressing down and adhering the adhesive side of the adhesive tape to the release paper; A sliding mechanism that drives the entire film-tearing station to move laterally; The film-tearing and pressing mechanisms located on both sides of the tray are used to press the medicated patch firmly when the film is torn off.

5. The digital TCM acupoint application intelligent robot according to claim 2, characterized in that, The ointment injection and flattening station includes: An ointment injection unit, which includes a first medicine storage funnel. A stirring and conveying mechanism composed of a rotating blade and a screw conveying blade is provided in the medicine storage funnel. A gear pump is used to receive the ointment from the funnel and quantitatively inject the ointment into the blank Fuju medicine patch after the release paper is torn off. An ointment flattening unit, which is set at the downstream station of the ointment injection unit and is used to roll and flatten the injected ointment.

6. The digital TCM acupoint application intelligent robot according to claim 2, characterized in that, The medicine powder sprinkling station includes: A second medicine storage funnel made of transparent material, and a rotating stirring blade is provided inside it. A pulling plate penetrating below the second medicine storage funnel. Powder dropping holes are opened on the pulling plate, and it can be driven by a driving mechanism to move between a material receiving position and a sprinkling position. Among them, when the powder dropping holes are aligned with the material discharging port of the second medicine storage funnel, the pulling plate 143 is at the material receiving position; when the powder dropping holes 144 are located above the central area of the medicine patch, the pulling plate 143 is at the sprinkling position. A vibration motor installed above the pulling plate is used to shake off the medicine powder in the powder dropping holes at the sprinkling position.

7. The digital TCM acupoint application intelligent robot according to claim 2, characterized in that, The blanking tray interaction station includes: A blanking tray, which moves left and right through a linear guide rail and moves up and down through an electric push rod. Among them, the blanking tray is rectangular, and a plurality of buffer rods and support rods are distributed around the blanking tray. The support rods and the buffer rods cooperate with each other to bend the four corners of the finished Fuju medicine patch into a certain angle, so that the finished Fuju medicine patch forms a shape convenient for grasping.

8. The digital TCM acupoint application intelligent robot according to claim 1, characterized in that, The six-axis collaborative robot sticking mechanism includes: A six-axis collaborative robot, and a robot controller is set inside the six-axis collaborative robot. The opening and closing program of the end effector and the action program of the six-axis collaborative robot are stored inside the robot controller. The robot controller is used to receive the corresponding control instructions sent by the upper computer control system and execute the opening and closing program of the end effector and the action program of the six-axis collaborative robot according to the corresponding control instructions. An end effector is installed on the end flange of the six-axis collaborative robot. The end effector integrates: A 3D vision camera, which is used to identify the body surface acupoints of the patient. A pair of pressing plates connected by a positive and negative screw rod, which are driven by a motor to clamp or release the finished Fuju medicine patch. A silica gel block with a chamfer at the front end, and the chamfer shape of the silica gel block matches the bent four corners of the medicine patch on the blanking tray. A Z-axis micro-motion module, which is used to drive the silica gel block and the pressing plate to perform final compliant propulsion when sticking the finished Fuju medicine patch.

9. The digital TCM acupoint application intelligent robot according to claim 1, characterized in that, [[ID=!7]]A pressure film sensor, which is used to detect the sticking pressure of the finished Fuju medicine patch and alarm when the sticking pressure exceeds the limit. The automatic rotating seat includes: A seat body, which is driven by a slewing bearing and a gear motor to achieve 180-degree rotation. A headrest that automatically moves up and down, which is used to ensure that the patient sits upright.

10. An automated preparation and application method for Fu Jiu Tie (a traditional Chinese medicine acupoint patch), used in any one of claims 1 to 9, characterized in that, A control system of the seat. The control system of the seat is connected to the upper computer control system. The control system of the seat is used to receive the corresponding control instructions sent by the upper computer control system and control the seat body and the headrest according to the corresponding control instructions. This automatic preparation and sticking method for Fuju patches includes: Step S1: The host computer control system sends automatic preparation instructions, application instructions, and patient-assisted application instructions to the patch-making mechanism, the six-axis collaborative robot application mechanism, and the automatic rotating seat, respectively. Step S2: Receive the automatic preparation instruction of the Fu Jiu patch through the patch making mechanism to realize the automatic preparation of the finished Fu Jiu patch according to the process, and prepare the finished Fu Jiu patch into a form that is easy to grasp; Step S3: Receive the application instruction through the six-axis collaborative robot application mechanism to identify the patient's acupoints on the body surface; Step S4: The six-axis collaborative robot application mechanism picks up the finished Fu Jiu medicinal patch from the patch making mechanism and applies the finished Fu Jiu medicinal patch to the target acupoints on the patient's body surface. Step S5: Receive the patient's instructions for application via the automatic rotating seat, so as to support the patient and adjust the patient's posture in real time according to the target acupoints of the Fu Jiu medicated patch application to facilitate the application.

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