Needle applying tail end of acupuncture and moxibustion robot and needle supplying module of needle applying tail end

Abstract

The invention belongs to the technical field of acupuncture and moxibustion robots, and discloses an acupuncture and moxibustion robot needle applying tail end and a needle supply module thereof.The acupuncture and moxibustion robot needle applying tail end comprises the needle supply module, a mounting frame, a needle inserting module, a twisting module and a needle clamping module; the needle supply module comprises a needle box body front end, a needle box body rear end, a needle pushing plate and a needle pushing spring; a groove is formed in the rear end of the front end of the needle box body, the front end of the needle pushing plate is inserted into the groove, and the rear end of the needle pushing plate is inserted into the rear end of the needle box body and slidably connected with the needle box body; an upper through hole and a lower through hole which are communicated with the groove are formed in the front end of the needle box body and used for pushing the acupuncture needles to leave the needle box body; the mounting frame comprises first to fourth connecting plates; the first connecting plate and the third connecting plate are both connected with the second connecting plate, and the fourth connecting plate is located below the third connecting plate and fixedly connected with the third connecting plate; and the front end of the needle box body is fixed on the third connecting plate. Continuous needle replacement and stable needle application are achieved, manual intervention is reduced, and needle application consistency and safety are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of acupuncture robots, and relates to an acupuncture robot needle application end and a needle supply module thereof. BACKGROUND

[0002] As a traditional Chinese medicine therapy, acupuncture can regulate the running of qi and blood and the function of viscera by stimulating the meridians and acupoints of the human body, has clear curative effect in the treatment of multiple system diseases, is widely used in pain relief, functional repair and chronic disease conditioning, and is widely used in many countries around the world and has significant effects. The research and development of intelligent acupuncture robots have both clinical application and teaching inheritance value. Clinically, it can provide accurate acupoint positioning and improve the standardization level of treatment; and in teaching, it can accelerate talent training and relieve the pressure of teachers.

[0003] However, the existing automatic needle application equipment has realized acupuncture automation to a certain extent, but still faces many key technical challenges. For example, the patent application with the application publication number CN119280529A discloses an acupuncture robot system which can perform needle insertion and twirling operations, but cannot automatically change needles, and the needle box used is open and can be easily contaminated in an open indoor environment. Meanwhile, the needle box is used to avoid the grabbing device and is driven to rotate by a motor, but the position of the needle box is not fixed and errors can easily accumulate.

[0004] In the patent applications with the application publication numbers CN120962613A and CN108392412A, although both contain acupuncture robot needle application end devices with automatic needle supply, the automatic needle supply parts of the devices both use acupuncture needles to automatically fall into the needle clamping module under the action of gravity. In this process, the needle clamping part of the needle clamping module is full of uncertainty. Firstly, the acupuncture needles rely on gravity to fall, and there is a risk of bending of the needle tip during the falling process. Secondly, the falling length is uncontrollable, causing the clamping part to actually clamp the needle body instead of the needle handle, thereby causing the risk of bending of the needle body. Thirdly, the length of the exposed needle body part is uncontrollable, which easily causes the length of the needle body to be different from the set depth during the acupuncture process.

[0005] Therefore, there is a need for an acupuncture robot needle application end that can realize compact structure, automatic needle insertion and improve the control precision of needle application. SUMMARY

[0006] The purpose of the application is to solve the problems existing in the prior art and provide an acupuncture robot needle application end and a needle supply module thereof.

[0007] To achieve the above object, the technical scheme adopted by the present application is as follows:

[0008] A needle supply module of a needle insertion end of an acupuncture robot, comprising a needle box body front end, a needle box body rear end, a needle pushing plate and a needle pushing spring;

[0009] The needle box body front end and the needle box body rear end are detachably connected;

[0010] The rear end of the needle box body front end is provided with a groove, the front end of the needle pushing plate is inserted into the groove, and the rear end of the needle pushing plate is inserted into the needle box body rear end and is in sliding connection with the needle box body rear end, and the sliding direction is parallel to the front-rear direction;

[0011] The needle pushing spring is located in the needle box body rear end, one end of the needle pushing spring is fixedly connected with the rear end of the needle pushing plate, and the other end of the needle pushing spring is fixedly connected with the needle box body rear end;

[0012] When at least one acupuncture needle is vertically located between the front end of the needle pushing plate and the groove bottom of the groove, the needle pushing spring is in a compressed state, at this time, the elastic force provided by the compressed needle pushing spring continuously pushes the needle pushing plate on the side to provide an acupuncture needle with a horizontal force in the horizontal direction, and this force enables the acupuncture needle to not fall under the action of gravity when not being acted on by the pushing rod;

[0013] When at least two acupuncture needles are vertically located between the front end of the needle pushing plate and the groove bottom of the groove, all the acupuncture needles are arranged in a single row and the arrangement direction is parallel to the front-rear direction;

[0014] The needle box body front end is provided with an upper through hole and a lower through hole, and the upper through hole and the lower through hole are in communication with the groove;

[0015] The upper through hole is used for allowing a pushing rod to enter the groove to push the acupuncture needle located at the most front side to move downward, and the lower through hole is used for allowing the acupuncture needle pushed by the pushing rod to leave the needle box body.

[0016] As a preferred technical scheme:

[0017] The needle supply module of the needle insertion end of the acupuncture robot as described above, the horizontal cross-sectional shape of the groove is composed of a semicircular arc and two line segments, the opening of the semicircular arc is rearward, the two line segments are parallel to the front-rear direction and the front ends of the two line segments are respectively connected with the two ends of the semicircular arc; the diameter of the semicircular arc is greater than 1 times of the acupuncture needle and less than 2 times of the acupuncture needle;

[0018] As Figure 15As shown, taking the diameter of the handle of the acupuncture needle as an example, the distance from the center axis of the upper through hole at the front end of the needle box body to the right boundary is 12.25 mm, and the diameter of the semicircular arc is 2.5 mm, which is the track of the front end of the needle pushing plate for applying lateral force. The lengths of the two line segments can allow 6 acupuncture needles to be vertically arranged; in order to ensure that the acupuncture needles are vertically arranged and that the two acupuncture needles in the recess do not coincide in the vertical direction (i.e., perpendicular to the two line segments), when the diameter of the handle is 2 mm, the width of the track should not exceed 4 mm, and in order to ensure that the acupuncture needles have a low degree of inclination in the horizontal direction in the recess and that the friction between the acupuncture needles and the side wall is low when the needle pushing plate pushes the acupuncture needles into the through hole, the diameter of the semicircular arc is most appropriate at 2.5 mm to 3 mm; if it is necessary to increase the number of acupuncture needles stored, it is only necessary to increase the lengths of the two line segments and the length of the front end of the needle pushing plate, and if it is necessary to replace the acupuncture needles with larger diameters, i.e., thicker handles, it is only necessary to increase the diameter of the semicircular arc and the width of the front end of the needle pushing plate.

[0019] The acupuncture robot needle application end supply needle module as described above, the number of needle pushing springs is 2 or more and is arranged at intervals in the vertical direction.

[0020] The acupuncture robot needle application end supply needle module as described above, the front end of the needle box body is detachably connected with the rear end of the needle box body through two buckle plates.

[0021] The acupuncture robot needle application end supply needle module as described above, the rear end of the front end of the needle box body is fixedly connected with two insertion plates, and the two insertion plates are vertically arranged and parallel to the front-rear direction on the left and right sides of the recess.

[0022] The left and right sides of the area in the rear end of the needle box body for inserting the rear end of the needle pushing plate are provided with areas for inserting the two insertion plates, and the two insertion plates are respectively inserted therein and the opposite surfaces of the two insertion plates are exposed.

[0023] The front ends of the two buckle plates cover the exposed opposite surfaces of the two insertion plates, and are connected with the opposite surfaces through the cooperation of protrusions and grooves.

[0024] The rear ends of the two buckle plates are rotationally connected with the rear end of the needle box body, and the rotation axes are vertical axes.

[0025] The application further provides an acupuncture robot needle application end, which comprises the acupuncture robot needle application end supply needle module as described above, and further comprises a mounting frame, a needle feeding module, a twisting module and a needle clamping module.

[0026] The mounting frame comprises a first connecting plate, a second connecting plate, a third connecting plate and a fourth connecting plate; the first connecting plate is vertically arranged and parallel to the front-rear direction, the second connecting plate is vertically arranged and parallel to the left-right direction, and the third connecting plate and the fourth connecting plate are both horizontally arranged; the first connecting plate and the third connecting plate are both connected with the second connecting plate, and the fourth connecting plate is below the third connecting plate and fixedly connected with the third connecting plate;

[0027] The front end of the needle box body is fixed on the third connecting plate.

[0028] As a preferred technical solution:

[0029] The needle insertion module of the acupuncture robot needle insertion end comprises a guide rail fixed base, a first guide rail, a first sliding block, a first driving mechanism, a flange bearing seat, a flange bearing seat connecting plate and a pushing rod.

[0030] The guide rail fixed base is fixedly installed on the first connecting plate, the first guide rail is vertically arranged and installed on the guide rail fixed base, the first sliding block is slidingly installed on the first guide rail, the first driving mechanism is used for driving the first sliding block to move along the first guide rail, the flange bearing seat is fixedly installed on the first sliding block, the flange bearing seat connecting plate is fixedly connected to one side of the flange bearing seat, and the pushing rod is vertically arranged above the upper through hole of the front end of the needle box body and fixedly installed in the inner hole of one side of the flange bearing seat connecting plate and moves synchronously with the flange bearing seat connecting plate.

[0031] The first driving mechanism of the acupuncture robot needle insertion end comprises a lead screw, a first motor, a circular bearing, a support seat, a flange bearing and a first motor fixed base.

[0032] The lead screw is vertically arranged, one end of the lead screw is fixedly connected with the output shaft of the first motor, the other end of the lead screw is installed in the inner hole of the support seat through the circular bearing, and the lead screw passes through the flange bearing and is threadedly connected with the flange bearing.

[0033] The first motor is installed on the first motor fixed base, the first motor fixed base and the support seat are both fixedly connected with the guide rail fixed base, and the flange bearing is fixedly connected with the flange bearing seat.

[0034] The rotation number and rotation speed parameters of the first motor are set to accurately control the first motor, so that the starting point, the ending point and the moving speed of the first sliding block are accurately controlled, and the stability and the repeat precision of the needle insertion process are improved.

[0035] The twisting module of the acupuncture robot needle insertion end comprises a diamond bearing, a needle tube and a second driving mechanism.

[0036] The rhomboid bearing is fixedly installed on the third connecting plate. The needle tube is vertically arranged directly below the lower through hole at the front end of the needle box and fixedly installed in the inner hole of the rhomboid bearing, so that the needle tube can rotate stably under the support of the rhomboid bearing. The second drive mechanism is used to drive the needle tube to rotate around its own central axis.

[0037] As described above, the second drive mechanism of the acupuncture robot's needle-applying end includes a second motor, an active synchronous wheel, a driven synchronous wheel, and a synchronous belt.

[0038] The second motor is fixedly mounted on the third connecting plate. The driving synchronous pulley is fixedly connected to the output shaft of the second motor. The driven synchronous pulley is fixedly sleeved on the needle tube. The synchronous belt is simultaneously sleeved on the driven synchronous pulley and the driving synchronous pulley.

[0039] As described above, the needle clamping module of an acupuncture robot needle insertion end includes a flathead set screw, a flathead hex screwdriver bit, a hex screwdriver connecting rod, and a third drive mechanism.

[0040] The needle tube has a threaded hole along the radial direction. A flathead set screw is screwed into the threaded hole. A flathead hexagonal screwdriver bit is used to tighten or loosen the flathead set screw. The flathead hexagonal screwdriver bit is installed in the inner hole of the hexagonal connecting rod parallel to the left and right direction. The third drive mechanism is used to drive the hexagonal connecting rod to rotate around its own central axis, and at the same time to drive the hexagonal connecting rod to move in the left and right direction.

[0041] As described above, the third drive mechanism of the acupuncture robot's needle insertion end includes a third motor, a fourth motor, a connecting mechanism, a second guide rail, gears, a rack, and a rack support base;

[0042] The end of the internal hexagonal connector rod without the flat-head internal hexagonal screwdriver bit is fixedly mounted on the motor shaft of the third motor. The third motor and the fourth motor are simultaneously slidably mounted on the second guide rail parallel to the left and right direction through the same connecting mechanism. The second guide rail is fixedly mounted on the fourth connecting plate. The fourth motor is located on the side of the third motor away from the internal hexagonal connector rod, and the motor shaft of the fourth motor is parallel to the vertical direction. The gear is fixedly mounted on the motor shaft of the fourth motor, and the rack is fixedly mounted in the inner groove of the rack support seat. The rack support seat is fixedly mounted on the fourth connecting plate and is parallel to the left and right direction. The gear and the rack mesh with each other.

[0043] The needle insertion end of an acupuncture robot as described above includes a connecting mechanism comprising a first motor bracket, a second motor bracket, a fifth connecting plate, a second slider, a third slider, and a sixth connecting plate;

[0044] The third motor is fixedly installed on the first motor support, the fourth motor is fixedly installed on the second motor support, the first motor support and the second motor support are fixedly installed on the fifth connecting plate at the same time, the fifth connecting plate is fixedly connected with the second sliding block and the third sliding block at the same time, the second sliding block and the third sliding block are slidably installed on the second guide rail at the same time, and the sixth connecting plate is fixedly connected with the first motor support and the second motor support at the same time, so that synchronous movement of the two is realized.

[0045] Beneficial effects:

[0046] (1) The automatic needle insertion, clamping, twisting and needle withdrawal process of the acupuncture needle is completed through the multi-motor cooperative control, continuous needle replacement and stable needle application are realized, manual intervention is reduced, and the consistency and safety of needle application are improved.

[0047] (2) When the acupuncture needle needs to be replaced, the front end of the needle box body can be freely taken down by releasing the clamping state of the buckle plate, and the operation is convenient.

[0048] (3) The length of the acupuncture needle exposed from the needle body can be controlled through the needle insertion module, so as to accurately control the depth of acupuncture in the acupuncture process, and the acupuncture needle is fixed through the needle clamping module, so as to prevent the risk of falling of the acupuncture needle in the needle application process. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 It is a schematic view of the acupuncture robot needle application end of the application;

[0050] Figure 2 It is an exploded view of the acupuncture robot needle application end of the application;

[0051] Figure 3 It is an exploded view of the needle supply module of the application;

[0052] Figure 4 It is a perspective view (front view angle) of the needle supply module of the application, wherein a is a perspective view of the needle supply module containing only one acupuncture needle, and b is a perspective view of the needle supply module containing multiple acupuncture needles;

[0053] Figure 5 It is a perspective view (top view angle) of the needle supply module of the application;

[0054] Figure 6 It is a top view of the rear end of the needle box body of the application;

[0055] Figure 7 It is a top view of the buckle plate of the application;

[0056] Figure 8 It is an installation schematic view of the buckle plate of the application;

[0057] Figure 9Exploded view of the twisting module and the needle clamping module of the present invention;

[0058] Figure 10 This is a schematic diagram of the needle insertion module of the present invention;

[0059] Figure 11 This is an exploded view of the needle insertion module of the present invention;

[0060] Figure 12 This is a schematic diagram of the connecting mechanism of the present invention;

[0061] Figure 13 This is a schematic diagram of the third driving mechanism and the connecting mechanism of the present invention;

[0062] Figure 14 This is a schematic diagram of the first connecting plate to the sixth connecting plate of the present invention;

[0063] Figure 15 This is a schematic diagram of the front end of the needle box body of the present invention; in the figure, a is a top view of the front end of the needle box body, and b is a right view of the front end of the needle box body.

[0064] In the diagram, 01-Needle feeding module, 02-Needle supply module, 03-Twisting module, 04-Needle clamping module, 1-Flange device connecting plate, 2-First connecting plate, 3-First guide rail, 4-First motor fixing base, 5-First motor, 6-Guide rail fixing base, 7-First slider, 8-Lead screw, 9-Flange bearing seat connecting plate, 10-Flange bearing seat, 11-Flange type bearing, 12-Circular bearing, 13-Support seat, 14-Second connecting plate, 15-Front end of needle box body, 16-Needle pusher plate, 17-Needle pusher spring, 18-Snap-on plate, 19-Rear end of needle box body, 20-Propeller rod, 21-Rhombus shape Bearing, 22- Flathead hex screwdriver bit, 23- Flathead set screw, 24- Synchronous belt, 25- Driving synchronous pulley, 26- Driven synchronous pulley, 27- Needle tube, 28- Acupuncture needle, 29- Second motor, 30- Third motor, 31- Gear, 32- First motor bracket, 33- Second motor bracket, 34- Rack, 35- Fifth connecting plate, 36- Hex socket connecting rod, 37- Sixth connecting plate, 38- Second slider, 39- Third slider, 40- Second guide rail, 41- Fourth connecting plate, 42- Third connecting plate, 43- Rotating shaft, 44- Rack support, 45- Fourth motor. Detailed Implementation

[0065] The present invention will be further described below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent forms also fall within the scope defined by the appended claims.

[0066] A needle-applying tip of an acupuncture robot, such as Figure 1 As shown, it includes a needle supply module 02, a mounting bracket, a needle insertion module 01, a twisting module 03, and a needle clamping module 04;

[0067] Needle supply module, such as Figures 2-8 As shown, it includes a needle box front end 15, a needle box rear end 19, a needle pusher plate 16, and a needle pusher spring 17;

[0068] like Figure 5 As shown, the rear end of the front end 15 of the needle box body is provided with a groove. The horizontal cross-sectional shape of the groove is composed of a semi-circular arc and two line segments. The opening of the semi-circular arc faces backward, and the two line segments are parallel to the front-back direction and their front ends are respectively connected to the two ends of the semi-circular arc. The diameter of the semi-circular arc is greater than 1 times that of the acupuncture needle 28 and less than 2 times that of the acupuncture needle 28.

[0069] like Figure 15 As shown, the rear end of the front end 15 of the needle box body is fixedly connected to two insert plates. The two insert plates are located on the left and right sides of the groove, arranged vertically and parallel to the front and rear directions.

[0070] like Figure 5 As shown, the front end of the pusher plate 16 is inserted into the groove, and the rear end of the pusher plate 16 is inserted into the rear end 19 of the needle box body and slidably connected thereto, with the sliding direction parallel to the front and rear directions.

[0071] like Figure 2 , Figure 3 , Figure 5 As shown, the needle pusher spring 17 is located inside the rear end 19 of the needle box body. One end is fixedly connected to the rear end of the needle pusher plate 16, and the other end is fixedly connected to the rear end 19 of the needle box body. There are two or more needle pusher springs 17 arranged at intervals along the vertical direction.

[0072] The left and right sides of the area where the rear end of the needle box 19 is inserted for the needle pusher plate 16 are provided with areas for inserting two insert plates. The two insert plates are inserted into the areas respectively, and the opposite sides of the two insert plates are exposed.

[0073] The front ends of the two snap-on plates 18 respectively cover the exposed parts of the opposite back of the two insert plates, and are connected to them by the cooperation of the protrusions and grooves;

[0074] The rear ends of both snap-on plates 18 are rotatably connected to the rear end 19 of the needle box body, and the rotation axis 43 is a vertical axis;

[0075] like Figure 2 , Figure 4 As shown, when at least one acupuncture needle 28 is vertically positioned between the front end of the needle-pushing plate 16 and the bottom of the groove, the needle-pushing spring 17 is in a compressed state.

[0076] When at least two acupuncture needles 28 are vertically positioned between the front end of the needle-pushing plate 16 and the bottom of the groove, all acupuncture needles 28 are arranged in a single row with the arrangement direction parallel to the front-back direction.

[0077] The front end 15 of the needle box body is provided with a vertically arranged upper through hole and a lower through hole, both of which are connected to the groove;

[0078] The upper through hole is used to allow a push rod 20 to enter the groove to push the acupuncture needle 28 located at the front to move downward, and the lower through hole is used to allow the acupuncture needle 28 pushed by the push rod 20 to leave the needle box body;

[0079] like Figure 2 , Figure 14 As shown, the mounting bracket includes a first connecting plate 2, a second connecting plate 14, a third connecting plate 42, and a fourth connecting plate 41;

[0080] The first connecting plate 2 is arranged vertically and parallel to the front-to-back direction, the second connecting plate 14 is arranged vertically and parallel to the left-to-right direction, and the third connecting plate 42 and the fourth connecting plate 41 are both arranged horizontally; the first connecting plate 2 and the third connecting plate 42 are both connected to the second connecting plate 14, and the fourth connecting plate 41 is located below the third connecting plate 42 and is fixedly connected to it.

[0081] A flange device connecting plate 1 is fixed on the upper part of the fourth connecting plate 41. The flange device connecting plate 1 is used to connect the end of the robot arm.

[0082] The front end 15 of the needle box is fixed to the third connecting plate 42;

[0083] like Figure 2 , Figure 10 , Figure 11 As shown, the needle insertion module 01 includes a guide rail fixing base 6, a first guide rail 3, a first slider 7, a first drive mechanism, a flange bearing seat 10, a flange bearing seat connecting plate 9, and a push rod 20;

[0084] The guide rail fixing base 6 is fixedly installed on the first connecting plate 2. The first guide rail 3 is vertically arranged and installed on the guide rail fixing base 6. The first slider 7 is slidably installed on the first guide rail 3. The flange bearing seat 10 is fixedly installed on the first slider 7. The flange bearing seat connecting plate 9 is fixedly connected to one side of the flange bearing seat 10. The push rod 20 is vertically arranged directly above the upper through hole of the front end 15 of the needle box body and is fixedly installed in the inner hole on one side of the flange bearing seat connecting plate 9.

[0085] The first driving mechanism is used to drive the first slider 7 to move along the first guide rail 3. The first driving mechanism includes a lead screw 8, a first motor 5, a circular bearing 12, a support base 13, a flange bearing 11, and a first motor fixing base 4.

[0086] The lead screw 8 is arranged vertically, with one end fixedly connected to the output shaft of the first motor 5, and the other end installed in the inner hole of the support base 13 through the circular bearing 12, with the flange bearing 11 passing through the middle and threadedly connected to it.

[0087] The first motor 5 is mounted on the first motor fixed base 4. The first motor fixed base 4 and the support base 13 are both fixedly connected to the guide rail fixed base 6. The flange bearing 11 is fixedly connected to the flange bearing seat 10.

[0088] like Figure 2 , Figure 9 As shown, the twisting module 03 includes a rhomboid bearing 21, a needle tube 27, and a second drive mechanism;

[0089] The rhomboid bearing 21 is fixedly installed on the third connecting plate 42, and the needle tube 27 is vertically arranged directly below the lower through hole of the front end 15 of the needle box body and fixedly installed in the inner hole of the rhomboid bearing 21.

[0090] The second drive mechanism is used to drive the needle tube 27 to rotate around its own central axis. The second drive mechanism includes a second motor 29, a driving synchronous pulley 25, a driven synchronous pulley 26, and a synchronous belt 24.

[0091] The second motor 29 is fixedly mounted on the fourth connecting plate 42. The driving synchronous pulley 25 is fixedly connected to the output shaft of the second motor 29. The driven synchronous pulley 26 is fixedly sleeved on the needle tube 27. The synchronous belt 24 is simultaneously sleeved on the driven synchronous pulley 26 and the driving synchronous pulley 25.

[0092] The pin clamping module 04 includes a flathead set screw 23, a flathead hex screwdriver bit 22, a hex screwdriver connecting rod 36, and a third drive mechanism;

[0093] The needle tube 27 has a threaded hole in the radial direction. The flathead set screw 23 is screwed into the threaded hole. The flathead hexagonal screwdriver bit 22 is used to tighten or loosen the flathead set screw 23. The flathead hexagonal screwdriver bit 22 is installed in the inner hole of the hexagonal connecting rod 36 parallel to the left and right direction.

[0094] The third drive mechanism is used to drive the internal hexagonal connecting rod 36 to rotate around its own central axis, and at the same time to drive the internal hexagonal connecting rod 36 to move in the left and right directions; the third drive mechanism includes a third motor 30, a fourth motor 45, a connecting mechanism, a second guide rail 40, a gear 31, a rack 34 and a rack support seat 44;

[0095] The end of the internal hexagonal connecting rod 36 without the flat-head internal hexagonal screwdriver bit 22 is fixedly mounted on the motor shaft of the third motor 30;

[0096] like Figure 12 , Figure 13As shown, the connecting mechanism includes a first motor bracket 32, a second motor bracket 33, a fifth connecting plate 35, a second slider 38, a third slider 39, and a sixth connecting plate 37;

[0097] The third motor 30 is fixedly mounted on the first motor bracket 32. The fourth motor 45 is located on the side of the third motor 30 away from the internal hexagonal connecting rod 36 and is fixedly mounted on the second motor bracket 33. The motor shaft of the fourth motor 45 is parallel to the vertical direction. The first motor bracket 32 ​​and the second motor bracket 33 are simultaneously fixedly mounted on the fifth connecting plate 35. The fifth connecting plate 35 is simultaneously fixedly connected to the second slider 38 and the third slider 39. The second slider 38 and the third slider 39 are simultaneously slidably mounted on the second guide rail 40, which is parallel to the left and right direction. The second guide rail 40 is fixedly mounted on the fourth connecting plate 41. The sixth connecting plate 37 is simultaneously fixedly connected to the first motor bracket 32 ​​and the second motor bracket 33.

[0098] Gear 31 is fixedly installed on the motor shaft of the fourth motor 45, and rack 34 is fixedly installed in the inner groove of rack support 44. Rack support 44 is fixedly installed on the fourth connecting plate 41 and parallel to the left and right direction. Gear 31 and rack 34 mesh with each other.

[0099] The above-mentioned device is used as follows: When performing acupuncture using the above-mentioned device, firstly control the rotation of the first motor of the needle insertion module. The first motor drives the lead screw to rotate, thereby driving the first slider to move linearly along the first guide rail, thereby pushing the push rod through the upper and lower through holes at the front end of the needle box, so that the acupuncture needle enters the needle tube. Since the push rod is magnetic, when the push rod is used to push the acupuncture needle, it can attract the upper end of the acupuncture needle. At the same time, when one acupuncture needle is pushed out of the needle box, the push plate pushes the remaining acupuncture needle to continue to move to the left.

[0100] The fourth motor of the needle clamping module is controlled to rotate. Through the meshing of gears and racks, the fourth motor drives the third motor and the flathead hexagonal screwdriver bit to move in a straight line, so that the flathead hexagonal screwdriver bit reaches the position of the flathead set screw. Then, the third motor is controlled to rotate, driving the flathead hexagonal screwdriver bit to rotate and tighten the flathead set screw, thereby fixing the acupuncture needle to the needle tube. After fixing is completed, the fourth motor is controlled to rotate in the opposite direction, so that the third motor and the flathead hexagonal screwdriver bit return to the initial position. Next, the second motor of the twisting module is controlled to rotate. The second motor drives the active synchronous pulley to rotate, which drives the driven synchronous pulley connected to the needle tube to rotate through the synchronous belt, thereby driving the needle tube to rotate, realizing the twisting operation of the acupuncture needle and obtaining the required twisting angle.

[0101] After the needle insertion is completed, the first motor of the needle insertion module is controlled to rotate in reverse, driving the first slider to move along the first guide rail and return to the initial position, thus resetting the push rod. Then, the fourth motor of the needle clamping module is controlled to rotate, and through the meshing transmission of gears and racks, the third motor and the flathead hexagonal screwdriver bit are driven to move again to the position of the flathead set screw on the needle tube. Then, the third motor is controlled to rotate in reverse, driving the flathead hexagonal screwdriver bit to rotate and loosen the flathead set screw, so that the acupuncture needle is released from the needle tube and falls off. After the release operation is completed, the fourth motor is controlled to rotate in reverse, so that the third motor and the flathead hexagonal screwdriver bit return to the starting position. After the acupuncture is completed, the needles can be manually removed and collected.

Claims

1. A needle supply module at the end of an acupuncture robot, characterized in that, It includes the front end (15) of the needle box body, the rear end (19) of the needle box body, the needle pusher plate (16) and the needle pusher spring (17). The front end (15) of the needle box body and the rear end (19) of the needle box body are detachably connected; The front end (15) of the needle box body is provided with a groove at the rear end. The front end of the pusher plate (16) is inserted into the groove, and the rear end of the pusher plate (16) is inserted into the rear end (19) of the needle box body and slidably connected thereto. The sliding direction is parallel to the front and rear directions. The needle pusher spring (17) is located inside the rear end (19) of the needle box body. One end is fixedly connected to the rear end of the needle pusher plate (16), and the other end is fixedly connected to the rear end (19) of the needle box body. When at least one acupuncture needle is vertically positioned between the front end of the needle-pushing plate (16) and the bottom of the groove, the needle-pushing spring (17) is compressed. When at least two acupuncture needles are vertically positioned between the front end of the needle-pushing plate (16) and the bottom of the groove, all acupuncture needles are arranged in a single row with the arrangement direction parallel to the front-back direction. The front end (15) of the needle box body is provided with an upper through hole and a lower through hole, both of which are connected to the groove; The upper through hole is used to allow a push rod (20) to enter the groove to push the acupuncture needle located at the front to move downward, and the lower through hole is used to allow the acupuncture needle pushed by the push rod (20) to leave the needle box body.

2. The needle supply module at the end of an acupuncture robot according to claim 1, characterized in that, The horizontal cross-sectional shape of the groove consists of a semicircular arc and two line segments. The opening of the semicircular arc faces backward, and the two line segments are parallel to the front-back direction and their front ends are connected to the two ends of the semicircular arc respectively. The diameter of the semicircular arc is greater than 1 times that of the acupuncture needle and less than 2 times that of the acupuncture needle.

3. The needle supply module at the end of an acupuncture robot according to claim 1, characterized in that, The front end (15) and rear end (19) of the needle box body are detachably connected by two snap-fit ​​plates (18); The rear end of the front end (15) of the needle box body is fixedly connected to two insert plates. The two insert plates are located on the left and right sides of the groove, arranged vertically and parallel to the front and rear directions. The left and right sides of the area where the back end of the needle box (19) is inserted for the needle pusher plate (16) are provided with areas for inserting two insert plates. The two insert plates are inserted into the areas respectively and the opposite sides of the two insert plates are exposed. The front ends of the two snap-on plates (18) respectively cover the exposed parts of the opposite back of the two insert plates and are connected to them by the cooperation of the protrusions and grooves; The rear ends of both buckle plates (18) are rotatably connected to the rear end (19) of the needle box body, and the rotation axis is a vertical axis.

4. An acupuncture robot's needle-applying tip, characterized in that, The device includes a needle supply module (02) at the end of the acupuncture robot as described in any one of claims 1 to 3, and also includes a mounting frame, a needle insertion module (01), a twisting module (03), and a needle clamping module (04). The mounting bracket includes a first connecting plate (2), a second connecting plate (14), a third connecting plate (42), and a fourth connecting plate (41); the first connecting plate (2) is arranged vertically and parallel to the front-back direction, the second connecting plate (14) is arranged vertically and parallel to the left-right direction, and the third connecting plate (42) and the fourth connecting plate (41) are both arranged horizontally; the first connecting plate (2) and the third connecting plate (42) are both connected to the second connecting plate (14), and the fourth connecting plate (41) is located below the third connecting plate (42) and is fixedly connected to it; The front end (15) of the needle box is fixed on the third connecting plate (42).

5. The acupuncture robot's needle-applying tip according to claim 4, characterized in that, The needle insertion module (01) includes a guide rail fixing base (6), a first guide rail (3), a first slider (7), a first drive mechanism, a flange bearing seat (10), a flange bearing seat connecting plate (9), and a push rod (20). The guide rail fixing base (6) is fixedly installed on the first connecting plate (2), the first guide rail (3) is vertically arranged and installed on the guide rail fixing base (6), the first slider (7) is slidably installed on the first guide rail (3), the first driving mechanism is used to drive the first slider (7) to move along the first guide rail (3), the flange bearing seat (10) is fixedly installed on the first slider (7), the flange bearing seat connecting plate (9) is fixedly connected to one side of the flange bearing seat (10), and the push rod (20) is vertically arranged directly above the upper through hole of the front end (15) of the needle box body and fixedly installed in the inner hole on one side of the flange bearing seat connecting plate (9).

6. The acupuncture robot's needle-applying tip according to claim 5, characterized in that, The first drive mechanism includes a lead screw (8), a first motor (5), a circular bearing (12), a support base (13), a flange bearing (11), and a first motor mounting base (4). The lead screw (8) is arranged vertically, with one end fixedly connected to the output shaft of the first motor (5), and the other end installed in the inner hole of the support base (13) through a circular bearing (12), with a flange bearing (11) passing through it and threadedly connected to it. The first motor (5) is mounted on the first motor fixed base (4). The first motor fixed base (4) and the support base (13) are both fixedly connected to the guide rail fixed base (6). The flange bearing (11) is fixedly connected to the flange bearing seat (10).

7. The acupuncture robot's needle-applying tip according to claim 5, characterized in that, The twisting module (03) includes a rhomboid bearing (21), a needle tube (27), and a second drive mechanism; The rhomboid bearing (21) is fixedly installed on the third connecting plate (42). The needle tube (27) is vertically arranged directly below the lower through hole of the front end (15) of the needle box body and fixedly installed in the inner hole of the rhomboid bearing (21). The second driving mechanism is used to drive the needle tube (27) to rotate around its own central axis.

8. The acupuncture robot's needle-applying tip according to claim 7, characterized in that, The second drive mechanism includes a second motor (29), a driving synchronous pulley (25), a driven synchronous pulley (26), and a synchronous belt (24). The second motor (29) is fixedly installed on the third connecting plate (42). The active synchronous pulley (25) is fixedly connected to the output shaft of the second motor (29). The driven synchronous pulley (26) is fixedly sleeved on the needle tube (27). The synchronous belt (24) is simultaneously sleeved on the driven synchronous pulley (26) and the active synchronous pulley (25).

9. The acupuncture robot's needle-applying tip according to claim 5, characterized in that, The pin clamping module (04) includes a flathead set screw (23), a flathead hex screwdriver bit (22), a hex screwdriver connecting rod (36), and a third drive mechanism; The needle tube (27) has a threaded hole in the radial direction. A flathead set screw (23) is screwed into the threaded hole. A flathead internal hex screwdriver bit (22) is used to tighten or loosen the flathead set screw (23). The flathead internal hex screwdriver bit (22) is installed in the inner hole of the internal hex connector (36) parallel to the left and right direction. The third drive mechanism is used to drive the internal hex connector (36) to rotate around its own central axis, and at the same time to drive the internal hex connector (36) to move in the left and right direction.

10. The acupuncture robot's needle-applying tip according to claim 9, characterized in that, The third drive mechanism includes a third motor (30), a fourth motor (45), a connecting mechanism, a second guide rail (40), a gear (31), a rack (34), and a rack support (44). The end of the internal hexagonal connecting rod (36) without the flat-head internal hexagonal screwdriver bit (22) is fixedly installed on the motor shaft of the third motor (30). The third motor (30) and the fourth motor (45) are simultaneously slidably installed on the second guide rail (40) parallel to the left and right direction through the same connecting mechanism. The second guide rail (40) is fixedly installed on the fourth connecting plate (41). The fourth motor (45) is located on the side of the third motor (30) away from the internal hexagonal connecting rod (36) and the motor shaft of the fourth motor (45) is parallel to the vertical direction. The gear (31) is fixedly installed on the motor shaft of the fourth motor. The rack (34) is fixedly installed in the inner groove of the rack support seat (44). The rack support seat (44) is fixedly installed on the fourth connecting plate (41) and parallel to the left and right direction. The gear (31) and the rack (34) mesh with each other.

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