Mechanical arm end tip plucking method type non-invasive needle clamping mechanism

Abstract

This invention provides a non-invasive needle gripping mechanism for the end effector of a robotic arm using a spring-loaded manipulation technique. A servo motor activates, driving a slider to move within a slide rail via a connecting rod. The lateral force of the slider causes a guide sleeve to swing around a main shaft support frame, simultaneously causing the guide sleeve to deflect at an angle around its cover. As the guide sleeve swings, the acupuncture needle also swings, simulating the acupuncture needle-shaking motion. A voice coil motor is then activated, and its vibration applies a downward axial thrust to the acupuncture needle, overcoming the elastic force of the elastic element and simulating the slight downward pressure motion of acupuncture. This generates vibrations at a specific frequency, stimulating acupoints. Through the ingenious design of the spring sleeve and voice coil motor, the simultaneous linear displacement and angular swing not only ensures smooth contact with the skin but also allows for complex traditional Chinese medicine manipulation techniques to be performed with only one servo motor and voice coil motor, significantly reducing the load on the end effector of the robotic arm and possessing high practical and promotional value.

Description

Technical Field

[0001] This invention relates to the field of mechanical equipment, and in particular to a non-invasive needle clamping mechanism using a flicking motion at the end of a robotic arm. Background Technology

[0002] Traditional Chinese medicine acupuncture treatment relies heavily on the experience and techniques of the physician, resulting in high labor intensity and difficulties in precisely quantifying and replicating treatment methods. With the development of medical robots, robotic arms have begun to assist acupuncture. However, existing acupuncture robot technology has the following main drawbacks: 1. High safety risks: Sharp needles are directly gripped by a robotic arm and inserted into the human body. This requires extremely high precision in torque control and visual recognition. Any control delay or error can easily cause serious medical accidents such as soft tissue damage or needle breakage.

[0003] 2. Lack of non-invasive composite stimulation programs: Most non-invasive physiotherapy terminals on the market can only achieve single vertical pressure, and cannot apply composite stimulation with angle swing and depth changes on the body surface like real acupuncture, thus limiting the therapeutic effect. Summary of the Invention

[0004] (a) Technical problems to be solved To address the aforementioned problems in the prior art, this invention provides a non-invasive needle gripping mechanism using a flicking motion at the end of a robotic arm.

[0005] (II) Technical Solution To achieve the above objectives, the main technical solutions adopted by the present invention include: A non-invasive needle gripping mechanism for the end effector of a robotic arm includes a spindle support frame, a drive assembly, and a pressure stimulation assembly. The tactile stimulation component includes a guide rail sleeve, a voice coil motor, an elastic element, an acupuncture needle, a needle fixing sleeve, and a C-shaped frame; One side of the needle fixing sleeve is connected to the main shaft support frame via a hinge shaft, and the other side of the needle fixing sleeve is connected to the bottom free end of the C-shaped frame; The top free end of the C-shaped frame is connected to the guide rail sleeve; The acupuncture needle is fitted inside the needle fixing sleeve, and one top end of the acupuncture needle sleeve extends into the guide rail sleeve and is connected to the guide rail sleeve through the voice coil motor. The acupuncture needle has an annular protrusion on its surface. The elastic element is sleeved on the acupuncture needle. One end of the elastic element is connected to the annular protrusion, and the other end of the elastic element is connected to the needle fixing sleeve. The drive assembly is mounted on the spindle support frame, and the drive end of the drive assembly is connected to the guide sleeve, driving the guide sleeve to swing around the hinge axis.

[0006] Preferably, the drive assembly includes a servo motor, a drive shaft, a slider, a connecting rod, and a slide rail; The servo motor is mounted on the main shaft support frame, and the drive section of the servo motor is connected to the drive shaft; One end of the connecting rod is rotatably connected to the drive shaft, and the other end of the connecting rod is rotatably connected to the slider; The slider is slidably mounted inside the slide rail, which is vertically positioned on the surface of the guide sleeve.

[0007] Preferably, the spindle support frame is connected to the end effector of the robotic arm.

[0008] Preferably, the top of the guide sleeve is provided with a sleeve cover, and the top of the sleeve cover is connected to the top free end of the C-shaped frame via a movable shaft.

[0009] Preferably, the elastic element is a spring.

[0010] Preferably, the acupuncture needle is a non-invasive acupuncture needle.

[0011] (III) Beneficial Effects The beneficial effects of this invention are as follows: Using the above technical solution, the servo motor is activated, driving the drive shaft to rotate via the servo disc. As the drive shaft rotates, the slider moves within the slide rail via the connecting rod. The lateral force of the slider causes the guide sleeve to swing around the main shaft support frame, simultaneously causing the guide sleeve to deflect at an angle around the sleeve cover. As the guide sleeve swings, the acupuncture needle also swings, simulating the shaking motion of acupuncture needles. Then, by activating the voice coil motor, the vibration of the voice coil motor applies a downward axial thrust to the acupuncture needle, overcoming the elastic force of the elastic element, simulating the slight downward pressure motion of acupuncture, and generating vibrations of a certain frequency to stimulate the acupoints. Through the ingenious design of the spring sleeve and voice coil motor, the simultaneous linear displacement and angular swing not only ensures flexibility when in contact with the skin and avoids the risk of puncture, but also requires only one servo motor and voice coil motor to achieve complex traditional Chinese medicine techniques, significantly reducing the load on the end effector of the robotic arm, and possessing extremely high practical and promotional value. Attached Figure Description

[0012] Figure 1 A schematic diagram of a non-invasive needle gripping mechanism using a flicking motion at the end of a robotic arm. Figure 2 A schematic diagram of the front view of a non-invasive needle gripping mechanism using a flicking technique at the end of a robotic arm. Figure 3 A schematic diagram of the structure for installing slide rails on guide rail sleeves.

[0013] [Explanation of Labels in the Attached Image] 1. Spindle support frame; 2. Driver components; 21. Servo motor; 22. Drive shaft; 23. Linkage rod; 24. Slider; 25. Slide rail; 3. Touch-stimulation component; 31. Acupuncture needle; 32. Hinge shaft; 33. Needle fixing sleeve; 34. Elastic element; 35. Guide rail sleeve; 36. Chamfered frame; 37. Cylinder cap. Detailed Implementation

[0014] To better explain and facilitate understanding of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0015] Please refer to Figures 1 to 3 The present invention provides a non-invasive needle gripping mechanism for the end effector of a robotic arm, comprising a main shaft support frame 1, a drive assembly 2, and a touch stimulation assembly 3; The tactile stimulation component 3 includes a guide rail sleeve 35, a voice coil motor, an elastic element 34, an acupuncture needle 31, a needle fixing sleeve 33, and a cubital frame 36. One side of the needle fixing sleeve 33 is connected to the main shaft support frame 1 via a hinge shaft 32, and the other side of the needle fixing sleeve 33 is connected to the bottom free end of the C-shaped frame 36; The top free end of the C-shaped frame 36 is connected to the guide rail sleeve 35; The acupuncture needle 31 is fitted inside the needle fixing sleeve 33, and one top end of the acupuncture needle 31 extends into the guide rail sleeve 35, and is connected to the guide rail sleeve 35 through the voice coil motor. The acupuncture needle 31 has an annular protrusion on its surface. The elastic element 34 is sleeved on the acupuncture needle 31. One end of the elastic element 34 is connected to the annular protrusion, and the other end of the elastic element 34 is connected to the needle fixing sleeve 33. The drive assembly 2 is mounted on the spindle support frame 1. The drive end of the drive assembly 2 is connected to the guide sleeve 35, driving the guide sleeve 35 to swing around the hinge axis 32.

[0016] The drive assembly 2 includes a servo motor 21, a drive shaft 22, a slider 24, a connecting rod 23, and a slide rail 25. The servo motor 21 is mounted on the main shaft support frame 1, and the drive section of the servo motor 21 is connected to the drive shaft 22; One end of the connecting rod 23 is rotatably connected to the drive shaft 22, and the other end of the connecting rod 23 is rotatably connected to the slider 24; The slider 24 is slidably mounted inside the slide rail 25, and the slide rail 25 is vertically arranged on the surface of the guide sleeve 35; In use, the servo motor 21 is activated, which drives the drive shaft 22 to rotate via the servo disc. As the drive shaft 22 rotates, the slider 24 moves within the slide rail 25 via the connecting rod 23. The lateral force of the slider 24 drives the guide sleeve 35 to swing around the main shaft support frame 1, and at the same time, the guide sleeve 35 deflects around the sleeve cover 37. As the guide sleeve 35 swings, the acupuncture needle 31 also swings, simulating the shaking action of acupuncture needles. Then, by activating the voice coil motor, the vibration of the voice coil motor applies a downward axial thrust to the acupuncture needle 31, which overcomes the elastic force of the elastic element 34, simulating the slight downward pressing action of acupuncture and generating a certain frequency of vibration to stimulate the acupoint.

[0017] In this embodiment, the spindle support frame 1 is connected to the end effector of the robotic arm.

[0018] In this embodiment, the top of the guide sleeve 35 is provided with a sleeve cover 37, and the top of the sleeve cover 37 is connected to the top free end of the C-shaped frame 36 through a movable shaft.

[0019] In this embodiment, the elastic element 34 is a spring.

[0020] In this embodiment, the acupuncture needle 31 is a non-invasive acupuncture needle 31.

[0021] The above are merely embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent modifications made based on the content of the present invention's specification and drawings, or direct or indirect applications in related technical fields, are similarly included within the patent protection scope of the present invention.

[0022] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A non-invasive needle gripping mechanism using a flicking motion at the end of a robotic arm, characterized in that, Includes spindle support frame, drive assembly, and tactile stimulation assembly; The tactile stimulation component includes a guide rail sleeve, a voice coil motor, an elastic element, an acupuncture needle, a needle fixing sleeve, and a C-shaped frame; One side of the needle fixing sleeve is connected to the main shaft support frame via a hinge shaft, and the other side of the needle fixing sleeve is connected to the bottom free end of the C-shaped frame; The top free end of the C-shaped frame is connected to the guide rail sleeve; The acupuncture needle is fitted inside the needle fixing sleeve, and one top end of the acupuncture needle sleeve extends into the guide rail sleeve and is connected to the guide rail sleeve through the voice coil motor. The acupuncture needle has an annular protrusion on its surface. The elastic element is sleeved on the acupuncture needle. One end of the elastic element is connected to the annular protrusion, and the other end of the elastic element is connected to the needle fixing sleeve. The drive assembly is mounted on the spindle support frame, and the drive end of the drive assembly is connected to the guide sleeve, driving the guide sleeve to swing around the hinge axis.

2. The non-invasive needle gripping mechanism for the end effector of a robotic arm according to claim 1, characterized in that, The drive assembly includes a servo motor, a drive shaft, a slider, a connecting rod, and a slide rail; The servo motor is mounted on the main shaft support frame, and the drive section of the servo motor is connected to the drive shaft; One end of the connecting rod is rotatably connected to the drive shaft, and the other end of the connecting rod is rotatably connected to the slider; The slider is slidably mounted inside the slide rail, which is vertically positioned on the surface of the guide sleeve.

3. The non-invasive needle gripping mechanism for the end effector of a robotic arm according to claim 1, characterized in that, The spindle support frame is connected to the end effector of the robotic arm.

4. The non-invasive needle gripping mechanism for the end effector of a robotic arm according to claim 1, characterized in that, The top of the guide sleeve is provided with a sleeve cover, and the top of the sleeve cover is connected to the top free end of the C-shaped frame via a movable shaft.

5. The non-invasive needle gripping mechanism for the end effector of a robotic arm according to claim 1, characterized in that, The elastic element is a spring.

6. The non-invasive needle gripping mechanism for the end effector of a robotic arm according to claim 1, characterized in that, The acupuncture needles used are non-invasive.

Images