Acupuncture mechanism for robot

Abstract

The utility model belongs to the technical field of needling machines, and discloses a needling mechanism for a robot, the needling mechanism comprises a connecting seat, a rack is arranged at the bottom of the connecting seat, a needling assembly and a pressing plate assembly are arranged on the rack, the pressing plate assembly comprises a first sliding rod slidably arranged on the rack, a pressing plate is arranged at the lower end of the first sliding rod, and a first connecting block is arranged at the upper end of the first sliding rod; a first driving motor is arranged on the rack, a crank is arranged on an output shaft of the first driving motor, a first rocker is hinged to the end of the crank, an L-shaped rocker is hinged to the first rocker, the corner of the L-shaped rocker is rotationally connected with the rack, and a second rocker rotationally connected with the first connecting block is hinged to the L-shaped rocker. A first driving motor drives a crank to rotate and drives a first rocker, an L-shaped rocker and a second rocker to move, so that a first sliding rod is driven to move up and down, a pressing plate presses and releases multiple layers of glass fabric, in the process, the rotating direction of the motor is consistent all the time, the transmission stability is good, and the service life of the motor and the service life of the mechanism are prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of acupuncture machines, in particular to an acupuncture mechanism for a robot. Background Art

[0002] In the production process of composite materials, when a single layer of glass fiber cloth cannot meet the performance requirements, multiple layers of glass fiber cloth need to be stacked to improve the overall material performance. However, after stacking multiple layers of glass fiber cloth, they cannot be tightly connected, which may cause delamination and peeling inside the material, thus affecting its application effect.

[0003] A Chinese utility model patent with publication number CN207259841U discloses a needle-punching device for multi-layer high-density microfiber leather, comprising two parallel vertical support plates and a fixed plate arranged between the two vertical support plates, a first rotating motor is installed on one side of the fixed plate, an output shaft of the first rotating motor is connected to a rotating disk, a connecting block is rotatably connected to the rotating disk, a sliding rod is fixedly connected to the bottom end of the connecting block, a vertical fixing rod and a horizontal fixing rod connecting the vertical fixing rod to the support plate are arranged between the two vertical support plates, a sliding hole is opened on the vertical fixing rod, one end of the sliding rod passes through the vertical fixing rod through the sliding hole and is fixedly connected to a mounting plate at the end, the sliding rod is slidably connected to the inner wall of the sliding hole, and a fixing splint and an adjusting splint are respectively arranged directly below the mounting plate The adjusting splint is located between the mounting plate and the fixed splint, and both sides of the fixed splint are fixedly connected to the vertical supporting plate, and both sides of the adjusting splint are slidably connected to the vertical supporting plate. The upper rotation connection of the fixed splint is provided with two vertically arranged threaded rods, and a threaded hole is provided on the adjusting splint, and the threaded rod is spirally matched with the threaded hole. The bottom end of the threaded rod is fixedly connected with a first bevel gear, and the bottom end of the fixed splint is fixedly connected with a sleeve ring, and a transmission rod is rotatably installed in the sleeve ring, and both ends of the transmission rod are fixedly connected with a second bevel gear, and the two second bevel gears are respectively meshed with the two first bevel gears, and a driven gear is fixedly sleeved on the outer side of the transmission rod, and the bottom end of the fixed splint is fixedly connected with a second rotating motor, and the output shaft of the second rotating motor is fixedly connected with a driving gear, and the driving gear is meshed with the driven gear. The rotating disk is driven to rotate by the first rotating motor, thereby driving the sliding rod and the mounting plate to move up and down to perform acupuncture on the leather. The driving gear is driven to rotate by the second rotating motor, driving the driven gear, the transmission rod and the second bevel gear to rotate, thereby driving the two first bevel gears and the threaded rod to rotate, so that the adjusting splint slides on the vertical supporting plate.

[0004] With respect to the above-mentioned related technologies, the inventors believe that the following defects exist: in the above-mentioned scheme, during the cycle of clamping and releasing the clamping plate, the second rotating motor needs to continuously rotate forward and reverse, thereby driving the first bevel gear and the second bevel gear to continuously rotate forward and reverse, resulting in poor power transmission stability, accelerated wear of the two bevel gears, and thus affecting service life and performance. Utility Model Content

[0005] In order to solve the above problems, the utility model provides an acupuncture mechanism for a robot.

[0006] The above-mentioned technical purpose of the utility model is achieved through the following technical solutions: an acupuncture mechanism for a robot, comprising a connecting seat connected to a mechanical arm, a frame is arranged at the bottom of the connecting seat, an acupuncture assembly and a pressure plate assembly are arranged on the frame, the pressure plate assembly comprises a first sliding rod vertically slidably arranged on the frame, a pressure plate is arranged at the lower end of the first sliding rod, and a first connecting block is arranged at the upper end, a first driving motor is horizontally arranged on the frame, a crank is arranged on the output shaft of the first driving motor, a first rocker is hingedly arranged at the end of the crank, an L-shaped rocker is hingedly arranged at the end of the crank, an L-shaped rocker is hingedly arranged at the end of the first rocker away from the crank, the connection between the two rocker arms of the L-shaped rocker is rotatably connected to the frame, a second rocker is hingedly arranged at the end of the L-shaped rocker away from the first rocker, and an end of the second rocker away from the L-shaped rocker is rotatably connected to the first connecting block.

[0007] By adopting the above technical solution, a first sliding rod, a pressing plate, a connecting block, a first driving motor, a crank, a first rocker, an L-shaped rocker and a second rocker are arranged, and the crank is driven to rotate by the first driving motor, thereby driving the first rocker to move, and the second rocker moves under the action of the L-shaped rocker, thereby driving the first connecting block and the first sliding rod to move up and down, so that the pressing plate can press and release the multi-layer glass fiber cloth, which is convenient for the needle-punching component to hook and prick the multi-layer glass fiber cloth; during the process of pressing and releasing the pressing plate, the rotation direction of the first driving motor is always consistent, the transmission stability is good, and the service life of the first driving motor and the mechanism is extended.

[0008] Furthermore, a first slide groove is vertically arranged on the frame near the first connecting block, a first slider is fixedly arranged on the first connecting block, and the first slider is slidably arranged in the first slide groove.

[0009] By adopting the above technical solution, a first sliding groove and a first sliding block are provided, and when the first sliding rod slides up and down, the sliding direction of the first sliding rod is limited and guided by the cooperation between the first sliding block and the first sliding groove.

[0010] Furthermore, the acupuncture assembly includes a second sliding rod vertically slidably arranged on the frame, a mounting plate is provided at the bottom end of the second sliding rod, and a plurality of vertically arranged acupuncture needles are arranged at intervals along the length direction of the mounting plate, and a second connecting block is also provided on the second sliding rod, and a horizontally arranged rotating shaft is rotatably arranged on the frame, an eccentric wheel is provided at one end of the rotating shaft, and a driven wheel is provided at the other end, and an eccentric shaft parallel to the rotating shaft is eccentrically provided on the outer wheel surface of the eccentric wheel, a connecting rod is rotatably arranged on the eccentric shaft, and the end of the connecting rod away from the eccentric shaft is rotatably connected to the second connecting block, a second driving motor is provided on the frame, and a driving wheel is provided on the output shaft of the second driving motor, and the driving wheel and the driven wheel are connected by a transmission belt.

[0011] By adopting the above technical solution, a second sliding rod, a mounting plate, a needle, a second connecting block, a rotating shaft, an eccentric wheel, a driven wheel, an eccentric shaft, a connecting rod, a second driving motor, a driving wheel and a transmission belt are provided. The driving wheel is driven to rotate by the second driving motor, and the transmission belt is used for power transmission, thereby driving the driven wheel, the rotating shaft and the eccentric wheel to rotate. During the rotation of the eccentric wheel, the connecting rod is driven to move by the eccentric shaft, thereby driving the second connecting block and the second sliding rod to move up and down, so that the mounting plate and the needle move up and down, thereby hooking and pricking the multi-layer glass fiber cloth.

[0012] Furthermore, a second slide groove is vertically arranged on the frame adjacent to the second connecting block, a second slider is arranged on the second connecting block, and the second slider is slidably arranged in the second slide groove.

[0013] By adopting the above technical solution, a second sliding groove and a second sliding block are provided. When the second sliding rod slides up and down, the sliding direction of the second sliding rod is limited and guided by the cooperation between the second sliding block and the second sliding groove.

[0014] Furthermore, a long groove is provided on the top surface of the mounting plate along its length direction, a plurality of vertically arranged circular holes are provided at intervals along the length direction of the groove at the bottom of the long groove, the needles are installed in the circular holes, a plurality of fixing blocks are provided at intervals along the length direction of the groove on the top surface of the mounting plate, a slot is provided on one side of the bottom of the fixing block, a cross bar is provided on the top of the needle, and the cross bar cooperates with the slot.

[0015] By adopting the above technical solution, a long groove, a round hole, a fixing block, a clamping slot and a cross bar are provided. After the needle is inserted into the round hole, the cross bar is rotated into the clamping slot so that the cross bar cooperates with the clamping slot to fix the needle, which is convenient for installation and removal of the needle.

[0016] Furthermore, the pressing plate extends to directly below the needle and has a through hole corresponding to the needle.

[0017] By adopting the above technical solution, the pressing plate extends to the bottom of the needle and a through hole is provided corresponding to the needle, thereby pressing the glass fiber cloth around the needle to prevent the glass fiber cloth from being lifted up during the rising process of the needle.

[0018] Furthermore, a connecting arm is cantilevered on the frame, and a strip light and a camera are arranged at one end of the connecting arm away from the acupuncture assembly.

[0019] By adopting the above technical solution, a connecting arm, a strip light and a camera are set up, and the camera visual recognition is used to check whether the needle is intact, so as to avoid the needle being broken and remaining in the fiberglass cloth, which affects the product quality. The strip light is used to fill the needle area with light, which facilitates the camera to identify the needle.

[0020] To sum up, the utility model has the following beneficial effects: in the present application, a first sliding rod, a pressure plate, a connecting block, a first driving motor, a crank, a first rocker, an L-shaped rocker and a second rocker are provided, and the first driving motor is used to drive the crank to rotate, thereby driving the first rocker to move, and under the action of the L-shaped rocker, the second rocker moves, thereby driving the first connecting block and the first sliding rod to move up and down, so that the pressure plate can press and release the multi-layer glass fiber cloth, which is convenient for the needle-punching assembly to hook and prick the multi-layer glass fiber cloth; during the process of pressing and releasing the pressure plate, the rotation direction of the first driving motor is always consistent, the transmission stability is good, and the service life of the first driving motor and the mechanism is extended. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the utility model;

[0022] Figure 2 It is a schematic structural diagram of the frame, acupuncture assembly and pressing plate assembly of the embodiment of the utility model;

[0023] Figure 3 It is a structural schematic diagram of the frame and the pressure plate assembly part of the embodiment of the utility model;

[0024] Figure 4 It is a structural schematic diagram of the frame and acupuncture assembly of the embodiment of the utility model;

[0025] Figure 5 It is a schematic structural diagram of the rotating shaft portion of an embodiment of the utility model;

[0026] Figure 6 It is a structural schematic diagram of the mounting plate part of the embodiment of the utility model;

[0027] Figure 7 yes Figure 6 A partial enlarged view of .

[0028] In the figure: 10, connecting seat; 11, frame; 12, first slide; 13, second slide; 20, acupuncture assembly; 21, second sliding rod; 22, mounting plate; 221, long groove; 222, fixing block; 223, slot; 23, needle; 231, cross bar; 24, second connecting block; 241, second sliding block; 25, rotating shaft; 26, eccentric wheel; 261, eccentric shaft; 27, connecting rod; 28, second Drive motor; 281, driven wheel; 282, driving wheel; 283, transmission belt; 29, bearing; 30, pressure plate assembly; 31, first sliding rod; 32, pressure plate; 321, through hole; 33, first connecting block; 331, first slider; 34, first drive motor; 35, crank; 36, first rocker; 37, L-shaped rocker; 38, second rocker; 40, connecting arm; 41, strip light; 42, camera. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application; obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application without making creative work are within the scope of protection of the present application.

[0030] like Figure 1-7 As shown, an embodiment of the present application discloses a needling mechanism for a robot, including a connecting seat 10, a frame 11, a pressing plate assembly 30 and a needling assembly 20. The robot arm and the frame 11 are connected by the connecting seat 10, and the needling assembly 20 and the pressing plate assembly 30 are arranged on the frame 11. After the multi-layer glass fiber cloth is laid on the platform, the multi-layer glass fiber cloth is pressed by the pressing plate assembly 30, and the multi-layer glass fiber cloth is hooked and pierced by the needling assembly 20, so that the glass fibers of each layer of glass fiber cloth are intertwined at the hooking position, thereby tightly connecting the multi-layer glass fiber cloth together.

[0031] Specifically, the pressure plate assembly 30 includes a first sliding rod 31, a pressure plate 32, a connecting block and a first driving motor 34. The first sliding rod 31 is vertically slidably arranged on the frame 11, and the pressure plate 32 is arranged at the lower end of the first sliding rod 31, so that when the first sliding rod 31 slides up and down, it drives the pressure plate 32 to move up and down, thereby pressing the glass fiber cloth. The connecting block is arranged at the upper end of the first sliding rod 31, and a first slide groove 12 is vertically arranged on the frame 11 near the first connecting block 33. A first slider 331 is fixedly arranged on the first connecting block 33, and the first slider 331 is slidably arranged in the first slide groove 12. Through the cooperation between the first slider 331 and the first slide groove 12, the sliding direction of the first sliding rod 31 is limited and guided. The first drive motor 34 is horizontally arranged at one side of the frame 11, and a crank 35 is arranged on the output shaft of the first drive motor 34. A first rocker 36 is hingedly arranged at the end of the crank 35, and an L-shaped rocker 37 is hingedly arranged at the end of the first rocker 36 away from the crank 35. The connection between the two rocker arms of the L-shaped rocker 37 is rotatably connected to the frame 11, and a second rocker 38 is hingedly arranged at the end of the L-shaped rocker 37 away from the first rocker 36. The end of the second rocker 38 away from the L-shaped rocker 37 is rotatably connected to the first connecting block 33. The crank 35 is driven to rotate by the first driving motor 34, thereby driving the first rocker 36 to move. Under the action of the L-shaped rocker 37, the second rocker 38 moves, and then the first connecting block 33 and the first sliding rod 31 move up and down, so that the pressing plate 32 presses and releases the multi-layer glass fiber cloth, which is convenient for the needling assembly 20 to hook and prick the multi-layer glass fiber cloth; during the pressing and releasing process of the pressing plate 32, the rotation direction of the first driving motor 34 is always consistent, the transmission stability is good, and the service life of the first driving motor 34 and the mechanism is extended.

[0032] When set, the needle assembly 20 includes a second sliding rod 21, a mounting plate 22, a second connecting block 24, a rotating shaft 25 and a second driving motor 28. The second sliding rod 21 is vertically slidably set on the frame 11. The mounting plate 22 is set at the bottom of the second sliding rod 21. When the second sliding rod 21 slides up and down, it drives the mounting plate 22 to move up and down. A plurality of vertically arranged needles 23 are arranged at intervals along the length direction of the mounting plate 22. The lower end of the needle 23 is provided with a plurality of barbs. When the mounting plate 22 moves up and down, it drives the needles 23 to move up and down, thereby hooking and pricking the multi-layer glass fiber cloth. A long groove 221 is provided on the top surface of the mounting plate 22 along its length direction, and a plurality of vertically arranged round holes are provided at intervals along the length direction of the groove at the bottom of the long groove 221. The needle 23 is installed in the round hole. A plurality of fixing blocks 222 are also provided at intervals along the length direction on the top surface of the mounting plate 22. A slot 223 is provided on one side of the bottom of the fixing block 222. A cross bar 231 is provided on the top of the needle 23. The cross bar 231 cooperates with the slot 223. After the needle 23 is inserted into the round hole, the cross bar 231 is rotated into the slot 223 so that the cross bar 231 cooperates with the slot 223 to fix the needle 23, which is convenient for installation and removal of the needle 23. The second connecting block 24 is arranged on the second sliding rod 21, and a second slide groove 13 is vertically arranged on the frame 11 near the second connecting block 24. A second slider 241 is arranged on the second connecting block 24, and the second slider 241 is slidably arranged in the second slide groove 13. The sliding direction of the second sliding rod 21 is limited and guided by the cooperation between the second slider 241 and the second slide groove 13. Two bearings 29 are arranged on the frame 11 at intervals, and the outer rings of the two bearings 29 are connected to the frame 11, and the inner rings are connected to the rotating shaft 25, so that the rotating shaft 25 can rotate in the frame 11. An eccentric wheel 26 is arranged at one end of the rotating shaft 25, and an eccentric shaft 261 parallel to the rotating shaft 25 is eccentrically arranged on the outer wheel surface of the eccentric wheel 26. A connecting rod 27 is rotatably arranged on the eccentric shaft 261. The connecting rod 27 is rotatably connected to the second connecting block 24 at one end away from the eccentric shaft 261. During the rotation of the rotating shaft 25, the eccentric wheel 26 is driven to rotate. Under the action of the eccentric shaft 261, the connecting rod 27 drives the second connecting block 24 and the second sliding rod 21 to move up and down. The second driving motor 28 is arranged on the frame 11, and a driving wheel 282 is arranged on the output shaft of the second driving motor 28. A driven wheel 281 is arranged on the end of the rotating shaft 25 away from the eccentric wheel 26. The driving wheel 282 is connected to the driven wheel 281 through a transmission belt 283. The second driving motor 28 drives the driving wheel 282 to rotate, and the transmission belt 283 is used for power transmission, thereby driving the driven wheel 281, the rotating shaft 25 and the eccentric wheel 26 to rotate. Under the action of the eccentric shaft 261, the connecting rod 27 drives the second connecting block 24 and the second sliding rod 21 to move up and down, and drives the mounting plate 22 and the needle 23 to move up and down, so as to hook and pierce the multi-layer glass fiber cloth.

[0033] In the specific configuration, the pressing plate 32 extends to the bottom of the needle 23 and has a through hole 321 corresponding to the needle 23, so as to compress the glass fiber cloth around the needle 23 to prevent the glass fiber cloth from being lifted up during the rising process of the needle 23.

[0034] A connecting arm 40 is cantilevered on the frame 11. A strip light 41 and a camera 42 are provided at one end of the connecting arm 40 away from the acupuncture assembly 20. The camera 42 is used to visually identify whether the needles 23 are intact to prevent the needles 23 from being broken and remaining in the fiberglass cloth, which may affect the product quality. The strip light 41 is used to fill in the area of ​​the needles 23, so that the camera 42 can identify the needles 23.

[0035] The use principle of the acupuncture mechanism for the robot in this embodiment is as follows: after laying the multi-layer glass fiber cloth on the platform, the mechanical arm is started to drive the connecting seat 10, the frame 11, the acupuncture assembly 20 and the pressing plate assembly 30 to move to one side of the glass fiber cloth, and then the first drive motor 34 and the second drive motor 28 are started. The first drive motor 34 drives the crank 35 to rotate, driving the first rocker 36, the L-shaped rocker 37, and the second rocker 38 to move, thereby driving the first connecting block 33 and the first sliding rod 31 to move up and down, so that the pressing plate 32 presses and releases the multi-layer glass fiber cloth, and the second drive motor 28 drives the driving wheel 282 to rotate, and the transmission belt 283 is used to perform the pressing and releasing of the multi-layer glass fiber cloth. The power is transmitted, thereby driving the driven wheel 281, the rotating shaft 25 and the eccentric wheel 26 to rotate. During the rotation of the eccentric wheel 26, the connecting rod 27 is driven to move through the eccentric shaft 261, thereby driving the second connecting block 24 and the second sliding rod 21 to move up and down, so that the mounting plate 22 and the needle 23 move up and down, thereby hooking and pricking the multi-layer glass fiber cloth; after the pressing plate 32 is pressed down, the needle 23 pierces the glass fiber cloth, and after the needle 23 is pulled out, the pressing plate 32 is released, and the mechanical arm drives the needle assembly 20 and the pressing plate assembly 30 to slide from one side of the glass fiber cloth to the other side, and needles are punched on the entire glass fiber cloth, so that the fibers in each layer of glass fiber cloth are intertwined with each other, thereby tightly connecting the multi-layer glass fiber cloth together.

[0036] The above is only a preferred embodiment of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. An acupuncture mechanism for a robot, characterized by: The invention comprises a connecting seat (10) connected to a mechanical arm, a frame (11) is arranged at the bottom of the connecting seat (10), an acupuncture assembly (20) and a pressing plate assembly (30) are arranged on the frame (11), the pressing plate assembly (30) comprises a first sliding rod (31) vertically slidably arranged on the frame (11), a pressing plate (32) is arranged at the lower end of the first sliding rod (31), and a first connecting block (33) is arranged at the upper end, a first driving motor (34) is horizontally arranged on the frame (11), and the first driving motor (34) A crank (35) is provided on the output shaft, a first rocking arm (36) is hingedly provided at the end of the crank (35), an L-shaped rocking arm (37) is hingedly provided at one end of the first rocking arm (36) away from the crank (35), a connection point of two rocking arms of the L-shaped rocking arm (37) is rotatably connected to the frame (11), a second rocking arm (38) is hingedly provided at one end of the L-shaped rocking arm (37) away from the first rocking arm (36), and an end of the second rocking arm (38) away from the L-shaped rocking arm (37) is rotatably connected to the first connecting block (33).

2. The acupuncture mechanism for a robot according to claim 1, characterized in that: A first slide groove (12) is vertically arranged on the frame (11) near the first connecting block (33), a first slider (331) is fixedly arranged on the first connecting block (33), and the first slider (331) is slidably arranged in the first slide groove (12).

3. The acupuncture mechanism for a robot according to claim 1, characterized in that: The acupuncture assembly (20) comprises a second sliding rod (21) vertically slidably arranged on the frame (11); a mounting plate (22) is arranged at the bottom end of the second sliding rod (21); a plurality of vertically arranged acupuncture needles (23) are arranged at intervals along the length direction of the mounting plate (22); a second connecting block (24) is also arranged on the second sliding rod (21); a horizontally arranged rotating shaft (25) is rotatably arranged on the frame (11); an eccentric wheel (26) is arranged at one end of the rotating shaft (25) and a driven wheel (281) is arranged at the other end. ), an eccentric shaft (261) parallel to the rotating shaft (25) is eccentrically arranged on the outer wheel surface of the eccentric wheel (26), a connecting rod (27) is rotatably arranged on the eccentric shaft (261), and one end of the connecting rod (27) away from the eccentric shaft (261) is rotatably connected to the second connecting block (24), a second driving motor (28) is arranged on the frame (11), a driving wheel (282) is arranged on the output shaft of the second driving motor (28), and the driving wheel (282) is connected to the driven wheel (281) via a transmission belt (283).

4. The acupuncture mechanism for a robot according to claim 3, characterized in that: A second slide groove (13) is vertically arranged on the frame (11) adjacent to the second connecting block (24), and a second sliding block (241) is arranged on the second connecting block (24), and the second sliding block (241) is slidably arranged in the second slide groove (13).

5. The acupuncture mechanism for a robot according to claim 3, characterized in that: The top surface of the mounting plate (22) is provided with a long groove (221) along its length direction, and the bottom of the long groove (221) is provided with a plurality of vertically arranged circular holes at intervals along its length direction, and the needle (23) is installed in the circular hole. The top surface of the mounting plate (22) is also provided with a plurality of fixed blocks (222) at intervals along its length direction, and a clamping groove (223) is provided on one side of the bottom of the fixed block (222), and a cross bar (231) is provided on the top of the needle (23), and the cross bar (231) cooperates with the clamping groove (223).

6. The acupuncture mechanism for a robot according to claim 3, characterized in that: The pressing plate (32) extends to the position directly below the needle (23) and is provided with a through hole (321) corresponding to the needle (23).

7. The acupuncture mechanism for a robot according to claim 1, characterized in that: A connecting arm (40) is cantilevered from the frame (11), and a strip light (41) and a camera (42) are arranged at one end of the connecting arm (40) away from the acupuncture assembly (20).

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