The invention belongs to the technical field of
acupuncture dispensing, and discloses an
acupuncture assisting device based on force feedback judgment, which comprises a mechanical arm and a turntable base, a suction and injection module base is mounted at one end of the mechanical arm, a suction and
injection device body is arranged on one side of the suction and injection module base, and the
acupuncture assisting device further comprises a suction and injection
assembly arranged on one side of the suction and injection module base and used for sucking and injecting
medicine into the suction and injection module base. The clamping device is used for clamping and limiting the suction-
injection device body; through cooperation of structures such as the sucking and injecting
assembly and the
medicine dispensing
assembly, liquid
medicine in the
penicillin bottle body can be sucked conveniently, an air cylinder fixing plate is driven by a
voice coil motor to move up and down, then the
penicillin bottle body at the top of a
medicine tray is shaken through elastic force provided by an elastic part, the position of the
penicillin bottle body is adjusted, and the medicine dispensing efficiency is improved. Meanwhile, medicines in the penicillin bottle body are mixed or bubbles are released, and then a drawing rod of the suction-
injection device body is pulled through the
piston movable block, so that the suction-injection device body is controlled to perform suction, and the efficiency is improved.