CN-121987491-A - Pneumatic driving type acupuncture mechanical arm needle applying device

Abstract

The invention discloses a pneumatic driving type acupuncture mechanical arm needle applying device, which belongs to the technical field of traditional Chinese medicine treatment, and comprises a mechanical arm, wherein the mechanical arm is provided with an execution base, a clamp holder is arranged on the execution base and comprises a mounting disc body fixedly arranged on the execution base, three first clamping plates are circumferentially distributed on the bottom surface of the mounting disc body, included angles among the first clamping plates are the same, an extending plate which is rotationally connected with the first clamping plates is arranged at the bottom of the mounting disc body, tooth grooves are formed at the end parts of the adjacent extending plates of the first clamping plates, a cylinder driving rod which can linearly move relative to the mounting disc body is arranged in the middle of the mounting disc body, and a groove meshed with the tooth grooves is formed in the cylinder driving rod.

Inventors

• CHEN CAILING
• QI LIHUI
• WANG YUHONG
• DONG CHENG
• GUO XINGYANG
• Dou Zhongmei
• LI KE
• XU JING
• ZHU XIANGAN
• SUN PAN

Assignees

• 中国人民解放军总医院第七医学中心

Dates

Publication Date

20260508

Application Date

20260305

Claims (10)

1. 1. Pneumatic drive formula acupuncture arm needle applying device, including arm (20), arm (20) have and carry out base (22), its characterized in that, be equipped with holder (50) on carrying out base (22), holder (50) are including fixed installation disk body (51) that set up on carrying out base (22), three first grip block (55) have been laid around the bottom surface of installation disk body (51), contained angle between first grip block (55) is the same, installation disk body (51) bottom has extension board (53) of being connected with first grip block (55) rotation, the tip of the adjacent extension board (53) of first grip block (55) has tooth's socket (54), installation disk body (51) middle part has cylinder actuating lever (52) that can relative its linear movement, cylinder actuating lever (52) have the recess with tooth's socket (54) meshing.
2. 2. The pneumatic drive type acupuncture mechanical arm needle applying device according to claim 1, wherein the executing base (22) is provided with a revolving body structure, one end of the revolving body structure is connected with the clamp holder (50), and the middle section of the executing base (22) is connected with the mechanical arm (20).
3. 3. The pneumatic driving type acupuncture mechanical arm needle applying device according to claim 1, wherein the inner side surface of the first clamping plate (55) is connected with a second clamping plate (56) through an elastic piece (57), and the plane of the second clamping plate (56) is parallel to the axis of the cylinder driving rod (52).
4. 4. The pneumatic drive type acupuncture mechanical arm needle application device according to claim 2, wherein one end of the revolving structure of the execution base (22) is connected with a clamp holder (50), and the other end is connected with an execution assembly (30).
5. 5. The pneumatic drive type acupuncture mechanical arm needle application device according to claim 4, wherein the execution assembly (30) comprises a shell (31) connected with the execution base (22), a needle hole (33) allowing an object to enter and exit is formed in the end of the shell (31), and an image collector (32) is arranged outside the shell (31).
6. 6. The pneumatic driving type acupuncture mechanical arm needle applying device according to claim 5, wherein a screw rod (311) is arranged in the shell (31), the axis of the screw rod (311) is parallel to the axis of the needle hole (33), a movable plate body (35) is connected to the screw rod (311) through a screw rod nut, a second filiform needle (37) is arranged on the movable plate body (35), and the second filiform needle (37) can enter and exit the needle hole (33).
7. 7. The pneumatic driving type acupuncture mechanical arm needle applying device according to claim 6, wherein one end part of the screw rod (311) is provided with a positioning support plate (39) rotationally connected with the screw rod, the positioning support plate (39) is fixedly connected with the shell (31), the other end part of the screw rod (311) is provided with a support circular plate (34) rotationally connected with the screw rod, one end of the screw rod (311) is provided with a gear ring, and the shell (31) is internally provided with a driving motor (310) for driving the gear ring to rotate.
8. 8. The pneumatic driving type acupuncture mechanical arm needle applying device according to claim 6, wherein a protective sleeve (36) is arranged outside the second filiform needle (37), the protective sleeve (36) is connected with the side face of the movable plate body (35), and a limiting sliding plate (38) is connected with the end face of the protective sleeve (36) opposite to the needle hole (33).
9. 9. The pneumatic drive type acupuncture mechanical arm needle application device according to claim 1, wherein a cylinder is arranged in the execution base (22), and the cylinder can drive a cylinder driving rod (52) to move along the mounting disc body (51).
10. 10. The pneumatically driven acupuncture mechanical arm needle application device according to claim 1, characterized in that the execution base (22) is externally provided with a collection component.

Description

Pneumatic driving type acupuncture mechanical arm needle applying device Technical Field The invention relates to the technical field of traditional Chinese medicine treatment, in particular to a pneumatic driving type acupuncture mechanical arm needle applying device. Background In the intelligent development process of acupuncture treatment, mechanical acupuncture equipment gradually replaces part of manual operation by virtue of the advantages of operation standardization, needle application stability and the like, but the application mode of the existing mechanical acupuncture equipment has obvious defects, on one hand, most of equipment adopts a mode of internally arranging a single needle, so that single Shi Zhen operation of a single acupuncture point can only be completed, the treatment requirements of synchronous needle application of multiple acupuncture points and alternate use of multiple needles in clinic can not be met, on the other hand, few equipment for supporting and clamping the needles are mostly of a traditional two-claw structure, the needles are usually placed in a needle box in an inserting mode, and the problems of inclination, deviation and the like of part of the needles can occur under the influence of the processing precision of the insertion holes of the needle box, the straightness deviation of the needles and the operation errors in the placement process. When the two claw clamping jaws clamp inclined millineedle, the gesture correction can not be carried out on millineedle, so that included angles exist between the clamped millineedle axis and the equipment needle application reference axis, and the actual needle application angle deviates from the preset treatment angle, so that the accuracy of acupuncture stimulation is affected, the treatment effect is reduced due to the deviation of acupuncture point stimulation, and even local tissue discomfort is caused. At present, similar to the prior art, the problems are solved, such as a prior patent technology JP2025540976A, a medical apparatus for treating cerebral trauma and cerebral thrombosis by an electric needle is disclosed, the technology realizes the functions of inserting needle, rotating and electrically stimulating by a mechanical arm, but the problems of single needle dependence and lack of posture correction still exist for millineedle clamping and positioning, and a remote cooperation robot acupuncture system is disclosed, such as a prior patent technology US20250352429A1, the technology focuses on remote cooperation control, realizes remote operation and real-time monitoring by network connection, but does not solve the problem of needle application angle deviation caused by millineedle inclination, so the technology has an improvement and lifting space in terms of millineedle clamping and positioning precision and multiple needle use suitability. Disclosure of Invention The invention aims to provide a pneumatic drive type acupuncture mechanical arm needle application device, which solves the problem that milli-needles are used, clamped and positioned without calibration, and can ensure needle application precision and needle application comfort. In order to solve the technical problems, the pneumatic driving type acupuncture mechanical arm needle applying device comprises a mechanical arm, wherein the mechanical arm is provided with an execution base, a clamp holder is arranged on the execution base and comprises a mounting disc body fixedly arranged on the execution base, three first clamping plates are circumferentially distributed on the bottom surface of the mounting disc body, included angles among the first clamping plates are the same, an extending plate which is rotationally connected with the first clamping plates is arranged at the bottom of the mounting disc body, tooth grooves are formed at the end parts of the first clamping plates adjacent to the extending plate, an air cylinder driving rod which can linearly move relative to the first clamping plates is arranged in the middle of the mounting disc body, a groove meshed with the tooth grooves is formed in the air cylinder driving rod, and an air cylinder arranged in the execution base provides stable and rapid-response driving force for the air cylinder driving rod. According to the invention, flexible and stable displacement support is ensured through the mechanical arm, and a three-point positioning system is formed by the first clamping plates with the same included angles on the bottom surface of the mounting disc body of the clamp holder, so that clamping force can be uniformly applied from the circumferential direction to correct the posture offset of the first filiform needle caused by the placement inclination or the straightness deviation of the first clamping plate, the problem that the existing clamping equipment has no posture correction on the filiform needle clamping is solved, and the synchronous and accurate displacement of the three