CN206239727U - automatic acupuncture device - Google Patents

Abstract

An automatic acupuncture device, which includes a positioning device, a power device, an acupuncture device, a base, a drone and a control device, the positioning device is set on the bottom of the base, the drone is set on the top of the base, the power device is connected to the base, and acupuncture The device is connected with the power device, and the positioning device, the power device, the acupuncture device and the drone are all connected with the control device. Such a device can automatically locate acupoints and do acupuncture automatically, which is convenient and quick.

Description

Automatic Acupuncture Equipment

technical field

The utility model relates to an automatic acupuncture and moxibustion device.

Background technique

Acupuncture is the general term for acupuncture and moxibustion. It is a widely used method of disease prevention and treatment in traditional natural therapy. Acupuncture therapy has a wide range of adaptability and can be applied to departments such as internal medicine, surgery, gynecology, and pediatrics, especially for pain, joint movement disorders, nerve function damage, and mental health problems. The curative effect of the disease is quick and obvious, the operation method is simple and easy, the medical cost is economical, and there are few side effects.

However, the process of selecting acupoints and acupuncture in existing acupuncture all requires manual operation, which is complicated, time-consuming and labor-intensive.

Utility model content

The purpose of this utility model is to provide an automatic acupuncture device, which can automatically complete acupoint selection and acupuncture, which greatly simplifies the traditional acupuncture mode, making it more convenient and faster.

Embodiments of the utility model are achieved in that:

An automatic acupuncture device, which includes a positioning device, a power device, an acupuncture device, a base, a drone and a control device. The positioning device is arranged at the bottom of the base, the drone is arranged at the top of the base, the power device is connected with the base, and the acupuncture device is connected with the power device. The positioning device, the power unit, the acupuncture device, and the drone are all connected with the control device.

The control device controls the drone to drive the entire automatic acupuncture device to take off, so that the automatic acupuncture device flies to the vicinity of the user, and at the same time the positioning device locates the position of the corresponding acupuncture point, so that the automatic acupuncture device can land on the corresponding acupuncture point. The control device then controls the power device so that the acupuncture device can perform acupuncture and withdraw automatically. After the acupuncture is finished, the control device controls the drone to make the automatic acupuncture device take off and leave the user. In this way, the entire acupuncture process is fully automated, which solves the inconvenience caused by the traditional manual operation, greatly simplifies the acupuncture process, and facilitates the use.

In one embodiment of the present utility model, the automatic acupuncture device further includes a suction cup, which is arranged on the bottom of the base.

In one embodiment of the present invention, there are multiple suction cups, and the multiple suction cups are evenly distributed around the acupuncture device.

In one embodiment of the present utility model, the automatic acupuncture device further includes a plurality of disinfection nozzles, and the plurality of disinfection nozzles are arranged at the bottom of the base and surround the acupuncture device.

In one embodiment of the present invention, the acupuncture device includes acupuncture needles and a needle cover, the acupuncture needles are arranged in the needle cover, and the needle cover is connected to the power device.

In one embodiment of the present invention, the needle sheath further includes a first limiting ring arranged on the top of the needle sheath and a second limiting ring arranged on the bottom of the needle sheath. Acupuncture needles include an acupuncture part and a rotating part. The automatic acupuncture equipment also includes a rotating device composed of an armature coil, a rotating member, a commutation ring, a brush, a first power supply, a first magnet and a second magnet. The first magnet and the second magnet are oppositely arranged on the inner side of the needle cover, and the magnetic poles of the first magnet and the second magnet are opposite. The armature coil, the rotating part, the commutation ring, the electric brush and the first power supply are arranged in the needle sleeve. Both ends of the brush are connected to the positive and negative poles of the first power supply. One end of the commutation ring is electrically connected with the brush. The other end of the commutation ring is electrically connected with the armature coil. The armature coil is located between the first magnet and the second magnet. The rotating member is fixedly connected with the armature coil. The rotating part of the acupuncture needle is detachably arranged in the rotating part. One end of the rotating member abuts against the first limiting ring, and the other end abuts against the second limiting ring.

In one embodiment of the present invention, the automatic acupuncture equipment further includes a semiconductor cooling chip and a third power supply, the semiconductor heating chip is arranged inside the needle cover, and the semiconductor cooling chip is electrically connected to the third power supply.

In one embodiment of the present utility model, the automatic acupuncture device further includes a displacement sensor, and the displacement sensor is connected with the acupuncture device.

In one embodiment of the present invention, the displacement sensor includes a resistance wire, a sliding plate, a second power supply, an ammeter, and a communication device. The resistance wire is insulated on the bottom of the base, the sliding sheet is insulated on the outer surface of the acupuncture device and is slidably connected to the resistance wire, and the positive and negative poles of the second power supply are electrically connected to the resistance wire and the sliding sheet respectively. The resistance wire, the sliding sheet and the second power supply form an electric circuit, and the ammeter is connected in series in the electric circuit. The ammeter is connected with the communication device, and the communication device is connected with the control device.

In one embodiment of the present utility model, the control device includes a wireless communication device and a remote controller. The positioning device, the power device, the acupuncture device, and the drone are all connected with the wireless communication device. The wireless communication device is connected with the remote controller.

The beneficial effects of the utility model embodiment are:

The control device can control the operation and stop of the drone, and then control the take-off and landing of the automatic acupuncture equipment; at the same time, the control device controls the positioning device to locate and mark the corresponding acupoints, so that the automatic acupuncture equipment can accurately land on the corresponding acupoints ; On the other hand, when the automatic acupuncture device falls on the corresponding acupuncture point, the control device controls the power device to make the acupuncture device complete acupuncture and/or exit. After the acupuncture is finished, the control device controls the drone to make the automatic acupuncture device take off and leave the user. The whole process is completed through the control device, eliminating the complicated manual operation and making the acupuncture process more convenient and faster.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following drawings will be briefly introduced in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention. Therefore, it should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained according to these drawings without creative work.

Fig. 1 is a structural schematic diagram of the first viewing angle of the automatic acupuncture device in Embodiment 1 of the present utility model;

Fig. 2 is the structural representation of the unmanned aerial vehicle in the utility model embodiment 1;

Fig. 3 is a structural schematic diagram of an acupuncture device, a rotating device and a semiconductor refrigeration chip in Embodiment 1 of the present utility model;

Fig. 4 is a schematic structural view of the rotating device in Embodiment 1 of the present utility model;

Fig. 5 is a structural schematic diagram of the second viewing angle of the automatic acupuncture device in Embodiment 1 of the present utility model;

Fig. 6 is a schematic structural view of the disinfection nozzle in Example 1 of the utility model;

Fig. 7 is a partial diagram of the displacement sensor in Embodiment 1 of the utility model;

Fig. 8 is a working flow chart of the control device in Embodiment 1 of the present utility model.

Among them, the names of parts corresponding to the reference signs are as follows:

100-automatic acupuncture equipment, 110-positioning device, 111-scanning probe, 112-scanning control unit, 120-power device, 121-linear motor, 122-fourth power supply, 123-power control unit, 130-acupuncture device, 131 -Acupuncture needle, 1311-acupuncture part, 1312-rotation part, 132-needle cover, 1321-first limit ring, 1322-second limit ring, 140-base, 141-circular blind hole, 150-none Man-machine, 151-body, 152-flight part, 153-connecting frame, 154-flight control part, 160-control device, 170-suction cup, 180-disinfection nozzle, 181-nozzle, 182-accommodation part, 183-piston , 184-piston rod, 185-driver, 186-disinfection control unit, 190-rotary device, 191-armature coil, 192-rotary member, 193-commutation ring, 194-electric brush, 195-first power supply, 196 -first magnet, 197-second magnet, 198-connector, 199-first control unit, 210-semiconductor cooling plate, 220-third power supply, 230-displacement sensor, 231-resistance wire, 232-slide, 233-second power supply, 234-ammeter, 235-communication device, 236-insulating bushing, 240-semiconductor control unit.

detailed description

In order to make the purpose, technical solutions and advantages of the embodiments of the utility model more clear, the technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the utility model. Obviously, the described The embodiments are some embodiments of the present utility model, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

It should be noted that like numerals and letters denote similar items in the following figures, therefore, once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of the utility model, it should be noted that the orientation or positional relationship indicated by the terms "middle", "upper", "lower" etc. is based on the orientation or positional relationship shown in the accompanying drawings, or is the product of the utility model The orientation or positional relationship that is customarily placed in use is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot It should be understood as a limitation of the present utility model. In addition, the terms "first", "second", "third", "fourth", etc. are only used for distinguishing descriptions, and should not be construed as indicating or implying relative importance.

In the description of the present utility model, it should also be noted that, unless otherwise clearly stipulated and limited, the terms "setting" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, Or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present utility model in specific situations.

Example 1

Please refer to Fig. 1, the present embodiment provides an automatic acupuncture device 100, which includes a positioning device 110, a power device 120, an acupuncture device 130, a base 140, a drone 150, a suction cup 170, a disinfection nozzle 180, a displacement sensor 230, an electric An armature coil 191 , a rotating member 192 , a commutation ring 193 , a brush 194 , a first power source 195 , a first magnet 196 , a second magnet 197 , a semiconductor cooling chip 210 , a third power source 220 and a control device 160 .

Referring to FIG. 2 , the drone 150 is a quadrotor drone 150 . The drone 150 has a body 151 , a flight part 152 , a flight control part 154 and a connecting frame 153 . The flight part 152 is disposed on the top of the body 151 , the flight control part 154 is built in the body 151 , and the connecting frame 153 is disposed at the bottom of the body 151 . The flight control unit 154 is connected to the flight unit 152 . The flight control unit 154 can control the flight mode of the flight unit 152 so that the UAV 150 can take off, transfer and land. The flight control unit 154 is connected to the control device 160 .

The base 140, the shape of the base 140 is a cylinder, and the base 140 is made of ABS plastic. A circular blind hole 141 is defined at the bottom of the base 140 . The connecting frame 153 of the drone 150 is fixedly connected to the top of the base 140 .

The power device 120 , the power device 120 is composed of a power control unit 123 , a linear motor 121 and a fourth power source 122 . Specifically, the linear motor 121 is a DC stepping motor, the linear motor 121 is connected to the fourth power supply 122, and the linear motor 121 has a push rod capable of reciprocating linear motion. The power device 120 is disposed in a circular blind hole 141 at the bottom of the base 140 . The power control unit 123 is connected to the linear motor 121 . The power control unit 123 controls the push rod of the linear motor 121 to extend outward or retract inward. The power control unit 123 is connected to the control device 160 .

Referring to FIG. 3 , the acupuncture device 130 includes acupuncture needles 131 and a needle sheath 132 .

The acupuncture needle 131 includes an acupuncture part 1311 and a rotating part 1312 . The acupuncture needle 131 is a filiform needle made of austenitic stainless steel. The filiform needle has a tip portion with a smooth transition and a terminal portion whose outer peripheral surface is wound with copper wire. The end part is the rotating part 1312 , and the rest of the acupuncture needle 131 except the rotating part 1312 is the acupuncture part 1311 .

The needle cover 132 is a hollow cylindrical structure. The needle guard 132 has a closed top and an open bottom. There is a first limiting ring 1321 on the top of the needle cover 132 , and a second limiting ring 1322 on the bottom of the needle cover 132 . The diameter of the top surface of the needle cover 132 is slightly smaller than the circular blind hole 141 of the base 140 , that is, the needle cover 132 is in clearance fit with the circular blind hole 141 .

The first limiting ring 1321 is an annular cylindrical body disposed on the top inner side of the needle sheath 132 . The first limiting ring 1321 has a hollow inner cavity.

The second limiting ring 1322 is a cylindrical thin cover arranged at the bottom of the needle cover 132 . The diameter of the bottom surface of the second limiting ring 1322 is equal to the diameter of the top surface of the needle sheath 132 , that is, the second limiting ring 1322 fits with the bottom of the needle sheath 132 . The center of the second limiting ring 1322 is provided with a circular passing hole for the acupuncture needle 131 to pass through. The cavity of the first limiting ring 1321 corresponds to the through hole on the second limiting ring 1322 .

The top of the needle cover 132 is fixedly connected with the push rod of the power device 120 . The needle cover 132 is sleeved in the circular blind hole 141 of the base 140 .

Referring to FIG. 4 , the rotating device 190 includes an armature coil 191 , a rotating member 192 , a commutating ring 193 , a brush 194 , a first power source 195 , a first magnet 196 , and a second magnet 197 .

The armature coil 191 is a rectangular ring formed by winding a plurality of copper wires. There are two opposite wide ends and two opposite narrow ends in the rectangular ring shape. One of the narrow ends has a disconnect opening with opposed first and second ends.

The rotating member 192 is a cylindrical structure made of insulating material. The rotating member 192 has a through hole penetrating from the top surface to the bottom surface thereof. Specifically, the rotating member 192 is a cylindrical structure made of ABS plastic. The rotating member 192 is connected to the narrow end portion of the armature coil 191 via a connecting member 198 . One end of the rotating member 192 abuts in the hollow cavity of the first limiting ring 1321 , and the other end abuts around the passing hole of the second limiting ring 1322 , and the through hole corresponds to the passing hole.

The commutation ring 193 is two commutation segments arranged opposite to each other. The commutator piece is a semicircular metal piece. The first end of the armature coil 191 is connected to the center of the inner peripheral surface of one commutator segment through the first lead wire, and the second end of the armature coil 191 is connected to the center of the inner peripheral surface of another commutator segment through the second lead wire. .

The brushes 194 are two graphite brushes arranged opposite to each other. The brushes 194 are in good contact with the outer surface of the commutation ring 193 . The electric brush 194 is arranged on the top of the needle cover 132 through a bracket.

The first power supply 195 is a micro DC power supply. The first power supply 195 has a positive pole and a negative pole. The first power source 195 is connected to the brush 194 . The first power supply 195 is arranged on the top of the needle cover 132 .

The first magnet 196 and the second magnet 197 are permanent magnets made of permanent magnetic materials. Specifically, the first magnet 196 and the second magnet 197 are permanent magnets made of iron-chromium-cobalt permanent magnet alloy.

The first magnet 196 and the second magnet 197 are oppositely arranged on the inner wall of the needle sheath 132 , and the magnetic poles of the first magnet 196 and the second magnet 197 are opposite. The armature coil 191 is located in the middle of the first magnet 196 and the second magnet 197 .

The first control unit 199 is connected to the first power source 195 . The first control unit 199 changes the connection between the first power supply 195 and the brush 194 by changing the electric signal.

The third power supply 220 is a DC power supply arranged on the top of the needle cover 132 .

The semiconductor cooling chip 210 is arranged on the inner wall of the needle cover 132 and is spaced from the first magnet 196 and the second magnet 197 to avoid unnecessary interference. The semiconductor cooling chip 210 has positive and negative terminals, and the positive and negative terminals are respectively connected to the positive and negative electrodes of the third power supply 220 .

The semiconductor control unit 240 is connected to the third power source 220 . The semiconductor control unit 240 changes the connection state between the positive and negative terminals of the semiconductor cooling chip 210 and the positive and negative poles of the third power supply 220 through the change of the electrical signal, that is, the positive and negative terminals of the semiconductor cooling chip 210 are connected to the positive and negative terminals of the third power supply 220. Pole positive or reverse.

The positioning device 110 includes three scanning probes 111 and three scanning control units 112 . The scanning probe 111 is an infrared scanning probe. The positioning device 110 is disposed on the bottom of the base 140 . Specifically, the scanning probe 111 is connected to the scanning control part 112 , and the scanning control part 112 is arranged at the bottom of the base 140 . The scan control unit 112 can control the operation of the scan probe 111 . The scan control unit 112 is connected to the control device 160 .

Referring to Fig. 5, the suction cup 170, the suction cup 170 is made of nitrile rubber. The shape of the suction cup 170 is a circular disc with a concave center. The suction cup 170 is disposed on the bottom of the base 140 .

The automatic acupuncture device 100 has three suction cups 170 that are evenly distributed around the acupuncture device 130 , specifically, the three suction cups 170 are evenly and symmetrically distributed around the circular blind hole 141 that matches the needle cover 132 .

Referring to FIG. 6 , the disinfection nozzle 180 includes a disinfection control unit 186 , a driver 185 , a piston 183 , a piston rod 184 , an accommodating unit 182 , and a nozzle 181 .

The nozzle 181 is a hollow cylinder, the top surface of the cylinder is provided with a plurality of small holes, and the bottom surface of the cylinder is provided with a circular through hole.

The accommodating portion 182 has a cylindrical shape with one end closed and the other end open. A through hole is formed on the closed end of the receiving portion 182 . The closed end of the accommodating portion 182 is fixedly connected to the bottom surface of the nozzle 181 . The through hole at the closed end of the receiving portion 182 corresponds to the circular through hole on the bottom surface of the nozzle 181 .

The accommodating portion 182 is filled with medical disinfectant.

The piston 183 is a cylinder made of medical grade polyvinyl chloride, and the outer peripheral surface of the piston 183 has a rubber ring. The piston 183 is disposed in the accommodating portion 182 , and the piston 183 is attached to the inner wall of the accommodating portion 182 .

The piston rod 184 is a long cylinder, and the piston rod 184 has two opposite ends. One end of the piston rod 184 is fixedly connected with the piston 183 , and the other end of the piston rod 184 is connected with the driver 185 .

The driver 185 is a micro motor, and the driver 185 pushes the piston rod 184 to reciprocate in the accommodating portion 182 .

The disinfection control part 186 controls the work of the driver 185 so that the driver 185 drives the piston rod 184 to move forward or backward. The disinfection control unit 186 is connected to the control device 160 .

The automatic acupuncture device 100 has three disinfection nozzles 180 , and the three disinfection nozzles 180 are evenly distributed around the acupuncture device 130 . Specifically, the three disinfection nozzles 180 are evenly and symmetrically distributed around the circular blind hole 141 matched with the needle cover 132 . The disinfection spray head 180 is obliquely arranged on the bottom of the base 140 , and the nozzle 181 is facing the acupuncture portion 1311 of the acupuncture needle 131 .

Referring to FIG. 7 , the displacement sensor 230 includes a resistance wire 231 , a sliding plate 232 , a second power supply 233 , an ammeter 234 , and a communication device 235 .

The resistance wire 231 is a nickel-chromium alloy wire, and the resistance wire 231 is arranged on the bottom of the base 140 through an insulating sleeve 236 . Specifically, the resistance wire 231 is tightly wound on the insulating sleeve 236 along the extending direction of the insulating sleeve 236 , and one end of the insulating sleeve 236 is fixed on the bottom of the base 140 .

The sliding sheet 232 is a thin metal sheet. The sliding piece 232 is slidably connected with the resistance wire 231 . Specifically, one end of the sliding piece 232 is in good contact with the resistance wire 231 , and the other end is fixed on the outer peripheral surface of the needle sheath 132 through a plastic gasket.

The second power source 233 is a DC power source. The positive pole of the second power supply 233 is connected to the slider 232 , and the negative pole of the second power supply 233 is connected to the resistance wire 231 . In this way, the resistance wire 231, the slide plate 232, and the second power source 233 form an electrical circuit.

The ammeter 234 is connected in series in the electric circuit formed by the resistance wire 231 , the sliding plate 232 and the second power supply 233 . Specifically, the ammeter 234 has two terminals, one terminal is connected to the slide plate 232, and the other terminal is connected to the positive pole of the second power supply 233, that is, the ammeter 234 is connected in series between the slide plate 232 and the positive pole of the second power supply 233. In between, the sliding plate 232 is connected to the positive pole of the second power supply 233 through the ammeter 234 .

The communication device 235 is connected to the ammeter 234 . The communication device 235 records changes in the magnitude and direction of the current of the ammeter 234 and sends the information to the control device 160 .

Specifically, when the acupuncture device 130 moves downward, the slide 232 is driven to move from the top of the resistance wire 231 to the bottom of the resistance wire 231, and the value of the ammeter 234 gradually increases until the slide 232 reaches the bottom of the resistance wire 231 , the value of the ammeter 234 reaches the maximum; but when the acupuncture device 130 moves upward, it drives the sliding plate 232 to move from the bottom of the resistance wire 231 to the top of the resistance wire 231, and the value of the ammeter 234 gradually decreases until the sliding plate When 232 reaches the top of the resistance wire 231, the value of the ammeter 234 reaches the minimum, that is, zero. If the ammeter 234 is reversely connected to the electrical circuit, when the sliding plate 232 slides on the surface of the resistance wire 231 , the value of the ammeter 234 will increase or decrease in the opposite direction. The communication device 235 sends the changed current information to the control device 160 , and the control device 160 can determine the moving distance and direction of the acupuncture device 130 , and then control the linear motor 121 to adjust the position of the acupuncture device 130 .

The control device 160 includes a wireless communication device and a remote controller.

The communication device 235, the disinfection control unit 186, the scanning control unit 112, the semiconductor control unit 240, the first control unit 199, the power control unit 123, and the flight control unit 154 are all connected to the wireless communication device.

The remote controller is a separate computer, which sends corresponding control signals to the wireless communication device through the computer, thereby controlling the positioning device 110, the power device 120, the acupuncture device 130, the displacement sensor 230, the semiconductor refrigeration chip 210, the first power supply 195, the disinfection The sprinkler head 180 and the drone 150 work. The computer controls the work of the positioning device 110, the power unit 120, the acupuncture device 130, the displacement sensor 230, the semiconductor cooling chip 210, the first power supply 195, the disinfection nozzle 180 and the drone 150 during the entire acupuncture process, which can realize the automatic acupuncture process. automation control.

It should be noted:

The first power supply 195, the second power supply 233, the third power supply 220, and the fourth power supply 122 can be four separate power supplies, or some of them can be combined to use the same power supply, or they can share the same power supply.

The automatic acupuncture device 100 can work alone, or several automatic acupuncture devices 100 can work together.

The mechanisms of the flight control part 154, the power control part 123, the first control part 199, the semiconductor control part 240, the scanning control part 112 and the disinfection control part 186 can be relays or other electrical signal control equipment, as long as the signal sent by the wireless communication device is guaranteed It can be manipulated to make corresponding control actions.

When assembling, the semiconductor cooling chip 210 is arranged on the inner wall of the needle housing 132 first, and then the first magnet 196 and the second magnet 197 are symmetrically arranged on the inner wall of the needle housing 132 and spaced apart from the semiconductor cooling chip 210 . Subsequently, the armature coil 191 , which is fixedly connected to the commutation ring 193 , is connected to the rotary part 192 . Move the rotating member 192 so that the commutation ring 193 is in good contact with the brush 194, and at the same time, one end of the rotating member 192 abuts against the hollow cavity of the first limiting ring 1321, and the other end abuts against the second limiting ring 1322. through the hole. Next, the needle cover 132 is moved along the blind hole at the bottom of the base 140 and fixedly connected with the push rod of the power device 120 on the base 140 . At this time, most of the needle cover 132 is located in the blind hole at the bottom of the base 140 , and the sliding piece 232 on the needle cover 132 is in good contact with the resistance wire 231 at the bottom of the base 140 . Connect the connecting frame 153 of the drone 150 to the top of the base 140 . Finally, the rotating part 1312 of the acupuncture needle 131 is inserted into the rotating member 192 . On the other hand, the signal between the wireless communication device and the remote controller is well connected.

When in use, first insert the rotating part 1312 of the acupuncture needle 131 into the rotating member 192 .

The operator selects the desired operation and acupuncture mode in the program of the remote controller in advance, and the corresponding components will automatically work according to the selected mode. Its general working principle is as follows:

Referring to FIG. 8 , the operator operates the remote controller, and the remote controller sends a signal to the wireless communication device to start the automatic acupuncture device 100 . At this time, the displacement sensor 230 and the positioning device 110 are automatically turned on. After a period of time, the drone 150 starts to drive the whole device to take off.

At this time, the scanning probe 111 starts to work: the scanning probe 111 first scans the whole body of the person being acupunctured to obtain a scanning picture; the scanning picture is sent back to the remote controller by the scanning probe 111, and compared with the marked human acupuncture points stored in the remote controller The program in the remote controller performs proportional change and acupuncture point calibration on the scanned image; the remote controller generates coordinate values for the acupuncture points that need acupuncture according to the calibrated acupuncture point map, and the coordinate values are sent to the flight of the UAV 150 through the wireless communication device. The control unit 154 further makes the drone 150 slowly drop to the corresponding acupuncture point according to the coordinate value and stop working. At this time, the suction cup 170 firmly absorbs the whole device on the skin around the corresponding acupuncture point. After a period of time, the disinfection nozzle 180 automatically sprays the disinfection solution on the skin surface of the corresponding acupuncture point. After a period of time after the work of the disinfection nozzle 180 is completed, the power unit 120 starts automatically, and pushes the acupuncture device 130 to move downward so that the acupuncture needle 131 penetrates the skin of the corresponding acupuncture point. At the same time, the displacement sensor 230 will send back the displacement information of the acupuncture device 130 to the remote controller through the wireless communication device, and the remote controller will make the acupuncture needles 131 of the acupuncture device 130 continue to move downward to penetrate deep into the acupoint or upward according to the predetermined steps. Move out, or stand still. Before the acupuncture device 130 moves, the semiconductor control unit 240 and/or the first control unit 199 are automatically activated according to the set requirements. After a period of time, when the set acupuncture time is reached, the acupuncture device 130 automatically returns to the initial position, and then the semiconductor control unit 240 and/or the first control unit 199 also stop working. After a period of time, the UAV 150 automatically takes off and returns to the original take-off position. The working time of each step can be set accordingly in the remote controller.

Beneficial effect:

Such an automatic acupuncture device 100 automatically controls the positioning device 110, the power device 120, the acupuncture device 130, the drone 150, the displacement sensor 230, the semiconductor cooling chip 210, and the selection device through the control device 160, and each control process All are adjustable. Compared with the current acupuncture that requires manual acupoint selection and manual acupuncture, the automatic acupuncture device 100 can perform acupuncture more accurately and accurately, which greatly facilitates the use of acupuncture practitioners and operators, and is efficient and fast. In this way, the entire acupuncture process is fully automated, which solves the inconvenience caused by the traditional manual operation, greatly simplifies the acupuncture process, and facilitates the use.

It can be understood that when hot acupuncture is required, the computer controls the third power supply 220 to be connected to the two ends of the semiconductor cooling sheet 210, and the semiconductor cooling sheet 210 generates heat radiation, which makes the inside of the needle sheath 132 hot, that is, the acupuncture needle 131 becomes hot; During cold acupuncture, the computer controls the third power supply 220 to be reversely connected to the two ends of the semiconductor cooling sheet 210, and the semiconductor cooling sheet 210 cools down, so that the inside of the needle cover 132 is refrigerated and the acupuncture needle 131 becomes cold; The acupuncture needle 131 that is magnetized (or magnetized by other means) after the magnet touches is inserted into the rotating member 192; Any one of the three power sources 220 and the fourth power source 122), so that the positive and negative poles of the fifth power source are electrically connected to the two ends of the acupuncture needle 131 acupuncture part 1311, so that the acupuncture needle 131 is charged; At this time, the computer sends a signal to the first control part 199 to make the first power supply 195 communicate with the brush 194, so that the armature coil 191 can rotate between the first magnet 196 and the second magnet 197, thereby driving the acupuncture in the rotating part 192. The needle 131 rotates.

When multiple acupoints need to be acupunctured at the same time, multiple automatic acupuncture devices 100 can be operated to work at the same time to achieve the purpose of simultaneously acupuncture multiple acupoints.

Automatic acupuncture equipment can also be used in conjunction with an electromechanical mapper to detect the angle and position of acupuncture needle penetration. Specifically, the electromyograph has electrode patches, a data processing system, and a display. When in use, before the acupuncture needles of the automatic acupuncture equipment pierce the skin of the person to be acupunctured, the electrode patches are attached around the acupuncture points of the acupuncture needles. When the acupuncture needle penetrates into the skin of the person being acupunctured, the data processing system of the electromyography device will display the current changes at the acupuncture site on the monitor through electromyography. As the use state of acupuncture needles changes, the operator can adjust the movement of the acupuncture device by observing the potential changes in the EMG, so as to ensure the optimal acupuncture effect.

In summary, the automatic acupuncture device 100 in the embodiment of the present utility model controls the operation and stop of the UAV 150 through the control device 160, and then controls the take-off and landing of the automatic acupuncture device 100; at the same time, the control device 160 controls the positioning device 110 The positioning and marking of the corresponding acupuncture points enables the automatic acupuncture device 100 to accurately land on the corresponding acupuncture point; on the other hand, when the automatic acupuncture device 100 lands on the corresponding acupuncture point, the control device 160 controls the power unit 120 to make the acupuncture device 130 complete the acupuncture. stab and/or exit. After the acupuncture is finished, the control device 160 controls the drone 150 to make the automatic acupuncture device 100 take off and leave the user. The whole process is completed through the control device 160, which avoids the complicated manual operation and makes the acupuncture process more convenient and faster.

The above descriptions are only preferred embodiments of the utility model, and are not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present utility model shall be included in the protection scope of the present utility model.

Claims (10)

1. a kind of automatic acupuncture device, it is characterised in that including positioner, power set, acupuncture device, base, unmanned plane And control device, the positioner is arranged on the bottom of the base, and the unmanned plane is arranged on the top of the base, institute State power set to be connected with the base, the acupuncture device is connected with the power set, the positioner, power dress Put, acupuncture device, unmanned plane are all connected with the control device.

2. automatic acupuncture device according to claim 1, it is characterised in that also including sucker, the sucker is arranged on institute State the bottom of base.

3. automatic acupuncture device according to claim 2, it is characterised in that the sucker is multiple, multiple suckers It is evenly distributed in around the acupuncture device.

4. automatic acupuncture device according to claim 1, it is characterised in that the multiple also including multiple sterilization shower nozzles Sterilization shower nozzle is arranged on the bottom of the base, and is looped around around the acupuncture device.

5. automatic acupuncture device according to claim 1, it is characterised in that the acupuncture device includes acupuncture needle and pin Set, the acupuncture needle is arranged in the needle guard, and the needle guard is connected with the power set.

6. automatic acupuncture device according to claim 5, it is characterised in that：

The needle guard also includes the first spacing ring being arranged at the top of the needle guard and the second limit for being arranged on the needle guard bottom Position ring；

The acupuncture needle includes acupuncture portion and rotating part；

Also include the rotating dress that armature coil, revolving part, commutative ring, brush, the first power supply, the first magnet and the second magnet are constituted Put, first magnet and the second magnet be oppositely disposed on the medial surface of needle guard and the first magnet and the second magnet magnetic Extremely relative, the armature coil, revolving part, commutative ring, brush, the first power supply are arranged in the needle guard, and the two of the brush End be connected with the both positive and negative polarity of first power supply, one end of the commutative ring electrically connects with the brush, the commutative ring it is another One end is electrically connected with the armature coil, and the armature coil is located in the middle of first magnet and the second magnet, the rotation Part is fixedly connected with the armature coil, and the rotating part of the acupuncture needle is removably disposed in the revolving part, the rotation The one end for turning part is connected on first spacing ring, and the other end is connected on second spacing ring.

7. automatic acupuncture device according to claim 5, it is characterised in that also including semiconductor chilling plate and the 3rd electricity Source, the semiconductor heating plate is arranged on inside the needle guard, the semiconductor chilling plate and the 3rd power electric connection.

8. automatic acupuncture device according to claim 1, it is characterised in that also including displacement transducer, the displacement is passed Sensor is connected with the acupuncture device.

9. automatic acupuncture device according to claim 8, it is characterised in that institute's displacement sensors include resistance wire, cunning Piece, second source, galvanometer, communication device, the insulated bottom for being arranged on the base of the resistance wire, the slide plate insulation Be arranged on the outer surface of the acupuncture device and be slidably connected with the resistance wire, the both positive and negative polarity of the second source point Do not electrically connected with the resistance wire and the slide plate；

The resistance wire, slide plate, second source form electrical circuit, and the galvanometer is connected in the electrical circuit；

The galvanometer is connected with the communication device, and the communication device is connected with the control device.

10. automatic acupuncture device according to claim 1, it is characterised in that the control device includes wireless telecommunications dress Put and remote controllers；

The positioner, power set, acupuncture device, unmanned plane are all connected with the wireless communication apparatus；

The wireless communication apparatus are connected with the remote controllers.