Intelligent moxa-moxibustion device and control method thereof

Abstract

The invention provides an intelligent moxa-moxibustion device and a control method thereof. The intelligent moxa-moxibustion device comprises a delivering device, an ignition mechanism and a multi-axis manipulator device; the delivering device is provided with a loading mechanism and a push mechanism, the loading mechanism is provided with a material silo for holding multiple moxa rods; the push mechanism can control the moxa rods at the bottommost end to move to the outer part of the loading mechanism in parallel; the multi-axis manipulator device comprises a substrate, an XY axis walking manipulator and a multi-axis manipulator; the multi-axis manipulator is rotationally connected with the XY axis walking manipulator, and the XY axis walking manipulator can control the multi-axis manipulator to move along the X axis or the Y axis direction; the multi-axis manipulator is provided with a working head, a smoke discharge mechanism, a material fetching mechanism, an ash removing mechanism, a preposition temperature sensor and an acupuncture point identifying mechanism. The intelligent moxa-moxibustion device can automatically complete a series of actions such as moxa rod taking and combustion, identification positioning, smoke breathing, ash removal, safe distance protection, and others, reduces the labor cost, improves treatment effect and is energy-saving and environment-friendly.

Description

technical field [0001] The invention relates to the technical field of physiotherapy, in particular to an intelligent moxibustion device and a control method thereof. Background technique [0002] At present, moxibustion is mainly carried out manually: the first step is to artificially ignite the prepared moxa stick, and hold it or put it in a fixed moxibustion box; the second step is to treat different diseases according to different diseases of the healer Acupoints, hold a lighted moxa stick or moxibustion box near the acupoints (the distance between the moxa stick and the acupoints varies according to the disease); the third step is that each acupoint has a certain time requirement for moxibustion (according to the different diseases, The moxibustion time is also different); the fourth step is that the moxa stick will produce smoke during the moxibustion process, and the smoking machine must be turned on manually; the fifth step is that as the moxibustion time goes by, th...

AI Technical Summary

Problems solved by technology

The scope of moxibustion is acupuncture points or local skin. Moxibustion boxes are usually used for fumigation of local skin, which cannot achieve the therapeutic effect of traditional moxibustion.

The moxibustion box has the following disadvantages: 1. It is impossible to carry out selective moxibustion methods such as mild moxibustion and sparrow pecking moxibustion on a specific acupuncture point; The mulberry paper wrapped in the outer layer is very light, and it is easy to fall off in small pieces, but the moxa sticks after burning are not easy to scatter and fall off, and are still in the shape of moxa sticks. They will fall off naturally after exceeding a certain endurance. It relies on the fumigation of moxa burning, so it is necessary to use artificial external force to regularly lightly bump or tap the moxa ash to fall off actively. The moxa stick is placed in a fixed position in the moxibustion box, and there is no ash from the beginning of ignition to the end of burning. During the process, the moxibustion box is placed on the skin for a short period of smoking and the temperature drops rapidly and gradually decreases, which is proportional to the burning speed of the moxa stick, that is, the moxa ash continues to accumulate and increase, which seriously hinders the effect of heat transfer

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