Moxibustion intelligent cooperation robot and operating method thereof

A robot and moxibustion technology, which is applied to manipulators, program-controlled manipulators, and instruments for determining reflex points, etc., can solve the problems of poor moxibustion effect, poor accuracy of acupoint positions, and deviation of acupoint positions, so as to improve moxibustion. effect, easy to adjust the temperature of moxibustion, easy to adjust

Inactive Publication Date: 2019-08-20
辰耀智能装备(厦门)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, each person's body shape is different, and the position of the acupoints will be deviated. Only relying on the camera to scan, the accuracy of the position of the acupoints is poor, resulting in poor moxibustion effect

Method used

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  • Moxibustion intelligent cooperation robot and operating method thereof
  • Moxibustion intelligent cooperation robot and operating method thereof
  • Moxibustion intelligent cooperation robot and operating method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0046] Embodiment one: a moxibustion intelligent collaborative robot, such as figure 1 As shown, it includes not less than one joint collaborative robot 1 and a moxibustion mechanism 2 arranged at the grasping end of the joint collaborative robot 1. In this embodiment, the joint collaborative robot 1 and the moxibustion mechanism 2 are specifically set to one, and the joint The collaborative robot 1 is set as a six-axis joint robot, so as to be able to simulate various operation actions, and realize methods such as positioning, pecking, rotating, and moving in the process of moxibustion physiotherapy.

[0047] Such as figure 1 As shown, the moxibustion mechanism 2 is detachably installed on the grasping end of the joint collaborative robot 1, so as to facilitate the disassembly and replacement of the moxibustion mechanism 2 and improve the service life of the equipment. The moxibustion mechanism 2 can be installed with bolts or other easily disassembled structures, which are ...

Embodiment 2

[0054] Embodiment 2, the difference between this embodiment and the embodiment is that, as Figure 4 As shown, there are two joint collaborative robots 1 and two moxibustion mechanisms 2, and the two joint collaborative robots 1 are respectively arranged on the left and right sides of the human body, and the two moxibustion mechanisms 2 are installed on the grasping ends of the two joint collaborative robots 1 respectively. . Physicians can simultaneously hold the grasping ends of the two joint collaborative robots 1 to move while performing path simulation, and the paths of the two joint collaborative robots 1 do not interfere with each other, so that the two joint collaborative robots 1 can be used to cooperate with the moxibustion mechanism 2 Simultaneously carry out moxibustion physiotherapy on two acupoints to reduce the time required for the entire moxibustion process and improve the efficiency of physiotherapy. At the same time, if there are few acupoints requiring mox...

Embodiment 3

[0055] Embodiment 3, this embodiment is to provide an operation method of a moxibustion intelligent collaborative robot, such as figure 1 , figure 2 with image 3 shown, including the following steps:

[0056] (1) The doctor holds the grasping end of the joint collaborative robot 1 to simulate the stroke, and the teaching system 3 records and saves the path coordinate parameters, and every time the doctor moves to an acupoint that needs moxibustion, the doctor controls the acupoint path point confirmation button 7 Confirmed as acupoint path points until each acupoint that needs moxibustion is confirmed in order;

[0057] (2) The doctor operates the control system 5, sets the timing time of the timer 6 according to the moxibustion time requirement for each acupoint path point, and records it in the timer 6 after setting, and at the same time, sets the moxa moxibustion time for each acupoint path point. The temperature of moxibustion is adjusted by the temperature controller...

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Abstract

The invention discloses a moxibustion intelligent cooperation robot, and relates to the technical field of moxibustion physiotherapy. The technical scheme adopted by the invention lies in that the moxibustion intelligent cooperation robot comprises one or more joint cooperation robots and a moxibustion mechanism, wherein a displaying and teaching system is connected to the joint cooperation robots; the displaying and teaching system is used for recording the position of each acupuncture point and generating acupuncture point path points correspondingly; each executing mechanism is arranged inthe corresponding joint cooperation robot, and a control system is connected to the corresponding executing mechanism; the displaying and teaching system is connected with the control system and is used for transmitting the path to the control system; the control system is used for controlling the executing mechanisms to perform execution according to the paths fed back by the displaying and teaching system; and a timer for controlling the moxibustion time of each acupuncture point is arranged in the control system. According to the moxibustion intelligent cooperation robot disclosed by the invention, according to the somatotype of a person subjected to physiotherapy, each robot can be driven by a professional doctor to simulate the path and confirm the physiotherapy acupuncture points, then moxibustion physiotherapy is automatically performed by the robot according to the simulated path, and the understanding of the professional doctor to the position of the acupuncture points is moreaccurate, so that the moxibustion intelligent cooperation robot has the advantage of improving the moxibustion effect.

Description

technical field [0001] The invention relates to the technical field of moxibustion physiotherapy, and more specifically, it relates to a moxibustion intelligent collaborative robot and an operation method thereof. Background technique [0002] Moxibustion is the moxibustion method in ancient acupuncture and moxibustion therapy. It is a natural therapy to ignite moxa pillars and moxa sticks made of moxa leaves, and smoke and roast the acupuncture points of the human body to achieve health care and treatment. In the prior art, professional physicians usually perform moxibustion on acupoints by holding burning moxa sticks. In order to reduce physical energy consumption of physicians, moxibustion robots are designed to replace physicians in the long-term moxibustion process. [0003] For example, the Chinese patent with application publication number CN107080690U and publication date of 2017.08.22 discloses an intelligent moxibustion robot and its operation method, including a c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H39/06A61H39/02B25J9/00B25J9/16B25J11/00B25J19/02
CPCA61H39/02A61H39/06A61H2201/0207A61H2201/1659A61H2201/5058A61H2201/5061A61H2201/5082B25J9/0081B25J9/1679B25J9/1694B25J11/00B25J19/023
Inventor 吴木松
Owner 辰耀智能装备(厦门)有限公司
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