Multi-dimensional multi-axis human body back moxibustion physiotherapy device

Abstract

The invention provides a multi-dimensional multi-axis human back moxibustion physical therapy device which comprises a machine body, a six-axis mechanical arm is arranged at the top end of the machine body, a physical therapy mechanism is detachably installed at the output end of the six-axis mechanical arm, the physical therapy device comprises an installation base, a tubular shell is fixed to one end of the installation base, and the other end of the installation base is provided with a moxibustion device. A connecting seat is rotatably mounted at the bottom of the shell, a transition cavity is formed in the middle of the connecting seat, a plurality of massage heads are uniformly mounted on the outer side of one end of the connecting seat, and a plurality of moxibustion holes for moxibustion are formed in the other end of the connecting seat. According to the robot, the purpose of massage physiotherapy of a user can be achieved through flexible driving of the six-axis mechanical arm of the robot, the other end of the connecting base is provided with the moxibustion hole, and when the moxibustion hole is located in the outer side of the shell, ignited moxibustion in the moxibustion cylinder can act on acupuncture points of the body of the user through the second pipe opening, the first pipe opening and the moxibustion hole; the purpose of moxibustion for the user is achieved, and the practicability of the robot is improved.

Description

Technical Field

[0001] The present invention relates to the field of moxibustion therapy devices, and in particular to a multi-dimensional and multi-axis human back moxibustion therapy device. Background Art

[0002] Moxibustion, a moxibustion method in traditional Chinese medicine acupuncture therapy, is a treatment method that uses the heat generated by moxibustion materials made of moxa leaves to stimulate acupuncture points or specific parts of the body surface, and adjusts the disordered physiological and biochemical functions of the human body by stimulating the activity of meridian qi, thereby achieving the purpose of preventing and curing diseases. According to different needs, there are different moxibustion methods, such as hanging moxibustion, bird pecking moxibustion and spiral moxibustion. Hanging moxibustion is to aim the lit end of the moxa stick at the acupuncture point or part to be moxibustioned, and perform moxibustion at a distance of 1.5-3 cm from the skin; bird pecking moxibustion is like a bird pecking at food, and the moxa stick needs to be moved up and down continuously; spiral moxibustion requires placing the moxa stick 1.5-3 cm above the skin, and then rotating it clockwise or counterclockwise; A robot is a machine device that performs work automatically. With the continuous development of robot technology, it is applied to the process of traditional Chinese medicine moxibustion. Using robots to replace traditional Chinese medicine practitioners to perform moxibustion operations can not only save labor costs, but also reduce and avoid medical staff from inhaling moxa smoke for a long time. At the same time, it can also promote the standardization of moxibustion operations, which is conducive to the promotion and application of traditional Chinese medicine moxibustion treatment. At present, the common moxibustion robots on the market have six-axis robotic arms. Moxibustion operations are performed by installing a moxibustion head at the output end of the six-axis robotic arm. However, the moxibustion head in the existing technology has a relatively single function and can only achieve a single moxibustion effect. It cannot implement massage therapy for users, which reduces its practicality.

[0003] Therefore, we have made improvements to this and proposed a multi-dimensional and multi-axis human back moxibustion therapy device. Summary of the Invention

[0004] The purpose of the present invention is to address the problem that the common moxibustion robots currently on the market have six-axis robotic arms, and moxibustion operations are performed by installing a moxibustion head at the output end of the six-axis robotic arm. However, the moxibustion head in the prior art has a relatively single function and can only achieve a single moxibustion effect, and cannot perform massage therapy on users, thereby reducing its practicality.

[0005] In order to achieve the above-mentioned purpose of the invention, the present invention provides the following multi-dimensional and multi-axis human back moxibustion therapy device to improve the above-mentioned problems.

[0006] The specific application is as follows: A multi-dimensional and multi-axis human back moxibustion therapy device includes a body, a six-axis robotic arm is provided at the top of the body, and a therapy mechanism is detachably installed at the output end of the six-axis robotic arm. The therapy device includes a mounting seat, a tubular shell is fixed to one end of the mounting seat, a connecting seat is rotatably installed at the bottom of the shell, and a transition cavity is provided in the middle of the connecting seat. A plurality of massage heads are evenly installed on the outside of one end of the connecting seat, and a first pipe opening connected to the transition cavity is provided in the middle position of the connecting seat. A plurality of moxibustion holes for moxibustion are opened at the other end of the connecting seat, and the moxibustion holes are connected to the transition cavity. A moxibustion cylinder that performs linear motion along its axial direction is movably installed on the upper part of the shell, and the bottom end of the moxibustion cylinder is connected to a second pipe opening. A driving mechanism for controlling the rotation of the connecting seat is also provided on one side of the shell. When the first pipe opening is located in the shell, the second pipe opening is adapted to be plugged into the first pipe opening.

[0007] As a preferred technical solution of the present application, a shell cover is detachably connected to the top opening of the shell, a handle is provided at the outer end of the shell cover, and a chamber for igniting the moxibustion is formed between the shell cover and the moxibustion tube.

[0008] As a preferred technical solution of the present application, a pair of support seats are provided at the bottom opening of the shell, and the docking ends of the two support seats are symmetrically provided with arc-shaped surfaces. The outer side of the connecting seat has an arc-shaped portion with a convex portion, and the arc-shaped portion is rollingly connected to the arc-shaped surface.

[0009] As a preferred technical solution of the present application, multiple massage heads are installed in a ring array on the connecting seat, a first mounting hole is opened on the top of the massage head, and a group of second mounting holes are opened on the connecting seat, and the first mounting holes correspond to the second mounting holes one by one.

[0010] As a preferred technical solution of the present application, a transition groove is provided on the upper part of the connecting seat, and a groove cover is adapted for the groove mouth of the transition groove. The groove cover is sealed in the transition groove to form a transition cavity. The first pipe mouth is connected to the transition groove, and the moxibustion hole is provided on the groove cover. A group of fixed seats are provided in the transition groove, and a group of third mounting holes corresponding one-to-one to the fixed seats are also provided on the groove cover.

[0011] As a preferred technical solution of the present application, the butt ends of the first pipe opening and the second pipe opening are respectively provided with second arc surfaces that are adapted to overlap.

[0012] As a preferred technical solution of the present application, a U-shaped shell is provided on the outer side of the shell, and the U-shaped shell is docked and fixed with the shell to form a driving cavity for installing the driving mechanism. The driving mechanism includes a connecting shaft arranged in the middle of the connecting seat and extending into the driving cavity. The bottom of the driving cavity is also provided with a first transmission shaft arranged vertically with the connecting shaft. The first transmission shaft and the opposite end of the connecting shaft are engaged and transmitted through a bevel gear set. The upper part of the driving cavity is also provided with a driving shaft for driving the first transmission shaft to rotate. The outer end of the driving shaft extends out of the U-shaped shell and is provided with a driving block. An elastic fastening washer is installed between the driving block and the U-shaped shell.

[0013] As a preferred technical solution of the present application, a U-shaped first transmission groove is provided on the side of the moxibustion tube, and the first transmission groove includes a pair of first arc-shaped oblique grooves and a first arc-shaped linear groove extending along the circumferential direction of the moxibustion tube and located between the bottom ends of the two first arc-shaped oblique grooves. A gear ring is rotatably installed on the inner wall of the shell, and the gear ring is coaxially installed on the outer side of the moxibustion tube. The inner end of the gear ring is provided with a first slider embedded in the first transmission groove, and a transmission gear meshing with the gear ring is installed on the drive shaft, and the shell is provided with a rotating notch for the transmission gear to rotate.

[0014] As a preferred technical solution of the present application, the driving mechanism also includes a transmission rod linearly slidably arranged on the shell, a first connecting cylinder is fixed on the first transmission shaft, a second connecting cylinder is fixed on the bottom end of the driving shaft, the transmission rod is inserted between the first connecting cylinder and the second connecting cylinder, a spiral groove corresponding to the first transmission groove is opened in the second connecting cylinder, the top of the transmission rod has a second slider adapted to the spiral groove, a second transmission groove is opened on the first connecting cylinder, the second transmission groove includes a second arc-shaped bevel groove and a pair of second line grooves staggered along its axial direction, the second arc-shaped bevel groove is located between the two second line grooves, and the bottom of the transmission rod has a third slider adapted to the second arc-shaped line groove.

[0015] As a preferred technical solution of the present application, a guide block is provided on the outer side of the shell, and a linear guide groove adapted to the guide block is opened on the side of the transmission rod.

[0016] Compared with the prior art, the present invention has the following beneficial effects: In the scheme of this application: In order to solve the problem that the moxibustion robot in the prior art has a relatively single function and can only achieve a single moxibustion effect, and cannot implement massage therapy for the user, which reduces its practicality, the present application sets up a physiotherapy mechanism, and the bottom of the physiotherapy mechanism has a connecting seat that can rotate 180 degrees. One end of the connecting seat has a massage head, which can be flexibly driven by the robot's six-axis robotic arm to achieve the massage physiotherapy purpose of the user. The other end of the connecting seat has a moxibustion hole. When the moxibustion hole is located outside the shell, the first pipe mouth on the connecting seat is connected to the second pipe mouth on the moxibustion tube, and then the ignited moxibustion placed in the moxibustion tube can act on the acupuncture points of the user's body through the second pipe mouth, the first pipe mouth and the moxibustion hole, thereby achieving the moxibustion purpose of the user, thereby improving the practicality of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of the multi-dimensional and multi-axis human back moxibustion therapy device provided in this application; Figure 2 This is a schematic diagram of the overall structure of the physiotherapy mechanism of the multi-dimensional and multi-axis human back moxibustion physiotherapy device provided in this application; Figure 3 This is a schematic diagram of the structure of the driving mechanism of the multi-dimensional multi-axis human back moxibustion therapy device provided by this application located on the shell; Figure 4 This is a schematic diagram of the structure of the drive mechanism and moxibustion tube of the multi-dimensional multi-axis human back moxibustion therapy device provided by this application; Figure 5 This is a schematic diagram of the structure of the multi-dimensional multi-axis human back moxibustion therapy device provided by this application, showing the connection base, massage head and slot cover separated; Figure 6 This is a schematic diagram of the structure of the moxibustion tube of the multi-dimensional and multi-axis human back moxibustion therapy device provided in this application; Figure 7 This is a schematic diagram of the structure inside the second connecting tube of the multi-dimensional multi-axis human back moxibustion therapy device provided by this application; Figure 8 This is a schematic structural diagram of the transmission rod and the first connecting tube of the multi-dimensional multi-axis human back moxibustion therapy device provided by this application; Figure 9 This is a schematic diagram of the structure of the gear ring of the multi-dimensional and multi-axis human back moxibustion therapy device provided in this application.

[0018] Indicated in the figure: 100. Body; 101. Six-axis robotic arm; 200, physical therapy mechanism; 201, mounting base; 2011, transition groove; 202, housing; 203, connecting base; 2031, transition groove; 2032, groove cover; 204, massage head; 205, first nozzle; 206, moxibustion hole; 207, moxibustion tube; 208, second nozzle; 209, housing cover; 210, support base; 300. Driving mechanism; 301. U-shaped shell; 302. Connecting shaft; 303. First transmission shaft; 304. Bevel gear set; 305. Driving shaft; 306. Driving block; 307. First arc-shaped bevel groove; 308. First arc-shaped linear groove; 309. Gear ring; 310. First slider; 311. Transmission gear; 312. Transmission rod; 313. First connecting cylinder; 314. Second connecting cylinder; 315. Spiral groove; 316. Second slider; 317. Second arc-shaped bevel groove; 318. Second linear groove; 319. Third slider; 320. Guide block; 321. Linear guide groove; 321. Avoidance notch; 322. Igniter. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0020] The present invention will be further described below with reference to the embodiments.

[0021] Example: Refer to Figures 1 to 9 The multi-dimensional and multi-axis human back moxibustion therapy device includes a body 100, on which a robotic arm module, a hardware controller module, a visual recognition module, and a host computer operation and display module are provided. During operation, the operator controls the hardware control module through the host computer operation and display module (touch screen) to complete the visual recognition module (depth camera) to take pictures of the part of the experiencer that needs moxibustion, thereby obtaining information about the examiner's moxibustion part. After the corresponding image is generated, the visual recognition module transmits the corresponding information to the hardware control module, and with the help of the motion algorithm and the control algorithm, generates a motion instruction for controlling the movement of the robotic arm, thereby achieving the purpose of moxibustion. This application mainly improves the moxibustion head, which will not be described in detail here. The robotic arm module is a six-axis robotic arm 101 installed on the body 100. The output end of the six-axis robotic arm 101 is detachably mounted with a physiotherapy mechanism 200. The physiotherapy device includes a mounting base 201. The mounting base 201 has a connector (numbered in the figure) that is snap-connected to the output end of the six-axis robotic arm 101. A tubular shell 202 is fixed to one end of the mounting base 201. The upper and lower ports of the shell 202 are both open. A connecting base 203 is rotatably mounted at the bottom opening of the shell 202. The connecting base 203 can rotate 180 degrees in the shell 202. A transition cavity is provided in the middle of the connecting base 203. A plurality of massage heads 204 are evenly mounted on the outer side of one end of the connecting base 203. The massage head 204 is used to enhance the massage effect on the user. It is a block-shaped structure mainly supported by a rubber material. The middle position of the connecting seat 203 has a first pipe opening 205 connected to the transition cavity. The other end of the connecting seat 203 is provided with a plurality of moxibustion holes 206 for moxibustion. The moxibustion holes 206 are connected to the transition cavity. The upper part of the housing 202 is movably mounted with a moxibustion cylinder 207 that moves linearly along its axis. The bottom end of the moxibustion cylinder 207 is connected to a second pipe opening 208. A driving mechanism 300 for controlling the rotation of the connecting seat 203 is also provided on one side of the housing 202. When the first pipe opening 205 is located in the housing 202, the second pipe opening 208 is adapted to be plugged into the first pipe opening 205. In order to solve the problem that the moxibustion robot in the prior art has a relatively single function and can only achieve a single moxibustion effect, and cannot implement massage therapy for the user, thereby reducing its practicality, the present application sets up a physiotherapy mechanism 200, and the bottom of the physiotherapy mechanism 200 has a connecting seat 203 that can rotate 180 degrees, and one end of the connecting seat 203 has a massage head 204, which can be flexibly driven by the robot's six-axis robotic arm 101 to achieve the massage physiotherapy purpose of the user, and the other end of the connecting seat 203 has a moxibustion hole 206. When the moxibustion hole 206 is located outside the shell 202, the first pipe mouth 205 on the connecting seat 203 is plugged into and connected with the second pipe mouth 208 on the moxibustion tube 207, and then the ignited moxibustion placed in the moxibustion tube 207 can act on the acupuncture points of the user's body through the second pipe mouth 208, the first pipe mouth 205 and the moxibustion hole 206, thereby achieving the moxibustion purpose of the user. Through the cooperation of the above structure, the functionality and practicality of the robot are improved.

[0022] Specifically, the top opening of the shell 202 is detachably connected to a shell cover 209, and a handle is provided at the outer end of the shell cover 209. A cavity for igniting and placing moxa sticks is formed between the shell cover 209 and the moxa tube 207. When implementing moxibustion therapy, moxibustion sticks can be placed in the moxibustion tube 207 by opening and closing the shell cover 209. One side of the shell 202 is also fixed with an igniter 322 that extends into the cavity and is used to ignite the moxibustion sticks. The igniter 322 is an existing mature moxibustion mechanism and will not be described here.

[0023] Specifically, a pair of support seats 210 are provided at the bottom opening of the shell 202, and the docking ends of the two support seats 210 are symmetrically provided with arc-shaped surfaces. The outer side of the connecting seat 203 has an arc-shaped portion with a convex shape, and the arc-shaped portion is rollingly connected to the arc-shaped surface. The connecting seat 203 is limited in rotation between the two support seats 210.

[0024] Specifically, multiple massage heads 204 are installed in a ring array on the connecting base 203. A first mounting hole is opened at the top of the massage head 204, and a group of second mounting holes are opened on the connecting base 203. The first mounting holes correspond to the second mounting holes one by one. The massage head 204 and the connecting base 203 can be fixed by fasteners such as bolts, which facilitates the replacement of damaged massage heads 204.

[0025] Specifically, a transition groove 2031 is provided on the upper part of the connecting seat 203, and a groove cover 2032 is adapted at the groove opening of the transition groove 2031. The groove cover 2032 is sealed in the transition groove 2031 to form a transition cavity. The first pipe mouth 205 is connected to the transition groove 2031, and the moxibustion hole 206 is provided on the groove cover 2032. There is a group of fixed seats in the transition groove 2031. The groove cover 2032 is also provided with a group of third mounting holes corresponding to the fixed seats. Through the provision of the transition groove 2031, the fasteners for fixing the massage head 204 can be conveniently hidden in the transition groove 2031, so that the outer surface of the massage head 204 is smoother. At the same time, during the moxibustion operation, the heat and gas generated by the ignition of the moxibustion can be easily transmitted into the transition cavity through the first pipe mouth 205, and then act on the user's acupuncture points through a number of evenly opened moxibustion holes 206.

[0026] Specifically, the butt ends of the first pipe opening 205 and the second pipe opening 208 are respectively provided with second arc surfaces that are adapted to overlap with each other, thereby improving the sealing performance of the connection between the first pipe opening 205 and the second pipe opening 208 and being more conducive to the conduction of moxa heat and moxa gas.

[0027] Considering that the connecting seat 203 in the present application needs to rotate 180 degrees, and when the moxibustion operation is implemented, the first pipe opening 205 and the second pipe opening 208 need to be connected, a driving mechanism 300 is further provided in the present application to drive the moxibustion tube 207 to move upward, the connecting seat 203 to rotate, and the moxibustion tube 207 to reset in sequence, thereby making the first pipe opening 205 and the second pipe opening 208 dock without affecting the rotation process of the connecting seat 203, so that the massage function and the moxibustion function can be switched smoothly; Specifically, a U-shaped shell 301 is provided on the outside of the shell 202, and the U-shaped shell 301 is fixedly docked with the shell 202 to form a driving cavity for installing the driving mechanism 300. The driving mechanism 300 includes a connecting shaft 302 provided in the middle of the connecting seat 203 and extending into the driving cavity. The bottom of the shell 202 has a hole for the connecting shaft 302 to pass through. The bottom of the driving cavity is also provided with a first transmission shaft 303 arranged vertically with the connecting shaft 302. The outside of the shell 202 has a bearing seat for the first transmission shaft 303 to be rotatably mounted. The opposite ends of the first transmission shaft 303 and the connecting shaft 302 are connected by bevel gears. The wheel group 304 is engaged for transmission, and a drive shaft 305 for driving the first transmission shaft 303 to rotate is also provided on the upper part of the drive cavity. The outer end of the drive shaft 305 extends out of the U-shaped shell 301 and is provided with a drive block 306. The U-shaped shell 301 provides support for the rotation of the drive shaft 305. An elastic fastening washer is installed between the drive block 306 and the U-shaped shell 301. Through the transmission of the bevel gear group 304, the drive shaft 305 drives the first transmission shaft 303 to rotate and then drives the connecting shaft 302 to rotate, thereby achieving the purpose of controlling the connecting seat 203 to rotate 180°, and completing the switching between massage and moxibustion functions.

[0028] Specifically, a U-shaped first transmission groove is opened on the side of the moxibustion tube 207, and the first transmission groove includes a pair of first arc-shaped inclined grooves 307 and a first arc-shaped linear groove 308 extending along the circumferential direction of the moxibustion tube 207 and located between the bottom ends of the two first arc-shaped inclined grooves 307. A gear ring 309 is rotatably installed on the inner wall of the shell 202. The outer side of the gear ring 309 has a group of teeth. The gear ring 309 is coaxially installed on the outer side of the moxibustion tube 207. The inner end of the gear ring 309 is provided with a first slider 310 embedded in the first transmission groove. A transmission gear 311 meshing with the gear ring 309 is installed on the drive shaft 305. A rotating notch for the transmission gear 311 to rotate is opened on the shell 202. During specific operation, the drive shaft 305 drives the transmission gear 311 to rotate, and the transmission gear 311 drives the meshing gear ring 309 to rotate. Since the gear ring 309 rotates in the horizontal direction, the first slider 310 rotates in the horizontal direction, thereby squeezing the first arc-shaped inclined groove 307, driving the moxibustion tube 207 to rise in the shell 202, and the first slider 310 is located in another first arc-shaped inclined groove 307 to drive the moxibustion tube 207 to descend and reset, thereby realizing the movement process of the moxibustion tube 207 moving up and resetting, providing space for the rotation of the connecting seat 203.

[0029] Specifically, the drive mechanism 300 also includes a transmission rod 312 linearly slidably provided on the housing 202, wherein a first connecting cylinder 313 is fixed to the first transmission shaft 303, and a second connecting cylinder 314 is fixed to the bottom end of the drive shaft 305. The transmission rod 312 is inserted between the first connecting cylinder 313 and the second connecting cylinder 314, and a spiral groove 315 corresponding to the first transmission groove is defined in the second connecting cylinder 314. The top of the transmission rod 312 has a second slider 316 adapted to the spiral groove 315, and the first connecting cylinder 313 has a second transmission groove, which includes a second arc-shaped inclined groove 317 and a pair of second linear grooves 318 staggered and extending along the axial direction thereof. The second arc-shaped inclined groove 317 is located between the two second linear grooves 318, and the bottom of the transmission rod 312 has a third slider 319 adapted to the second arc-shaped linear groove 318. During operation, the drive shaft 305 drives the transmission gear 311 to rotate, and then drives the gear ring 309 to rotate. The spiral groove 315 rotates synchronously to squeeze the second slider 316, and then drives the transmission rod 312 to move linearly downward. During this process, the third slider 319 moves in the second linear groove 318 located at the upper part. When the first slider 310 enters the first arc groove 308, the rotation of the drive shaft 305 will no longer drive the moxa tube 207 to move upward, and the transmission rod 312 continues to move linearly downward, and the third slider 319 enters the second arc inclined groove 317 and drives the first connecting tube 313 and the first transmission shaft 303 to rotate, and then drives the connecting shaft 302 and the connecting seat 203 to rotate 180° through the bevel gear set 304. After the connecting seat 203 rotates 180°, the first slider 310 continues to rotate with the gear ring 309 and enters another first arc inclined groove 307, at which time the moxa tube 207 is driven to move downward and reset, and the third slider 319 on the transmission rod 312 that continues to move linearly downward enters the second groove 318 at the bottom, that is, the connecting seat 203 is no longer driven to rotate during the reset process; Through the cooperation of the above structure, the continuous movement of the moxibustion tube 207 moving up, the connecting seat 203 rotating, and the moxibustion tube 207 resetting can be achieved by driving the driving shaft 305 to rotate unidirectionally, making the operation more convenient.

[0030] Specifically, a guide block 320 is provided on the outer side of the housing 202, and a linear guide groove 321 adapted to the guide block 320 is opened on the side of the transmission rod 312 to provide a guide for the linear movement of the transmission rod 312; Furthermore, the upper part of the moxibustion tube 207 is also provided with an avoidance slot 321 corresponding to the igniter 322 to prevent the igniter 322 from hindering the upward and downward movement of the moxibustion tube 207, and to ignite the moxibustion strips in the moxibustion tube 207 after it is reset during the moxibustion operation.

[0031] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0032] Obviously, the embodiments described above are only some embodiments of the present invention, rather than all embodiments. The preferred embodiments of the present invention are given in the accompanying drawings, but they do not limit the patent scope of the present invention. The present invention can be implemented in many different forms. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive. Although the present invention has been described in detail with reference to the aforementioned embodiments, for those skilled in the art, it is still possible to modify the technical solutions described in the aforementioned specific embodiments, or to make equivalent replacements for some of the technical features therein. Any equivalent structure made using the contents of the present invention specification and drawings, directly or indirectly used in other related technical fields, is also within the scope of patent protection of the present invention.

Claims

1. A multi-dimensional multi-axis human back moxibustion therapy device, comprising a body (100), a six-axis robotic arm (101) being provided at the top of the body (100), a therapy mechanism (200) being detachably mounted at the output end of the six-axis robotic arm (101), and characterized in that: The physiotherapy device comprises a mounting base (201), one end of which is fixed with a tubular shell (202), a connecting base (203) being rotatably mounted on the bottom of the shell (202), a transition cavity being provided in the middle of the connecting base (203), a plurality of massage heads (204) being evenly mounted on the outer side of one end of the connecting base (203), and a first pipe opening (205) being connected to the transition cavity being provided in the middle thereof, and a plurality of moxibustion holes (204) for moxibustion are provided at the other end of the connecting base (203). 06), the moxibustion hole (206) is connected to the transition cavity, the upper part of the shell (202) is movably mounted with a moxibustion tube (207) that moves linearly along its axial direction, the bottom end of the moxibustion tube (207) is connected to a second pipe opening (208), and one side of the shell (202) is further provided with a driving mechanism (300) for controlling the rotation of the connecting seat (203), when the first pipe opening (205) is located in the shell (202), the second pipe opening (208) is adapted to be plugged into the first pipe opening (205).

2. The multi-dimensional multi-axis human back moxibustion therapy device according to claim 1, characterized in that: A shell cover (209) is detachably connected to the top opening of the shell (202), and a handle is provided at the outer end of the shell cover (209). A chamber for igniting and placing moxibustion is formed between the shell cover (209) and the moxibustion tube (207).

3. The multi-dimensional multi-axis human back moxibustion therapy device according to claim 2, characterized in that: A pair of support seats (210) are provided at the bottom opening of the shell (202), and the butt ends of the two support seats (210) are symmetrically provided with arcuate surfaces. The outer side of the connecting seat (203) has a raised arcuate portion, and the arcuate portion is rollingly connected to the arcuate surface.

4. The multi-dimensional multi-axis human back moxibustion therapy device according to claim 3, characterized in that: The plurality of massage heads (204) are mounted on the connecting seat (203) in a ring-shaped array, a first mounting hole is provided at the top of each massage head (204), and a group of second mounting holes is provided on the connecting seat (203), wherein the first mounting holes correspond to the second mounting holes one by one.

5. The multi-dimensional multi-axis human back moxibustion therapy device according to claim 4, characterized in that: A transition groove (2031) is provided on the upper portion of the connecting seat (203), and a groove cover (2032) is adapted to be provided at the groove opening of the transition groove (2031). The groove cover (2032) is sealed on the transition groove (2031) to form a transition cavity. The first pipe opening (205) is connected to the transition groove (2031), and the moxibustion hole (206) is provided on the groove cover (2032). A group of fixing seats are provided in the transition groove (2031), and a group of third mounting holes corresponding to the fixing seats are also provided on the groove cover (2032).

6. The multi-dimensional multi-axis human back moxibustion therapy device according to claim 5, characterized in that: The butt ends of the first pipe opening (205) and the second pipe opening (208) are respectively provided with second arc surfaces that are adapted to overlap.

7. The multi-dimensional multi-axis human back moxibustion therapy device according to claim 6, characterized in that: A U-shaped shell (301) is provided on the outer side of the shell (202), and the U-shaped shell (301) is fixedly docked with the shell (202) to form a drive cavity for installing the drive mechanism (300), and the drive mechanism (300) includes a connecting shaft (302) arranged in the middle of the connecting seat (203) and extending into the drive cavity, and a first transmission shaft (303) arranged vertically with the connecting shaft (302) is further provided at the bottom of the drive cavity, and the first transmission shaft (303) and the opposite end of the connecting shaft (302) are meshed and driven by a bevel gear set (304), and a drive shaft (305) for driving the first transmission shaft (303) to rotate is further provided on the upper part of the drive cavity, and the outer end of the drive shaft (305) extends out of the U-shaped shell (301) and is provided with a drive block (306), and an elastic fastening washer is installed between the drive block (306) and the U-shaped shell (301).

8. The multi-dimensional multi-axis human back moxibustion therapy device according to claim 7, characterized in that: A U-shaped first transmission groove is provided on the side of the moxibustion tube (207), and the first transmission groove includes a pair of first arc-shaped inclined grooves (307) and a first arc-shaped linear groove (308) extending along the circumferential direction of the moxibustion tube (207) and located between the bottom ends of the two first arc-shaped inclined grooves (307). A gear ring (309) is rotatably installed on the inner wall of the shell (202), and the gear ring (309) is coaxially installed on the outer side of the moxibustion tube (207). The inner end of the gear ring (309) is provided with a first slider (310) embedded in the first transmission groove. A transmission gear (311) meshing with the gear ring (309) is installed on the drive shaft (305), and a rotating notch for the transmission gear (311) to rotate is provided on the shell (202).

9. The multi-dimensional multi-axis human back moxibustion therapy device according to claim 8, characterized in that: The driving mechanism (300) further includes a transmission rod (312) linearly slidingly arranged on the housing (202), wherein a first connecting cylinder (313) is fixed on the first transmission shaft (303), and a second connecting cylinder (314) is fixed at the bottom end of the driving shaft (305), and the transmission rod (312) is inserted between the first connecting cylinder (313) and the second connecting cylinder (314), and a spiral groove (315) corresponding to the first transmission groove is provided in the second connecting cylinder (314). The top of the movable rod (312) is provided with a second sliding block (316) adapted to the spiral groove (315); the first connecting tube (313) is provided with a second transmission groove; the second transmission groove comprises a second arc-shaped inclined groove (317) and a pair of second linear grooves (318) extending staggered along the axial direction thereof; the second arc-shaped inclined groove (317) is located between the two second linear grooves (318); the bottom of the transmission rod (312) is provided with a third sliding block (319) adapted to the second arc-shaped linear groove (318).

10. The multi-dimensional multi-axis human back moxibustion therapy device according to claim 9, characterized in that: A guide block (320) is provided on the outside of the housing (202), and a linear guide groove (321) adapted to the guide block (320) is provided on the side of the transmission rod (312).

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