An automated-based traditional Chinese medicine physiotherapy device

Abstract

This invention discloses an automated TCM physiotherapy device. The invention relates to the field of TCM physiotherapy technology and proposes the following solution: a support base, on one side of the top of which is mounted a robotic arm, with a first arm and a second arm respectively mounted on the robotic arm. In this invention, the robotic arm employs a multi-joint motor design, enabling flexible rotation and positioning of the first and second arms, accurately adjusting the positions of the moxibustion box and the electric cupping and scraping instrument. A lifting plate allows for stable height adjustment of the moxibustion box, enabling sparrow-pecking moxibustion. A second servo motor, activated by a PLC controller, clamps the storage basket for grain-like or indirect moxibustion. A temperature sensor ensures safety. Simultaneously, the PLC controller controls the robotic arm to move the second arm, aligning the electric cupping and scraping instrument with the treatment area, selecting the desired cupping or scraping mode, and adjusting parameters to achieve the corresponding physiotherapy method.

Description

Technical Field

[0001] This invention relates to the field of traditional Chinese medicine physiotherapy technology, specifically to an automated traditional Chinese medicine physiotherapy device. Background Technology

[0002] In the field of traditional Chinese medicine physiotherapy, moxibustion and cupping / scraping are two very common and effective treatment methods. However, in practice, these traditional methods are highly dependent on manual operation. Taking moxibustion as an example, there are many types of moxibustion, such as suspended moxibustion, direct moxibustion, and indirect moxibustion. The same is true for cupping / scraping. Operators need to rely on experience to control the force and time. The difference in skill level among different operators may lead to inconsistent treatment results, making it difficult to guarantee that each treatment will achieve the ideal state. Moreover, manual operation is relatively inefficient and cannot meet the needs of rapid treatment. This, to some extent, limits the widespread application and promotion of traditional Chinese medicine physiotherapy.

[0003] With the rapid development of science and technology, automation technology is increasingly widely used in the medical field. In the field of traditional Chinese medicine (TCM) physiotherapy, the demand for automated equipment is becoming more and more urgent. Most existing TCM physiotherapy equipment has only one function and cannot simultaneously meet the needs of multiple treatments such as moxibustion, cupping, and scraping. Patients often need to use multiple different devices to complete a complete treatment process, which not only increases treatment costs but also reduces treatment efficiency. Especially in moxibustion, direct moxibustion, where the moxa stick is placed directly on the skin, often results in burns to the patient's skin due to lack of attention from the operator, causing harm. In addition, some devices are not convenient to operate and cannot achieve the same effect as manual operation. Therefore, we propose an automated TCM physiotherapy device to solve the above problems. Summary of the Invention

[0004] In view of the shortcomings mentioned above, this paper provides a technical solution based on an automated traditional Chinese medicine physiotherapy device.

[0005] It includes: a support base, a robotic arm mounted on one side of the top of the support base, and a first arm and a second arm mounted on the robotic arm. Each of the first and second arms has a mounting plate mounted on it. A support plate is fixedly mounted on one side wall of the mounting plate mounted on the first arm. A lifting plate is slidably connected to one side wall of the support plate. A support sleeve is fixedly mounted on one side wall of the lifting plate. A moxibustion box is placed inside the sleeve of the support sleeve. A connecting column is fixedly mounted on one side of the bottom surface of the lifting plate. Two clamping arms are hinged to the lower part of the connecting column. A clamping frame is fixedly mounted on one end of each of the two clamping arms. A storage basket is placed on the clamping frame. An installation sleeve is fixedly mounted on one side wall of the mounting plate mounted on the second arm. An electric cupping and scraping instrument is fixedly mounted inside the sleeve of the installation sleeve.

[0006] In the above-mentioned technical solution of an automated TCM physiotherapy device, preferably: the robotic arm includes a rotating arm, a first robotic arm and a second robotic arm, the rotating arm is rotatably connected to a support base, and the rotating arm is mounted on the support base via a joint motor, the first robotic arm is mounted on the rotating arm via a joint motor, and the second robotic arm is mounted on the first robotic arm via a joint motor.

[0007] Preferably, joint motors are installed on both sides of the second robotic arm, and the joint motors installed on both sides of the second robotic arm are respectively equipped with a first mechanical arm and a second mechanical arm. The first mechanical arm is installed on the first mechanical arm, and the second mechanical arm is installed on the second mechanical arm.

[0008] Preferably, the support plate has a sliding groove on both sides of one side wall, and a slider is placed in the sliding groove. The outer wall of the slider is fixedly connected to both sides of the side wall of the lifting plate. The cross-section of the sliding groove is T-shaped. The support plate is fixedly installed on the upper back of the sliding groove. The top surface of the mounting base is fixedly installed with a first servo motor.

[0009] Preferably, the support plate has a groove located in the middle of the two sliding grooves, and a lifting block is placed in the groove. One side wall of the lifting block is fixedly connected to one side wall of the lifting plate. A spring is installed on the side of the bottom inner wall of the groove on the support plate that is close to the bottom surface of the lifting block.

[0010] Preferably, the upper part of the support plate has a cavity that extends through and into the groove of the support plate, and an elliptical wheel is provided in the cavity. The output end of the first servo motor extends through and into the cavity of the support plate, and the output end of the first servo motor located in the cavity of the support plate is connected to the center of the elliptical wheel.

[0011] Preferably, the top of the moxibustion box is provided with a sealing cover, a sealing ring is fixedly installed on the top of the moxibustion box, a sealing groove matching the sealing ring is opened at the bottom of the sealing cover, a handle is fixedly installed on the top of the sealing cover, a support ring is fixedly installed on the upper part of the outer ring of the moxibustion box, and a mesh is opened at the bottom of the moxibustion box.

[0012] Preferably, a fixing plate is fixedly installed at the bottom of the connecting column, and a second servo motor is fixedly installed on the top surface of the fixing plate. An adjusting rod is hinged to the side of the two clamping arms that are close to each other, and an adjusting plate is hinged to the side of the two adjusting rods that are close to each other. A threaded rod penetrating the adjusting plate is installed at the output end of the second servo motor.

[0013] Preferably: the adjusting plate has a threaded hole that matches the threaded rod at the point where the threaded rod passes through it; a limit plate is installed at the end of the threaded rod away from the second servo motor; a magnet is installed on one side wall of the left clamping frame; the outer wall of the storage basket is made of stainless steel that can be attracted by the magnet; a mesh is opened at the bottom of the storage basket; and a temperature sensor is also installed at the bottom of the clamping frame.

[0014] Preferably, a PLC controller is installed on the support base, and the PLC controller can control the joint motors of the robotic arm, and can also control the first servo motor and the second servo motor, and is also connected to a temperature sensor.

[0015] Preferably, the temperature sensor transmits the collected temperature data of the bottom of the clamping frame to the PLC controller in real time. When the temperature data exceeds the preset threshold of the PLC controller, the PLC controller can control the second servo motor to adjust the position of the clamping arm or issue an alarm.

[0016] Preferably, the outer diameter of the support ring is larger than the inner diameter of the support sleeve, and the support ring is horizontally placed on the top end face of the support sleeve, which limits the placement of the moxibustion box inside the support sleeve.

[0017] Preferably, when the spring is in its natural extension state, the top of the lifting block abuts against the bottom of the elliptical wheel, and the lifting plate is located in the lower area of ​​the groove opened in the support plate via the slider.

[0018] As can be seen from the above technical solution, the present invention provides an automated TCM physiotherapy device, which, compared with the prior art, has the following beneficial effects:

[0019] 1. This automated TCM physiotherapy device utilizes a multi-joint motor design in its robotic arms, including a rotating arm, a first robotic arm, and a second robotic arm. This design enables flexible rotation and positioning of the first and second arms, allowing for accurate adjustment of the positions of the moxibustion box and the electric cupping and scraping instrument to meet diverse physiotherapy needs. Simultaneously, the lifting plate on the first arm, through the cooperation of a sliding groove, a slider, and an elliptical wheel with the first servo motor, can smoothly adjust the height of the moxibustion box, enhancing operational flexibility and adaptability. It also enables the implementation of the sparrow-pecking moxibustion method in moxibustion.

[0020] 2. This automated TCM physiotherapy device allows for moxibustion by placing compressed moxa wool (shaped like wheat grains) into the through-hole at the bottom of a storage basket. The basket is then placed directly on the skin for moxibustion. First, the moxibustion box can be removed from the support sleeve. At this point, the second servo motor is activated via the PLC controller. The rotating threaded rod moves the adjusting plate, causing the clamping arm and clamping frame to move accordingly. The storage basket can be magnetically attached to the inner wall of the left clamping frame, enabling clamping. A temperature sensor at the bottom of the clamping frame transmits temperature data to the PLC controller in real time. If the temperature is abnormal, the PLC controller can adjust the equipment's operating status or issue an alarm to ensure treatment safety. Alternatively, ginger slices, garlic slices, or medicinal cakes can be placed inside the clamping frame. The burning of the moxa wool inside the moxibustion box achieves the effect of indirect moxibustion.

[0021] 3. This automated TCM physiotherapy device uses a PLC controller to control a robotic arm to move the second arm above the patient, aligning the electric cupping and scraping instrument with the area to be treated. The device selects between cupping and scraping modes based on treatment needs. For cupping, the nozzle of the electric cupping and scraping instrument is aligned with the area, and the instrument is activated. For scraping, the scraping force and speed parameters can be adjusted as needed, and corresponding parameters can be set for operation, enabling the implementation of either scraping or cupping therapy. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments of the present invention or the prior art will be briefly introduced and explained below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the overall structure of an automated traditional Chinese medicine physiotherapy device according to the present invention;

[0024] Figure 2 This is a schematic diagram of the installation structure of an automated traditional Chinese medicine physiotherapy device, the moxibustion box, according to the present invention.

[0025] Figure 3 This is a schematic diagram of the sealing groove structure on the sealing cover of an automated traditional Chinese medicine physiotherapy device according to the present invention.

[0026] Figure 4 This is a cross-sectional view of a support plate for an automated traditional Chinese medicine physiotherapy device according to the present invention.

[0027] Figure 5 This is a schematic diagram of the unfolded structure of a clamping frame for an automated traditional Chinese medicine physiotherapy device according to the present invention.

[0028] Appendix Figure 1 - Appendix Figure 5 The correspondence between the components is as follows:

[0029] In the diagram: 1. Support base; 2. Rotating arm; 201. First robotic arm; 202. Second robotic arm; 203. First robotic support arm; 204. Second robotic support arm; 3. First support arm; 301. Support plate; 302. Lifting plate; 303. Sealing cover; 304. Support ring; 305. Moxibustion box; 306. Support sleeve; 307. Clamping frame; 308. Adjusting plate; 309. Clamping arm; 310. Sealing ring 311. Handle; 312. First servo motor; 313. Mounting base; 314. Oval wheel; 315. Lifting block; 316. Spring; 317. Connecting column; 318. Second servo motor; 319. Threaded rod; 320. Adjusting rod; 321. Limiting plate; 322. Magnet; 323. Storage basket; 4. Second support arm; 401. Mounting sleeve; 402. Electric cupping and scraping instrument; 5. Mounting plate. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solution of the present invention will be described in further detail below with reference to the embodiments and accompanying drawings. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort should fall within the scope of protection of the present invention.

[0031] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the embodiments.

[0032] Example 1: Please refer to Figures 1-5 An automated TCM physiotherapy device includes a support base 1. In use, the device is first placed in a suitable position and powered on. The support base 1 serves as the base of the entire device, providing stable support. A robotic arm 2 is mounted on the support base 1 via a joint motor and can rotate around the support base 1. A first robotic arm 201 is mounted on the rotating arm 2 via a joint motor, and a second robotic arm 202 is mounted on the first robotic arm 201 via a joint motor. Joint motors on both sides of the second robotic arm 202 are respectively used to mount a first robotic arm 203 and a second robotic arm 204. A first robotic arm 3 is mounted on the first robotic arm 203, and a second robotic arm 4 is mounted on the second robotic arm 204. Through the coordinated operation of the various joint motors, the robotic arm can achieve flexible multi-degree-of-freedom movement, moving the first robotic arm 3 and the second robotic arm 4 to suitable positions.

[0033] For the moxibustion function on the first arm 3, the support plate 301 is fixed to the side wall of the mounting plate 5 of the first arm 3. Slider blocks are placed in the T-shaped grooves on both sides of the support plate 301's side wall. The sliders are fixedly connected to both sides of the lifting plate 302's side wall, allowing the lifting plate 302 to slide along the grooves. An elliptical wheel 314 is installed in the upper cavity inside the support plate 301. The output end of the first servo motor 312 on the mounting base 313 is connected to the center of the elliptical wheel 314. Starting the first servo motor 312 drives the elliptical wheel 314 to rotate, causing the elliptical wheel 314 to press against the lifting block 315. The lifting block 315 is fixedly connected to the lifting plate 302. A spring 316 is installed between the bottom of the groove and the bottom of the lifting block 315, thereby realizing the up-and-down reciprocating movement of the lifting plate 302, which can realize the sparrow-pecking moxibustion function in moxibustion. Moxa wool and other materials are placed into the moxibustion box 305, and the sealing cover 303 is closed. The sealing groove at the bottom of the sealing cover 303 cooperates with the sealing ring 310 at the top of the moxibustion box 305 to achieve sealing. The handle 311 is convenient to operate, and the support ring 304 can assist in placement and picking up. The mesh at the bottom of the moxibustion box 305 facilitates the dissipation of moxa heat. The lifting plate 302 drives the moxibustion box 305 in the support sleeve 306 to move above the area of ​​the patient that needs moxibustion, and perform moxibustion treatment.

[0034] For the cupping and scraping function on the second arm 4, the mounting sleeve 401 is fixed to the side wall of the mounting plate 5 of the second arm 4, and the electric cupping and scraping instrument 402 is fixed inside the mounting sleeve 401. The electric cupping and scraping instrument 402 is moved to the part of the patient that needs cupping or scraping by the mechanical arm, and the electric cupping and scraping instrument 402 is started to perform the corresponding treatment.

[0035] During moxibustion, if the clamping frame 307 needs to be operated, a second servo motor 318 is installed on the fixing plate at the bottom of the connecting column 317. Two clamping arms 309 are hinged to an adjusting rod 320 on one side of each other. An adjusting plate 308 is hinged to an adjusting rod 320 on one side of each other. The threaded rod 319 at the output end of the second servo motor 318 passes through the adjusting plate 308, and a threaded hole is opened at the corresponding position on the adjusting plate 308. Starting the second servo motor 318 drives the threaded rod 319 to rotate, causing the adjusting plate 308 to move along the threaded rod 319. The adjusting rod 320 drives the clamping arm 309 and the clamping frame 307 to move, realizing the opening and closing of the clamping frame 307. A magnet 322 is installed on one side wall of the left clamping frame 307. The clamping frame 307 attracts the storage basket 323 through the installed magnet 322. The bottom of the storage basket 323 has a mesh hole to facilitate ventilation. The temperature sensor can monitor the temperature of the bottom of the clamping frame 307 in real time and transmit the data to the PLC controller on the support base 1. The storage basket 323 and the moxibustion box 305 can be removed at any time to avoid burning the patient's skin.

[0036] The PLC controller can control the motors of each joint on the robotic arm to achieve accurate movement of the robotic arm. It can also control the start, stop and operation parameters of the first servo motor 312 and the second servo motor 318. At the same time, it receives data from the temperature sensor and performs overall regulation of the equipment according to the preset program, so that the treatment process is safe and effective.

[0037] Example 2: Please refer to Figures 1-5 When using this automated TCM physiotherapy equipment, first adjust the equipment to the initial state, and control the motors of each joint of the robotic arm through the PLC controller to move the rotating arm 2, the first robotic arm 201, the second robotic arm 202, the first robotic support arm 203 and the second robotic support arm 204, and move the first support arm 3 and the second support arm 4 to a safe position away from the patient.

[0038] When moxibustion treatment is needed for a patient, the second arm 4 can be moved upwards first to avoid obstruction of the electric cupping and scraping instrument 402 during moxibustion treatment. Then, the moxibustion box 305 can be prepared, and an appropriate amount of moxa wool can be placed inside. The sealing cover 303 can be closed to seal it. The PLC controller controls the robotic arm to move the first arm 3 to a suitable position above the patient. The first servo motor 312 is started, and the elliptical wheel 314 rotates, driving the lifting plate 302 to descend, so that the moxibustion box 305 is close to the area of ​​the patient that needs moxibustion, and the moxibustion begins. During the moxibustion process, the height of the moxibustion box 305 can be adjusted by the first servo motor 312 according to the patient's reaction and the program preset by the PLC controller, thereby controlling the intensity of the moxibustion. If the first servo motor 312 continues to rotate, the elliptical wheel 314 can also continue to rotate, thus realizing the function of sparrow-pecking moxibustion.

[0039] If direct moxibustion, such as grain moxibustion, is required during moxibustion, the moxa wool pressed into grain shape can be placed in the through hole at the bottom of the storage basket 323, and the storage basket 323 can be placed directly on the skin for moxibustion. First, the moxibustion box 305 can be removed from the support sleeve 306. At this time, the second servo motor 318 can be started by the PLC controller, the threaded rod 319 rotates and drives the adjusting plate 308 to move, thereby enabling the clamping arm 309 and the clamping frame 307 to perform corresponding actions. The storage basket 323 can be attracted to the inner wall of the left clamping frame 307 by the magnet 322, which can realize the clamping operation of the storage basket 323. The temperature sensor at the bottom of the clamping frame 307 transmits the temperature data to the PLC controller in real time. If the temperature is abnormal, the PLC controller can adjust the equipment operating status in time or issue an alarm to ensure treatment safety. After the treatment, the PLC controller controls the robotic arm to move the first arm 3 and the second arm 4 back to the initial position and turn off the equipment power.

[0040] In addition to direct moxibustion, ginger slices, garlic slices, or medicinal cakes can be placed in the storage basket 323. The burning of moxa wool in the moxibustion box 305 can achieve the effect of indirect moxibustion.

[0041] Example 3: Please refer to Figures 1-5 When this automated TCM physiotherapy equipment is used in medical institutions, medical staff first place the equipment in a suitable position above the treatment bed and fix it. After connecting the power, the equipment is initialized and the PLC controller is used to check whether the joint motors of the robotic arm, the first servo motor 312, the second servo motor 318, and the electric cupping and scraping instrument 402 are normal.

[0042] When a patient comes for treatment, if the patient needs cupping and scraping therapy, the PLC controller controls the robotic arm to move the second arm 4 above the patient, aligning the electric cupping and scraping instrument 402 with the area to be treated. The patient selects either cupping or scraping mode according to their treatment needs. For cupping, the mouth of the electric cupping and scraping instrument 402 is aligned with the area, and the instrument is started. For scraping, the instrument's scraping force and speed parameters can be adjusted as needed, and corresponding parameters can be set. Throughout the treatment process, the PLC controller monitors the operating status of each component in real time, ensuring the equipment operates safely and stably. After treatment, the equipment is reset and the power is turned off.

[0043] Implementation Results: This device, through the multi-joint motor design of the robotic arms including rotating arm 2, first robotic arm 201, and second robotic arm 202, achieves flexible rotation and positioning of the first arm 3 and the second arm 4. It can accurately adjust the position of the moxibustion box 305 and the electric cupping and scraping instrument 402 to meet different physiotherapy needs. At the same time, the lifting plate 302 on the first arm 3, through the cooperation of the sliding groove, slider and elliptical wheel 314 with the first servo motor 312, can smoothly adjust the height of the moxibustion box 305, improve the flexibility and adaptability of operation, and realize the sparrow-pecking moxibustion method in moxibustion.

[0044] The second servo motor 318 can be started by the PLC controller, and the threaded rod 319 rotates to drive the adjusting plate 308 to move, thereby enabling the clamping arm 309 and the clamping frame 307 to perform corresponding actions. When performing moxibustion, the moxa wool pressed into the shape of wheat grains can be placed in the through hole at the bottom of the storage basket 323, and the storage basket 323 can be placed directly on the skin for moxibustion. First, the moxibustion box 305 can be removed from the support sleeve 306. At this time, the second servo motor 318 can be started by the PLC controller, and the threaded rod 319 rotates to drive the adjusting plate 308 to move, thereby enabling the clamping arm 309 and the clamping frame 307 to perform corresponding actions. The storage basket 323 can be attracted to the inner wall of the left clamping frame 307 by the magnet 322, which can realize the clamping operation of the storage basket 323. The temperature sensor at the bottom of the clamping frame 307 transmits the temperature data to the PLC controller in real time. If the temperature is abnormal, the PLC controller can adjust the equipment operation status in time or issue an alarm to ensure the safety of treatment.

[0045] The PLC controller controls the robotic arm to move the second arm 4 above the patient, aligning the electric cupping and scraping instrument 402 with the area to be treated. The system selects either cupping or scraping mode based on the treatment needs. For cupping, the nozzle of the electric cupping and scraping instrument 402 is aligned with the area, and the instrument is activated. For scraping, the instrument's scraping force and speed parameters can be adjusted as needed, and corresponding parameters can be set for operation, enabling the implementation of scraping or cupping therapy.

[0046] The above specific embodiments are merely explanations of the present invention and are not intended to limit the present invention. After reading this specification, those skilled in the art can make modifications to these embodiments without contributing any inventive step, but as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. An automated TCM physiotherapy device, comprising a support base (1), characterized in that: A robotic arm is mounted on one side of the top of the support base (1), and a first arm (3) and a second arm (4) are mounted on the robotic arm. A mounting plate (5) is mounted on both the first arm (3) and the second arm (4). A support plate (301) is fixedly mounted on one side wall of the mounting plate (5) mounted on the first arm (3). A lifting plate (302) is slidably connected to one side wall of the support plate (301). A support sleeve (306) is fixedly mounted on one side wall of the lifting plate (302). An aerosol is placed inside the sleeve of the support sleeve (306). The moxibustion box (305) has a connecting column (317) fixedly installed on one side of the bottom surface of the lifting plate (302). The lower part of the connecting column (317) is hinged to two clamping arms (309). One end of each clamping arm (309) is fixedly installed with a clamping frame (307). A storage basket (323) is placed on the clamping frame (307). An installation sleeve (401) is fixedly installed on one side wall of the mounting plate (5) installed on the second support arm (4). An electric cupping and scraping instrument (402) is fixedly installed inside the sleeve of the installation sleeve (401).

2. The traditional Chinese medicine physiotherapy equipment according to claim 1, characterized in that: The robotic arm includes a rotating arm (2), a first robotic arm (201), and a second robotic arm (202). The rotating arm (2) is rotatably connected to the support base (1) and is mounted on the support base (1) via a joint motor. The first robotic arm (201) is mounted on the rotating arm (2) via a joint motor, and the second robotic arm (202) is mounted on the first robotic arm (201) via a joint motor.

3. The traditional Chinese medicine physiotherapy equipment according to claim 2, characterized in that: The second robotic arm (202) is equipped with joint motors on both sides, and the joint motors on both sides of the second robotic arm (202) are respectively equipped with a first mechanical arm (203) and a second mechanical arm (204). The first arm (3) is installed on the first mechanical arm (203), and the second arm (4) is installed on the second mechanical arm (204).

4. The traditional Chinese medicine physiotherapy equipment according to claim 1, characterized in that: The support plate (301) has a sliding groove on both sides of one side wall, and a slider is placed in the sliding groove. The outer wall of the slider is fixedly connected to the two sides of one side wall of the lifting plate (302). The cross-section of the sliding groove is T-shaped. The support plate (301) is fixedly installed with a mounting base (313) on the upper back of the sliding groove. The top surface of the mounting base (313) is fixedly installed with a first servo motor (312).

5. The traditional Chinese medicine physiotherapy equipment according to claim 1, characterized in that: The support plate (301) has a groove in the middle of the two grooves, and a lifting block (315) is placed in the groove. One side wall of the lifting block (315) is fixedly connected to one side wall of the lifting plate (302). A spring (316) is installed on the side of the bottom inner wall of the groove of the support plate (301) that is close to the bottom surface of the lifting block (315).

6. The traditional Chinese medicine physiotherapy equipment according to claim 4, characterized in that: The upper part of the support plate (301) has a cavity that extends through and into the groove of the support plate (301), and an elliptical wheel (314) is provided in the cavity. The output end of the first servo motor (312) extends through and into the cavity of the support plate (301), and the output end of the first servo motor (312) located in the cavity of the support plate (301) is connected to the center of the elliptical wheel (314).

7. The traditional Chinese medicine physiotherapy equipment according to claim 1, characterized in that: The top of the moxibustion box (305) is provided with a sealing cover (303), and a sealing ring (310) is fixedly installed on the top of the moxibustion box (305). The bottom of the sealing cover (303) is provided with a sealing groove that matches the sealing ring (310). The top of the sealing cover (303) is fixedly installed with a handle (311). The upper part of the outer ring of the moxibustion box (305) is fixedly installed with a support ring (304). The bottom of the moxibustion box (305) is provided with a mesh.

8. The traditional Chinese medicine physiotherapy equipment according to claim 1, characterized in that: A fixing plate is fixedly installed at the bottom of the connecting column (317), and a second servo motor (318) is fixedly installed on the top surface of the fixing plate. An adjusting rod (320) is hinged to the side of the two clamping arms (309) that are close to each other. An adjusting plate (308) is hinged to the side of the two adjusting rods (320) that are close to each other. A threaded rod (319) that passes through the adjusting plate (308) is installed at the output end of the second servo motor (318).

9. The traditional Chinese medicine physiotherapy equipment according to claim 1, characterized in that: The adjustment plate (308) has a threaded hole that matches the threaded rod (319) at the point through which the threaded rod (319) passes. A limit plate (321) is installed at the end of the threaded rod (319) away from the second servo motor (318). A magnet (322) is installed on one side wall of the clamping frame (307) on the left side. The outer wall of the storage basket (323) is made of stainless steel that can be attracted by the magnet (322). A mesh is opened at the bottom of the storage basket (323). A temperature sensor is also installed at the bottom of the clamping frame (307).

10. The traditional Chinese medicine physiotherapy device according to claim 5, characterized in that: When the spring is in its natural extension and contraction state, the top of the lifting block abuts against the bottom of the elliptical wheel, and the lifting plate is located in the lower area of ​​the groove opened in the support plate via the slider.

11. The traditional Chinese medicine physiotherapy device according to claim 7, characterized in that: The outer diameter of the support ring is larger than the inner diameter of the support sleeve, and the support ring is horizontally placed on the top end face of the support sleeve, which plays a limiting role in the placement of the moxibustion box inside the support sleeve.

12. The traditional Chinese medicine physiotherapy equipment according to claim 8, characterized in that: The adjusting plate (308) has a threaded hole that matches the threaded rod (319) at the point through which the threaded rod (319) passes. A limit plate (321) is installed at the end of the threaded rod (319) away from the second servo motor (318). A clamping through hole is provided at the center of the bottom of the clamping frame (307). A mesh is provided at the bottom of the clamping frame (307). A temperature sensor is also installed at the bottom of the clamping frame (307).

13. The traditional Chinese medicine physiotherapy equipment according to claim 12, characterized in that: The temperature sensor transmits the collected temperature data of the bottom of the clamping frame to the PLC controller in real time. When the temperature data exceeds the preset threshold of the PLC controller, the PLC controller can control the second servo motor to adjust the position of the clamping arm or issue an alarm.

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