Moxibustion robot

Abstract

The present invention discloses a moxibustion robot, including a bed frame, the bed frame is provided with a longitudinal linear transmission mechanism, an arched motion mechanism, a weight slider mechanism and an image acquisition module; the longitudinal linear transmission mechanism drives the arched motion mechanism to perform linear motion; the weight slider mechanism includes a weight and a moxibustion head, the weight and the moxibustion head are connected by an elastic member, so that the weight can drive the moxibustion head to move up and down; the moxibustion head can move along the route planned by the arched motion mechanism; the image acquisition module provides a positioning function, and provides the moxibustion head with accurate human acupuncture point location information to ensure the treatment effect. The present invention mainly solves the safety hazard problems existing in the field of moxibustion robots, the bionics problem of moxibustion acting on the human body, and the multi-sensor data fusion electronic moxibustion control technology problem.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a moxibustion robot. Background Art

[0002] Moxibustion, a method of moxibustion in traditional Chinese medicine, 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. The use of moxibustion originated after humans mastered the use of fire, which was also in the Stone Age. Moxibustion treatment has a far-reaching influence at home and abroad.

[0003] The traditional moxibustion requires manual operation, the power of moxa burning, the instruments used in moxibustion, and the smoke produced during moxibustion are the reasons why moxibustion cannot be widely used and promoted. In clinical use, doctors have to moxibustion patients for a long time, resulting in low clinical work efficiency. Moreover, if you are not careful, it is easy to burn the patient's skin, clothes, etc., and the ash powder that falls off when the moxa cone or moxa stick burns can easily fall on the skin and cause burns. At the same time, it is not easy to moxibustion the symptom parts of the human body, such as the head and legs. More importantly, a large amount of smoke is produced when the moxa stick burns. Modern research shows that the harmful components released in the smoke are mainly tar, naphthalene, benzaldehyde, acetophenone, benzonitrile, phenol, dimethylphenol and chlorophyll alcohol, among which naphthalene accounts for a large proportion. These phenolic and aldehyde harmful substances have a strong odor and are highly toxic. They can cause tonsil enlargement, itchy throat, eye pain and obvious drowsiness, so that people can't stand the smoky wards. It is very troublesome and unsafe to use.

[0004] In addition to traditional moxibustion therapy, there is currently an electric heating moxibustion method, which has the advantages of being smoke-free, clean and hygienic, and safer than traditional moxibustion therapy.

[0005] The electric heating moxibustion treatment instruments currently available on the market mainly rely on heat radiation. The moxibustion heating devices generally use flat ceramic heating plates, which are inconsistent with the heating temperature field of the traditional moxibustion heating material moxa. The former is a uniformly heated temperature field, while the traditional moxibustion forms a temperature field with an exponential distribution similar to a water droplet. In terms of therapeutic effect, the existing electric heating moxibustion is inferior to the traditional moxibustion method.

[0006] In addition, most of the existing moxibustion robots on the market are for the purpose of satisfying the moxibustion function. Although they can replace humans in performing moxibustion operations, they generally lack safe and effective injury prevention measures and have great safety risks. As an electromechanical device, the robot will inevitably malfunction. When a malfunction occurs and control is lost, the moving mechanism of the moxibustion head may cause unpredictable physical damage to the patient.

[0007] At present, there is no systematic and in-depth research on the working principle, intelligent safety and other aspects of moxibustion robot technology, and there is still relatively little development and research work. The few patents and videos that exist are still limited to the realization of simple functions and the use of industrial robotic arms for experiments. Most of them focus on using moxibustion robots to replace manual operation functions, while generally ignoring the safety and reliability of medical devices that come into contact with the human body. Summary of the invention

[0008] The purpose of the present invention is to propose a technical solution for a moxibustion robot, mainly to solve the potential safety hazards in the current moxibustion robot field, the bionics problem of moxibustion acting on the human body, and the multi-sensor data fusion electronic moxibustion control technology problem.

[0009] In order to solve the above technical problems, the present invention is solved through the following technical solutions: a moxibustion robot comprises a bed frame, which is provided with an arch motion mechanism and a weight slider mechanism; the weight slider mechanism comprises a weight and a moxibustion head, and the weight and the moxibustion head are connected by an elastic member, so that the weight can drive the moxibustion head to move up and down; the moxibustion head can move along the route planned by the arch motion mechanism, and the arch motion mechanism is similar to the contour of the human body.

[0010] The bed frame is also provided with a longitudinal linear transmission mechanism and an image acquisition module; the longitudinal linear transmission mechanism drives the arch motion mechanism to perform linear motion; the image acquisition module provides a positioning function, providing the moxibustion head with accurate human acupuncture point position information to ensure the treatment effect.

[0011] The weight slider mechanism also includes a winding motor, a pulley and a slider restricted to vertical movement. The winding motor drives the winding wheel to wind and release the rope. The rope is connected to the slider and then, after turning the pulley, is connected to the weight at the terminal end. A flexible shaft is also provided on the slider, and the moxibustion head is provided at the end of the flexible shaft.

[0012] The longitudinal linear transmission mechanism comprises a slide rail arranged on the side of the bed frame, a slide mounting seat is arranged on the slide rail, and the longitudinal linear transmission mechanism drives the slide mounting seat to slide controllably on the slide rail.

[0013] The sliding mounting seat is provided with the arched motion mechanism, which includes an arched beam spanning both sides of the bed frame. The moxibustion head is provided on the sleeve, and the arched motion mechanism drives the sleeve to controllably slide on the arched beam.

[0014] The image acquisition module includes a global positioning camera installed on the support rod and a local positioning camera installed above the moxibustion head; the global positioning camera is responsible for the overall large field of view positioning to provide rough positioning information of human acupuncture points and meridians, and the local positioning camera assists in precise positioning.

[0015] The moxibustion head includes a bionic heating head, a heating head temperature sensor, a non-contact distance sensor, a non-contact body surface temperature sensor, a gate switch, an emergency touch switch and a signal acquisition circuit;

[0016] It also includes a handheld PDA terminal for patients to use, which is connected to the main control system via Bluetooth; the handheld PDA terminal includes a display screen, operation buttons and a shell.

[0017] The main control system includes an industrial computer, a lower computer control board, a power supply and a driver. The main control system is arranged in an electrical control box under the bed body, and mainly completes image recognition positioning, motion control and logic control functions.

[0018] The arched motion mechanism comprises a moving motion block and two arched base plates, a sleeve is fixedly provided on one side wall of the motion block, and the moxibustion head is movably provided in the sleeve; the base plates are connected into a whole by supporting columns, and an arched track is installed on one of the base plates; two large rollers are arranged on the other side wall of the motion block, and the large rollers clamp the upper and lower sides of the track so that the motion block cannot be separated from the track, and a small roller is arranged on the inner top of the motion block, and the small roller is pressed on the top of the other base plate and rolls on it; a vertical roller in the vertical direction is also arranged on the inner top of the motion block, and the vertical roller clamps the two side walls of the base plate below it; the large roller, the small roller and the vertical roller cooperate with each other so that the motion block can be movably installed on the arched motion mechanism; synchronous wheels are respectively arranged at the two ends of the base plate, and one of the synchronous wheels is connected to a belt drive motor and driven to rotate by it, and a transmission belt is arranged between the two synchronous wheels, and the motion block is connected to the transmission belt so that the motion block can be driven to move together when the transmission belt moves.

[0019] The moxibustion head includes a cylinder shell, which is provided with an upper end cover and a lower end cover at the upper and lower ends respectively, the upper end cover is connected to the flexible shaft, and a protective cover is provided in the middle of the lower end cover; a servo is provided at the upper part of the cylinder shell and a gate is rotatably provided at the lower part, the gate can cover the top of the protective cover, the servo is provided with a servo rotor, and one end of the servo rotor is connected to the edge of the gate by a hard steel wire; an electric heating wire is fixedly provided in the middle part of the cylinder shell, the electric heater generates heat, penetrates the protective cover and is transferred to the human skin to realize moxibustion; an insulating layer is provided on the inner wall of the cylinder shell.

[0020] The present invention provides a moxibustion robot, which is designed with an arc-shaped lateral motion arch frame and a water drop-shaped electronic moxibustion heating head according to the bionic design principle, and can restore the temperature field distribution of moxa burning to the maximum extent by integrating the distance and temperature sensor data and combining the temperature control curve. The human body has the characteristic of gradually decreasing temperature sensitivity. At the same time, a temperature curve is generated according to the patient's own physique. Through the multi-sensor data fusion algorithm such as distance and temperature, the moxibustion head is controlled to work within a reasonable temperature range, so that the user can achieve the best treatment effect.

[0021] In order to fully ensure the safety of patients, the present invention is designed with a heavy hammer slider mechanism to prevent active injuries. In an emergency or when the patient malfunctions, the moxibustion head can be retracted to a safe distance by the external force and the control system, and a double protection strategy is used to prevent accidental injuries. At the same time, the present invention has a unique gate mechanism designed in the moxibustion head. When the distance between the human body and the moxibustion head is less than the safety setting value, the gate mechanism is triggered to close, physically isolating the human body from the moxibustion head, and the heating device stops heating at the same time, which can effectively prevent the occurrence of accidents in which the human body is scalded by the moxibustion head. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The features and advantages of the present invention will become more easily understood through the following detailed description provided with reference to the accompanying drawings, in which: Figure 1 It is a structural schematic diagram of the present invention.

[0023] Figure 2 It is a schematic diagram of the weight slider mechanism of the present invention.

[0024] Figure 3 It is a structural schematic diagram of the two ends of the bed frame of the present invention.

[0025] Figure 4 It is a schematic diagram of the internal structure of the arch motion mechanism of the present invention.

[0026] Figure 5 It is a side view of the arched motion mechanism of the present invention.

[0027] Figure 6 It is a structural schematic diagram of the weight slider mechanism of the present invention.

[0028] Figure 7 It is a schematic structural diagram of the sleeve of the present invention.

[0029] Figure 8 It is a schematic diagram of the internal structure of the moxibustion head of the present invention when it is not working.

[0030] Fig. 9 It is a schematic diagram of the internal structure of the moxibustion head of the present invention when it is working. DETAILED DESCRIPTION

[0031] The following is a detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. The description of the exemplary embodiments is only for illustrative purposes and is in no way intended to limit the present invention and its application or usage.

[0032] Although the present invention has been described with reference to exemplary embodiments, it should be understood that the present invention is not limited to the specific embodiments described and shown in detail herein, and that various changes may be made to the exemplary embodiments by those skilled in the art without departing from the scope defined by the claims.

[0033] The purpose of the present invention is to design a new type of intelligent and safe electronic moxibustion robot to solve the problems of low efficiency, cumbersome procedures, and harmful health of moxa smoke in traditional manual moxibustion. It deeply analyzes the working principle of moxibustion treatment, can effectively simulate the temperature field of traditional moxa wool, and achieve equivalent treatment effects. At the same time, it combines the design principles of bionics, innovative arched structure design, unique design of the moving mechanism of the moxibustion head to prevent active damage, and combines the temperature field control technology of multi-sensor fusion such as image, temperature, and distance to solve many safety problems in the application of electronic moxibustion.

[0034] The following is combined with Figure 1 To Attachment Fig. 9 The technical solution of the embodiment of the present invention is described in detail. The present invention discloses a moxibustion robot, including a bed frame 1, the bed frame 1 is provided with an arch motion mechanism 3 and a weight slider mechanism 4; the weight slider mechanism 4 includes a weight 43 and a moxibustion head 49, the weight 43 and the moxibustion head 49 are connected by an elastic member, so that the weight 43 can drive the moxibustion head 49 to move up and down; the moxibustion head 49 can move along the route planned by the arch motion mechanism 3, and the arch motion mechanism is similar to the contour of the human body.

[0035] The bed frame 1 is also provided with a longitudinal linear transmission mechanism 2 and an image acquisition module; the longitudinal linear transmission mechanism 2 drives the arch motion mechanism 3 to perform linear motion; the image acquisition module provides a positioning function, providing the moxibustion head with accurate human acupuncture point position information to ensure the treatment effect.

[0036] In order to make the moxibustion head better follow the human body contour and perform moxibustion on the front and side acupuncture points of the human body, the arched motion mechanism 3 is designed as an arched structure, on which a motion block 40 is arranged to drive the moxibustion head 49 to move on an arched track. Because the arched mechanism is similar to the human body contour, the moxibustion head 49 can always face the human body acupuncture points.

[0037] Arched structures such as Figure 5As shown, two arched base plates 30 are connected by a support column 301 in the middle to form a basic frame, an arched track 302 is installed on one of the base plates 30, and a plurality of rollers are installed on the moving block 40, which can roll on the arched track, thereby driving the moxibustion head to move along the arched track and always perpendicular to the arched track.

[0038] In order to ensure the smooth movement of the motion block on the arched track, a total of 6 rollers are installed, of which two large rollers 401 on the side are respectively located above and below the arched track. The two large rollers 401 clamp the arched track 302 so that the motion block cannot be separated from the track. Two small rollers 402 are also installed on the top of the motion block 40. The small rollers 402 roll on the top of an arched base plate and form three fulcrums with a large roller 401 to ensure the stability of the motion block. In order to limit the freedom of the motion block 40 in the front and rear directions, two vertical rollers 403 are also installed on the top to clamp the side wall of an arched base plate 30, so that the motion block 40 can only move along the arched track 302.

[0039] When the moving block 40 moves on the arch track, it is driven by the belt drive motor 31 and the transmission belt. A synchronous wheel 32 is installed at each end of the arch mechanism, one of which is driven by the belt drive motor 31 and serves as a driving wheel, and the other is a driven wheel and also serves as a tensioning wheel. The moving block is connected to the transmission belt so that the transmission belt can drive the moving block to move together when it moves. Because the transmission is along the arch track, the transmission belt needs to change direction every certain distance, so 15 idle wheels 34 are installed on an arch side panel, of which 8 idle wheels 34 are located in the transmission belt 33 circle and contact the toothed side of the transmission belt, and the remaining 7 are located outside the transmission belt circle and contact the toothless side of the transmission belt. These idle wheels can limit the trajectory of the transmission belt to the arch track.

[0040] The weight slider mechanism 4 also includes a winding motor 42, a pulley 46 and a slider 45 limited to vertical movement. The winding motor 42 drives the winding wheel 41 to wind and release the rope 44. The rope 44 is connected to the slider 45 and then passes through the turn of the pulley 46, and the terminal is connected to the weight 43; the slider 45 is also provided with a soft shaft 47, and the end of the soft shaft 47 is provided with the moxibustion head 49. Among them, the weight slider mechanism has a housing 410, and a fixed slide rod 451 is provided in the housing. The slider 45 is sleeved on the slide rod 451, so as to be limited to moving up and down. The weight slider mechanism is used in conjunction with the sleeve 48, and the two are connected by the soft shaft 47 to jointly complete the vertical feeding movement of the moxibustion head 49. The weight mechanism is fixed on a base plate of the arch mechanism, and the weight mechanism housing can be fixed on the base plate by screws to provide power for the downward feeding of the moxibustion head. The sleeve 48 is connected to the moving block 40, and the sleeve shell can be fixed to the moving block by screws so that it moves on the arch mechanism with the moving block 40, thereby guiding the downward feeding of the moxibustion head.

[0041] The longitudinal linear transmission mechanism 2 includes a slide rail 23 arranged on the side of the bed frame 1 , and a sliding mounting seat 24 is arranged on the slide rail 23 . The longitudinal linear transmission mechanism 2 drives the sliding mounting seat 24 to slide on the slide rail 23 in a controllable manner.

[0042] The arched motion mechanism 3 is arranged on the sliding mounting seat 24, and the arched motion mechanism 3 includes an arched beam spanning both sides of the bed frame 1. The moxibustion head 49 is arranged on the sleeve 48, and the arched motion mechanism 3 drives the sleeve 48 to slide controllably on the arched beam.

[0043] The image acquisition module includes a global positioning camera 13 installed on a support rod 15 and a local positioning camera 14 installed above the moxibustion head 49; the global positioning camera 13 is responsible for positioning the entire large field of view to provide rough positioning information of human acupuncture points and meridians, and the local positioning camera 14 assists in precise positioning. The support rod 15 is set on one side of the bed.

[0044] The moxibustion head 49 includes a bionic heating head, a heating head temperature sensor, a non-contact distance sensor, a non-contact body surface temperature sensor, a gate switch, an emergency touch switch and a signal acquisition circuit;

[0045] It also includes a handheld PDA terminal for patients to use, which is connected to the main control system via Bluetooth; the handheld PDA terminal includes a display screen, operation buttons and a shell.

[0046] The main control system includes an industrial computer, a lower computer control board, a power supply and a driver. The main control system is arranged in an electrical control box 11 under the bed body, and mainly completes image recognition positioning, motion control and logic control functions.

[0047] The moxibustion head includes a cylinder shell, which is provided with an upper end cover and a lower end cover at the upper and lower ends respectively, the upper end cover is connected to the flexible shaft, and a protective cover is provided in the middle of the lower end cover; a servo is provided at the upper part of the cylinder shell and a gate is rotatably provided at the lower part, the gate can cover the top of the protective cover, the servo is provided with a servo rotor, and one end of the servo rotor is connected to the edge of the gate by a hard steel wire; an electric heating wire is fixedly provided in the middle part of the cylinder shell, the electric heater generates heat, penetrates the protective cover and is transferred to the human skin to realize moxibustion; an insulating layer is provided on the inner wall of the cylinder shell.

[0048] The moxibustion head 49 of the device generates heat by means of the electric heating wire 8, which is transferred to the human skin through the protective cover 611 on the lower end cover 61. In order to prevent the electric heating wire from overheating and scalding the human skin, a gate is provided between the electric heating wire and the protective cover, and the gate can rotate around the axis. A steering gear 7 is installed on the upper part of the moxibustion head, and one end of the steering gear rotor 71 is connected to the edge of the gate 73 using a hard steel wire 72.

[0049] Working status Fig. 9 As shown in the figure, the servo rotates clockwise, the rotor pulls the gate to rotate to the side, and the heat of the heating wire can be transferred to the human skin normally. When the human body feels that the temperature is too high, the control system sends a command, the servo rotates counterclockwise, and the rotor pushes the gate to the side through the hard steel wire. Figure 8 The heat transferred to the human body is blocked by the gate to prevent burns to the human skin.

[0050] The structure of the present invention adopts human bionics design to ensure that the running path of the moxibustion heating head is perpendicular to the human body surface, which is achieved by the cooperation of the longitudinal linear transmission mechanism 2, the arched motion mechanism 3 and the heavy hammer slider mechanism 4.

[0051] The bed frame 1 of the present invention comprises a moxibustion bed composed of a bed frame and leather sponge, which is a platform for patients to lie down during treatment and also a base for installing various parts of the robot structure.

[0052] The image acquisition of the moxibustion robot of the present invention is completed by two cameras, namely a global positioning camera installed on the support rod at the end of the bed and a local positioning camera installed above the moxibustion head. The global camera is responsible for the positioning of the overall large field of view to provide rough positioning information of human acupuncture points and meridians, and the local positioning camera assists in precise positioning. The two cameras work together to provide accurate human acupuncture point location information for the moxibustion head to ensure the treatment effect.

[0053] The longitudinal linear transmission mechanism of the present invention is installed on the bed frame below the bed surface on both sides of the bed 1, and consists of a driving motor 21 and two synchronous belt modules. The transmission shaft 22 is used to transmit torque between the two modules to ensure the synchronization of the movement of the two modules.

[0054] In order to facilitate patients to get in and out of bed, the longitudinally moving synchronous belt module is installed under the bed board. In order to avoid asynchronous movement at both ends of the arch mechanism, two synchronous belt modules are used, connected by a connecting shaft in the middle, so that when the driving motor drives one synchronous belt to move, the other will move synchronously, which can ensure the stability of the arch mechanism.

[0055] The arched motion mechanism of the present invention is mounted on the sliding mounting seat 24 of the longitudinal linear transmission mechanism, and can be driven by the slider to move forward or backward as a whole. At the same time, the internal mechanism can drive the moxibustion head to do a transverse arched motion to ensure that the moxibustion head is vertical or approximately vertical to the human body surface. The arched motion mechanism adopts a servo drive and synchronous belt drive mode, with high motion accuracy and low noise and vibration.

[0056] The weight slider structure of the present invention is fixed on the arched motion mechanism, and is mainly used to drive the moxibustion head to do feeding motion and adjust the distance between the moxibustion head and the acupuncture points and meridians of the human body. During the diagnosis and treatment process, the patient may accidentally turn over or the machine may lose control, and there is a risk that the moxibustion head will collide with the human body and cause physical damage. For this reason, a unique weight slider mechanism and sleeve protection mechanism are designed. When the above situation occurs, the moxibustion head retracts under the action of external force, which can effectively avoid mechanical damage.

[0057] When the weight slider structure is in operation, the winding motor 42 rotates, and the winding wheel 41 releases the wire rope 44. Due to the effect of gravity, the slider 45 will be pulled upward by the weight 43, and transmitted to the moxibustion head through the flexible shaft 47, so that the moxibustion head 49 moves downward and moves close to the acupuncture points of the human body for moxibustion. When the moxibustion head 49 needs to be away from the acupuncture points of the human body, the winding motor 42 reverses, and the winding wheel 41 rewinds the wire rope 44, overcomes the gravity of the weight 43 to pull the slider 45 downward, and transmits the moxibustion head 49 upward through the flexible shaft 47, away from the acupuncture points of the human body, so as to achieve the effect of adjusting the height of the moxibustion head. At the same time, in the event of failure of the non-contact distance sensor, failure of the non-contact body surface temperature sensor, or the main control program running away, emergency protection is carried out to prevent the human body from being scalded or mechanically damaged, which can effectively avoid active injuries.

[0058] Compared with other feeding mechanisms, the biggest advantage of the weight slider mechanism of the present invention is that it can prevent mechanical damage to the human body. When the winding motor is out of control or the human body turns over and causes the human body to hit the moxibustion head, the human body will have a reverse thrust on the moxibustion head, which is transmitted to the slider through the flexible shaft. When the thrust is greater than the gravity of the weight, the slider moves downward, the weight is lifted, and the moxibustion head will be pushed back by the human body. The human body only feels the pressure of the weight, and no physical damage is caused. That is, the force is flexible and can be pushed back, rather than rigid, which directly causes hard damage.

[0059] The moxibustion head 49 of the present invention provides heat radiation, directly acts on the acupuncture points of the human body, and achieves the effect of moxibustion. The moxibustion heating head is installed on the sleeve 48, and the sleeve is installed on the slider of the arched motion mechanism, so the moxibustion head can move horizontally along the arched mechanism; during the movement, the posture of the moxibustion head will also change with the position of the moxibustion head on the arched mechanism; at the same time, the moxibustion head adjusts the distance from the acupuncture points of the human body under the action of the heavy hammer slider to perform moxibustion.

[0060] The moxibustion head mainly includes a bionic heating head, a heating head temperature sensor, a non-contact distance sensor, a non-contact body surface temperature sensor, a gate switch, an emergency touch switch, a signal acquisition circuit and the like.

[0061] When the bionic heating head is working, the internally installed heating head temperature sensor collects the heating head temperature information in real time, which is collected and processed by the signal acquisition circuit board. The non-contact distance sensor collects the distance between the moxibustion heating head and the human body surface in real time. The non-contact surface temperature sensor collects the temperature information radiated from the moxibustion heating head to the human body surface in real time, and the distance and temperature are controlled in a dual closed loop.

[0062] At the same time, the heat-insulating shielding gate mechanism designed inside the moxibustion head can automatically close the heating window in an emergency to prevent human harm. An emergency micro switch is installed at the end of the moxibustion head, which can provide emergency protection in the event of failure of the weight module to move upward, the lifting mechanism stuck, the non-contact distance sensor failure, the non-contact body surface temperature sensor failure, and the main control program running away. It can immediately shut down the heater, release the gate switch, and start the active heat dissipation device to prevent human burns, and start the active heat dissipation device to prevent human burns to the greatest extent.

[0063] The signal acquisition circuit board includes a microcontroller and an interface conversion circuit to realize signal acquisition and preprocessing of the heating head temperature sensor, non-contact distance sensor, non-contact body surface temperature sensor, gate switch, and emergency touch switch, and sends the collected data to the control module through the bus.

[0064] The handheld PDA terminal of the present invention cooperates with the main control system to provide a human-computer interaction experience. During the treatment process, the patient can use the handheld PDA terminal to adjust the temperature, check the remaining time and the current acupuncture points, and respond to emergencies and call nurses.

[0065] The main working process of the present invention is as follows: the doctor diagnoses the patient's disease through observation, auscultation, questioning and palpation, prescribes a treatment plan on the computer, and sends it to the target moxibustion robot through the network. The patient is transferred to the nurse for reception, who guides the patient to undress and lie in bed in the correct posture, marks the corresponding acupuncture points on the patient's body with medicine, and performs online image calibration of the patient's acupuncture points on the server side, and starts the moxibustion robot, which treats the patient according to the doctor's prescription and acupuncture point calibration.

[0066] The treatment process is that the terminal control system receives the doctor's diagnosis and treatment plan data, the global camera performs image recognition and calculation of diagnosis and treatment coordinate information, the arch motion module and the heavy hammer module of the moxibustion robot are reset, and after the control system receives the reset completion signal of the arch motion module and the heavy hammer module, it plans the motion path according to the diagnosis and treatment coordinate information, coordinates the longitudinal motion mechanism, the lateral motion mechanism and the up and down motion mechanism of the moxibustion head to complete straight moxibustion, spiral moxibustion and sparrow pecking moxibustion according to the doctor's prescription.

[0067] During moxibustion treatment, the moxibustion heating head has two closed-loop control loops: distance and temperature. Multiple distance sensors installed on the side of the moxibustion head detect the current distance to the acupuncture point in real time to complete the distance closed-loop control. At the same time, the redundancy design concept is adopted to ensure the reliability of distance control. At the same time, multiple body surface temperature sensors are installed on the side of the moxibustion head to detect the current temperature in real time and compare it with the patient's set temperature for closed-loop control. The redundancy design concept is also used to ensure safety.

[0068] The main control system of the present invention mainly completes image recognition and positioning, motion control, logic control, multi-sensor fusion electronic moxibustion control, communication, etc., and the communication module reserved in the system can interact with the existing system of the hospital for data, and complete the digital storage of patient diagnosis and treatment data, providing data support for big data medical care and precision medicine.

[0069] The present invention proposes a novel intelligent and safe moxibustion robot, which solves the safety problems existing in the prior art, the bionics problems of moxibustion on the human body, and the data fusion processing and decision-making problems of various sensors in the work of the moxibustion robot, and provides the human body with a safe and effective moxibustion robot, which stably and reliably protects the human body from harm.

[0070] The present invention provides complete and effective solutions to the problems of moxibustion robot safety, bionics, image-guided positioning and electronic moxibustion treatment by relying on the independently developed heavy hammer slider mechanism for preventing active injury, bionic heating head mechanism, dual-camera image step precision positioning technology, and multi-sensor electronic moxibustion control technology, solving the outstanding problems in the industry. The prototype has achieved good beneficial effects after trial production and pilot test.

Claims

1. Moxibustion robot, characterized by: The bed frame (1) comprises an arched motion mechanism (3) and a weight slider mechanism (4); the weight slider mechanism (4) comprises a weight (43) and a moxibustion head (49); the weight (43) and the moxibustion head (49) are connected via an elastic member, so that the weight (43) can drive the moxibustion head (49) to move up and down; the moxibustion head (49) can move along a route planned by the arched motion mechanism (3); the arched motion mechanism is similar to the contour of a human body; the bed frame (1) is also provided with a longitudinal straight The linear transmission mechanism (2) and the image acquisition module; the longitudinal linear transmission mechanism (2) drives the arched motion mechanism (3) to perform linear motion; the image acquisition module provides a positioning function, providing the moxibustion head with accurate human acupuncture point position information to ensure the therapeutic effect; the heavy hammer slider mechanism (4) also includes a winding motor (42), a pulley (46) and a slider (45) restricted to move in the vertical direction; the winding motor (42) drives the winding wheel (41) to wind and release the rope (44); the rope (44) is connected to the slider (45) and then passes through After the pulley (46) turns, the terminal end is connected to the weight (43); the slider (45) is also provided with a flexible shaft (47), and the moxibustion head (49) is provided at the end of the flexible shaft (47); the longitudinal linear transmission mechanism (2) comprises a slide rail (23) provided on the side of the bed frame (1), and a sliding mounting seat (24) is provided on the slide rail (23); the longitudinal linear transmission mechanism (2) drives the sliding mounting seat (24) to slide controllably on the slide rail (23), and the sliding mounting seat (24) is provided with the arched movement seat (24). The invention relates to a motion mechanism (3), wherein the arched motion mechanism (3) comprises an arched beam spanning two sides of the bed frame (1), wherein the arched motion mechanism (3) drives the sleeve (48) to slide controllably on the arched beam, and the image acquisition module comprises a global positioning camera (13) mounted on the support rod (15) and a local positioning camera (14) mounted above the moxibustion head (49); the global positioning camera (13) is responsible for positioning the entire large field of view and providing rough positioning information of acupuncture points and meridians of the human body, and the local positioning camera (14) assists in precise positioning.

2. The moxibustion robot according to claim 1, characterized in that: The moxibustion head (49) comprises a bionic heating head, a heating head temperature sensor, a non-contact distance sensor, a non-contact body surface temperature sensor, a gate switch, an emergency touch switch and a signal acquisition circuit.

3. The moxibustion robot according to claim 2, characterized in that: The main control system comprises an industrial computer, a lower computer control panel, a power supply and a driver. The main control system is arranged in an electrical control box (11) below the bed body and mainly performs image recognition positioning, motion control and logic control functions.

4. The moxibustion robot according to claim 3, characterized in that: The arched motion mechanism (3) comprises a moving motion block and two arched base plates (30), a sleeve (48) being fixedly arranged on one side wall of the motion block, and the moxibustion head (49) being movably arranged in the sleeve (48); the base plates (30) are connected as a whole by means of support columns (301), and an arched track (302) is installed on one of the base plates (30); two large rollers (401) are arranged on the other side wall of the motion block, the large rollers (401) clamping the upper and lower surfaces of the track (302) so that the motion block cannot be separated from the track (302), and a small roller (402) is arranged on the inner top of the motion block, and the small roller (402) is pressed on the top of the other base plate (30) and above it The moving block is provided with a vertical roller (403) in the vertical direction at the inner top, and the vertical roller (403) clamps the two side walls of the base plate (30) below it; the large roller (401), the small roller (402) and the vertical roller (403) cooperate with each other so that the moving block can be movably mounted on the arched moving mechanism (3); the two ends of the base plate (30) are respectively provided with synchronous wheels (32), one of which is connected to a belt drive motor (31) and driven to rotate by it, and a transmission belt (33) is provided between the two synchronous wheels (32), and the moving block and the transmission belt (33) are connected so that when the transmission belt (33) moves, it can drive the moving block to move together.

5. The moxibustion robot according to claim 4, characterized in that: The moxibustion head (49) comprises a cylinder shell (6), wherein the cylinder shell (6) is provided with an upper end cover (62) and a lower end cover (61) at the upper and lower ends respectively, wherein the upper end cover (62) is connected to the flexible shaft (47), and a protective cover (611) is provided in the middle of the lower end cover (61); a steering gear (7) is provided at the upper part of the cylinder shell (6) and a gate (73) is rotatably provided at the lower part, wherein the gate (73) can cover the upper part of the protective cover (611), wherein the steering gear (7) is provided with a steering gear rotor (71), and one end of the steering gear rotor (71) is connected to the edge of the gate (73) by a hard steel wire (72); an electric heating wire (8) is fixedly provided in the middle part of the cylinder shell (6), wherein the electric heater generates heat which penetrates the protective cover (611) and is transferred to the human skin to realize moxibustion; and an insulating layer (63) is provided on the inner wall of the cylinder shell (6).

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