Intelligent moxibustion head

Abstract

An intelligent moxibustion head, the technical key points of which are: including a moxibustion component (2) with a controllable moxibustion stick (224); the moxibustion component (2) includes an outer cylinder (21), a motor reducer (23) limited on one side of the outer cylinder (21), a driving gear (24) arranged at the output end of the motor reducer (23), a driven gear (25) meshing with the driving gear (24), an inner cylinder (22) limited on the driven gear (25), and a pin seat (223) for fixing the moxibustion stick (224) limited in the inner cylinder (22) through a spring (222). It has the advantages of simple and compact structure, convenient and fast operation, less manual intervention, and less environmental pollution.

Description

Technical Field

[0001] The invention relates to the field of medical devices, in particular to an intelligent moxibustion head. Background Art

[0002] Traditional moxibustion is mostly performed manually on the human body surface with moxa sticks, or with single or multiple moxa sticks fixed in jars, boxes, or cases. These devices have simple structures, but generally have many disadvantages such as smoke, uncontrollable temperature, uncontrollable firepower, inability to remove ash, and laborious manual operation. Summary of the invention

[0003] The purpose of the present invention is to provide an intelligent moxibustion head, which fundamentally solves the above problems and has the advantages of simple and compact structure, convenient and quick operation, less manual intervention and less environmental pollution.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: The technical highlights of the intelligent moxibustion head are: a moxibustion component including a moxibustion stick with controllable feeding; the moxibustion component includes an outer cylinder, a motor reducer limited on one side of the outer cylinder, a driving gear arranged at the output end of the motor reducer, a driven gear meshing with the driving gear, an inner cylinder limited on the driven gear, and a pin seat for fixing the moxibustion stick limited in the inner cylinder by a spring.

[0005] In order to realize the dust scraping function during the feeding process of the moxibustion stick, a dust scraping plate is provided at the bottom limit of the inner tube.

[0006] In order to realize remote control of ignition of the moxibustion stick, an ignition fuse is provided at a position at the bottom of the outer tube corresponding to the end of the moxibustion stick.

[0007] In order to obtain reference data of the feeding depth of the moxibustion stick, the outer side limit of the outer cylinder is provided with a distance measuring component and / or a temperature measuring component and / or an image acquisition component.

[0008] In order to quickly remove the ashes of the moxibustion stick after they fall, a smoke exhaust port is provided on the outer tube. The moxibustion component is limited in a structural component including a moxibustion cabin and a guide shell with a smoke and dust channel. The smoke exhaust port corresponds to the smoke and dust channel, and the outlet end of the smoke and dust channel is directly or indirectly connected to the negative pressure system.

[0009] In order to realize the remote adjustment of the rotation angle of the moxibustion strip assembly on the horizontal axis and the vertical axis, the structural assembly also includes a horizontal rotating servo and a vertical rotating servo. The guide shell is limited on the output end of the horizontal rotating servo, and the moxibustion cabin is arranged on the output end of the vertical rotating servo.

[0010] Advantages of the present invention: In terms of the overall technical solution: Through an integrated design, the entire process of moxibustion therapy is comprehensively addressed, and multiple functions such as automatic ignition of moxa sticks, automatic feeding of moxa sticks, automatic ash removal, automatic smoke exhaust, automatic firepower adjustment, automatic distance measurement, automatic infrared temperature measurement, automatic angle adjustment, visual auxiliary positioning, and automatic distance detection are perfectly achieved. Combining intelligent software control algorithms such as multi-axis numerical control systems, visual auxiliary positioning, and visual tracking, the whole machine can automatically generate a planned path through visual scanning. The user-friendly computer operation interface allows for arbitrarily setting the moxibustion time, moxibustion actions, temperature settings, etc. for each moxibustion acupoint. The moxibustion actions can achieve various moxibustion techniques such as pecking moxibustion, rotating moxibustion, and linear reciprocating moxibustion. After the settings are completed, intelligent treatment operations are fully realized, and no manual participation is required throughout the process. It is a Chinese medicine moxibustion device with a relatively high degree of automation.

[0011] Automatic ignition: Using a resistance heating element or a high-voltage arc ignition device, the electronic control instantly ignites the moxa stick to achieve automatic ignition.

[0012] Automatic feeding: To ensure that as the moxa stick burns and shortens, the burning point changes, automatic feeding is to continuously push the burning and shortening moxa stick forward so that the position of the burning point remains unchanged. Automatic feeding is achieved by using a compression spring provided in the inner cylinder of the combustion chamber to provide thrust.

[0013] Automatic ash removal: As the moxa stick burns, ashes are continuously generated. These ashes do not fall off automatically. Excessively long ashes will block the infrared radiation effect. After the ashes accumulate and fall off, if not promptly processed, they will fall on the human skin. Therefore, these ashes need to be promptly processed. Since the ashes of the moxa stick are very light, an arc-shaped ash scraping plate is provided at the front end of the inner cylinder of the combustion chamber. The inner cylinder of the combustion chamber can rotate, and the large gear at the end meshes with the small gear on the output shaft of the micro DC reduction motor. When the reduction motor rotates, it drives the inner cylinder to rotate. The moxa stick is placed in the inner cylinder. As the inner cylinder rotates, the burning position of the moxa stick will rotate along the ash scraping plate to scrape off the ashes, and the ashes are quickly sucked away by a high-vacuum negative pressure system.

[0014] Automatic smoke exhaust: When the moxa stick burns, a relatively large amount of smoke is generated, which will pollute the environment. Automatic smoke exhaust is to use low-vacuum negative pressure to exhaust through the smoke exhaust channel and perform purification treatment.

[0015] Automatic firepower adjustment: Automatic firepower adjustment, automatic ash removal and automatic smoke exhaust are a set of vacuum negative pressure systems, but they work in different pressure ranges. When the vacuum negative pressure system works in the low pressure range, it is a smoke exhaust process, which slowly sucks away the smoke and dust. When the vacuum negative pressure system works in the high pressure range, it is a dust and ash removal process. At this time, the suction force is relatively large, and the ashes are quickly discharged. The ash removal process is intermittent. During ash discharge, the micro-reduction motor rotates at the same time, and the ashes are forced to be scraped off and immediately sucked away. The vacuum negative pressure system can adjust the air intake volume by slightly adjusting the pressure, thereby adjusting the burning state of the moxa stick and realizing the adjustment of firepower.

[0016] Automatic distance measurement: To prevent the moxibustion head from touching the human skin during moxibustion and to adjust the moxibustion temperature by changing the distance between the moxibustion head and the skin, a laser distance sensor is installed in the equipment compartment of the automatic moxibustion head to monitor the distance between the moxibustion head and the skin in real time. A laser distance sensor is installed in the automatic moxibustion head to monitor the distance between the moxibustion head and the human skin in real time. When the distance is lower than the threshold, the robot arm and / or the two-axis drive motor of the moxibustion head are adjusted.

[0017] Automatic infrared temperature measurement: The equipment cabin is equipped with an infrared temperature sensor to monitor the surface temperature of the skin at the moxibustion point in real time, realizing the automatic temperature measurement function to avoid burns. The automatic moxibustion head has a built-in infrared temperature sensor to monitor the surface temperature of the skin at the moxibustion site in real time.

[0018] Automatic angle adjustment: The pan / tilt angle can be changed through two servos. The horizontal rotation servo can rotate the moxa head 90° horizontally, and the vertical rotation servo can adjust the moxa head in multiple directions of ±90° in the vertical direction.

[0019] Auxiliary positioning: The camera in the equipment cabin recognizes the special marks of the moxibustion points or human features to achieve auxiliary positioning, tracking and other functions.

[0020] Multi-axis robotic arm CNC system: It consists of a four-axis linkage spatial motion robotic arm. The first axis is a linear slide controlled by a stepper motor, the second axis is a turntable rotation controlled by a stepper motor, the third axis is a large arm controlled by a stepper motor, and the fourth axis is a small arm controlled by a stepper motor. It uses a multi-axis motion control algorithm to achieve spatial position motion control.

[0021] Angle adjustment of moxibustion head: Two control servos are used inside the automatic moxibustion head to realize the horizontal and vertical rotation of the moxibustion head respectively, and cooperate with the robotic arm to form a 4+2 motion control combination to meet the different needs of spatial movement.

[0022] In summary, the intelligent moxibustion head of the present invention can cooperate with a CNC robotic arm or a robotic arm to realize a multifunctional moxibustion device with full automatic control. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the isometric side view of the moxibustion head of the present invention.

[0024] Figure 2 This is the schematic cross-sectional structure diagram I of the moxibustion head of the present invention.

[0025] Figure 3 This is the schematic cross-sectional structure diagram II of the moxibustion head of the present invention.

[0026] Figure 4 This is the schematic diagram of the states of the moxibustion head of the present invention in the vertical and horizontal positions.

[0027] Figure 5 This is the schematic bottom view structure diagram of the present invention.

[0028] Figure 6 This is the isometric side view structure diagram of the moxibustion bed of the present invention.

[0029] Figure 7 This is the front view structure diagram of the moxibustion bed of the present invention.

[0030] Figure 8 This is the top view structure diagram of the moxibustion bed of the present invention.

[0031] Figure 9 This is the schematic diagram of the switching process between different usage states of the moxibustion bed of the present invention. Detailed Description of the Preferred Embodiments

[0032] The following is combined with Figures 1 to 9 , and the content of the present invention is described in detail through specific embodiments.

[0033] Embodiment 1

[0034] This embodiment is the most preferred technical solution of the present invention. The intelligent moxibustion head includes a structural component 1 and a moxibustion component 2 limited within the structural component 1.

[0035] The structural component 1 includes a top servo housing 11 arranged from top to bottom, a moxibustion chamber 12 and a guiding housing 13 that cooperate with each other, a side servo housing 15 arranged on the guiding housing 13, and an equipment compartment 14. Among them, the guiding housing 13 is mainly composed of three parts, namely an upper housing (not marked in the figure) that cooperates with the top servo housing 11, and a pair of side housings arranged oppositely for setting a soot passage 132 and a cable passage 131 respectively. The end of the soot passage 132 finally leads to a soot outlet hole 112 of the top servo housing 11 and is connected to a negative pressure system (not shown in the figure); a horizontal rotation servo 113 is limited in the top servo housing 11 to provide a Y-axis torque, and the upper housing of the guiding housing 13 is installed on its output end; a vertical rotation servo 151 is limited and installed in the side servo housing 15 to provide an X-axis torque; the moxibustion chamber 12 has a spherical-like structure, one side of the moxibustion chamber 12 is hinged and cooperated with the side housing of the guiding housing 13 with the soot passage 132, and the other side of the moxibustion chamber 12 is installed on the output end of the vertical rotation servo 151. As Figure 4 shown, the free rotation of the moxibustion chamber 12 on the X-axis and Y-axis can be realized through the above structure. At the same time, to facilitate the wiring requirements of the control cables, a cable passage 131 is arranged in another side housing of the guiding housing 13. The cable passage 131 leads to the top servo housing 11 and is finally connected to a control terminal through a cable outlet hole 111. The control cables of the horizontal rotation servo 113 (not shown in the figure), the control cables of the vertical rotation servo 151 (not shown in the figure), and the control cables of each sensor or integrated circuit board in the equipment compartment 14 (not shown in the figure) are all led out to the cable outlet hole 111 through the cable passage 131. This setting method effectively avoids the interference with the soot passage 132, and the control cables will not be knotted due to the two-dimensional rotation of the moxibustion chamber 12.

[0036] The moxibustion component 2 includes an outer cylinder 21, a motor reducer 23 limited to one side of the outer cylinder 21, a driving gear 24 arranged at the output end of the motor reducer 23, a driven gear 25 meshing with the driving gear 24, an inner cylinder 22 limited to the driven gear 25, a bushing 26 fixed on the outer cylinder 21 for cooperating with the inner cylinder 22, a scraper 225 fixed at the end of the outer cylinder 21, and a needle socket 223 for fixing the moxa stick 224 limited in the inner cylinder 22 through a spring 222. The moxa stick 224 is elastically limited between the needle socket 223 and the scraper 225. The end of the outer cylinder 21 is sealed by a lens hood 141, and a crystal lens group 146 is arranged on the lens hood 141. After the moxa stick 224 is exhausted, it can be replaced by removing the lens hood 141, which is convenient and fast. Preferably, a horn-shaped perforated reflector 221 is arranged at the bottom of the outer cylinder 21, which improves the treatment effect while not affecting the removal of soot. Preferably, in order to realize remote control of igniting the moxa stick 224, an ignition lead 148 is led out from the equipment cabin 14 into the outer cylinder 21, and the end of the lead just corresponds to the end of the moxa stick 224, so that the moxa stick 224 can be ignited by resistance heating under remote control.

[0037] During use, the motor reducer 23 drives the driving gear 24 and the driven gear 25 to rotate, thereby driving the inner cylinder 22 to rotate. The moxa stick 224 is always abutted against the inner side of the scraper 225 under the elastic force of the spring 222. During the rotation of the inner cylinder 22, the moxa stick 224 always rotates relative to the scraper 225. The ash scraping plate 225 scrapes off the burned part at the front end of the moxa stick 224, and it is instantaneously removed by the negative pressure system.

[0038] To cooperate with the control terminal (not shown in the figure) to achieve automatic control, a ranging component or / and a temperature measuring component or / and an image acquisition component for feedback real-time data are arranged in the equipment cabin 14. For example, a laser ranging sensor 143, an infrared temperature measuring sensor 144, and a camera 145 commonly used in the prior art, and a transparent window 142 is correspondingly arranged for the camera 145. To improve the image acquisition effect, an LED is arranged in cooperation. Among them, the camera 145 combines the image recognition function to realize the auxiliary positioning of the whole device.

[0039] Embodiment 2

[0040] This embodiment is a specific application example of the moxibustion head. On the basis of the technical solution of the moxibustion head in Embodiment 1, it is combined with the robotic arm component 3 and the bed body component 4 to obtain an overall technical solution, which can be directly used for medical purposes. Among them, the moxibustion head A is hinged to the end of the robotic arm component 3 through a driving motor.

[0041] The robotic arm assembly 3 includes an electrical control cabinet 38, a linear slide 36 limited to the side of the bed assembly 4, a robotic arm bracket 35 slidably limited on the linear slide 36 driven by a slide motor 37, a turntable 33 rotatably limited on the robotic arm bracket 35 by a turntable motor 34, a large arm 32 articulated on the turntable 33 driven by a large arm drive motor 321, and a small arm 31 articulated on the large arm 32 by a small arm 31 drive motor 311. The bed assembly 4 includes a bed base 42 and a mattress 41 with adjustable height driven by a four-bar linkage mechanism.

[0042] The robotic arm assembly 3 can linearly slide along the bed assembly 4, and the moxibustion head A can achieve universal infinite adjustment under the drive of the robotic arm assembly 3 and its own structure; a camera 145 is provided on the moxibustion head A, and the target point 5 or human body signs located on the patient are scanned through the camera 145, and the required coordinates are identified and recorded.

[0043] For the technical solution of image recognition, it is preferably implemented by marking the target point 5 at the affected area. The specific target pattern is recognized through the camera 145, and the interference of other patterns is completely excluded to obtain the unique spatial coordinates. Further, the machine learning method can also be used, and the body sign images of the human body in various lying postures are used as the meta-image data to train the automatic positioning function of the robotic arm.

[0044] For the spatial coordinates, one solution can adopt a plane coordinate system, that is Figure 8 the XY coordinate plane in, and combined with the infrared temperature sensor and laser range finder located in the moxibustion head, the depth (Z direction) adjustment of the moxibustion head is realized. For example, when the robotic arm is in the reset state, the plane where the end of the moxibustion head is located is used as the Z0 plane, and then the moxibustion head is translated downward along the Z direction until the feedback data is obtained.

[0045] Another solution can adopt the XYZ coordinate system (figure omitted). By calculating the ratio of the radius of the outer contour of the target point to the contour radius in the standard state, the corresponding Z-direction coordinate can be obtained. However, since the human body surface is not a standard plane, there is still a large error in identifying the Z-direction coordinate, and finally the actual depth still needs to be obtained by means of an infrared temperature sensor and a laser range finder. Therefore, the preliminarily calculated Z-direction coordinate is usually used as auxiliary data to adjust the robotic arm.

[0046] Embodiment 3

[0047] This embodiment provides a feeding device for moxa sticks, which specifically includes an outer cylinder 21, a motor reducer 23 limited to one side of the outer cylinder 21, a driving gear 24 arranged at the output end of the motor reducer 23, a driven gear 25 meshing with the driving gear 24, an inner cylinder 22 limited on the driven gear 25, and a needle holder 223 for fixing the moxa stick 224 limited in the inner cylinder 22 by a spring 222.

[0048] Example 4

[0049] Based on Example 2, in order to scrape off the burning ash during the feeding process of the moxibustion stick, a dust scraping plate 225 is limited at the bottom of the inner cylinder 22.

[0050] Example 5

[0051] Based on Example 2, in order to realize the remote control during the ignition process of the moxibustion stick, a ignition lead 148 is provided at the position corresponding to the end of the moxibustion stick 224 at the bottom of the outer cylinder 21.

[0052] Example 6

[0053] Based on Example 2, in order to cooperate with the information feedback of the control terminal and thus more precisely control the position and feeding depth of the moxibustion stick, a ranging component or / and a temperature measuring component or / and an image acquisition component is / are limited on the outer side of the outer cylinder 21.

[0054] Example 7

[0055] Based on Examples 2 to 6, in order to quickly remove the burning ash of the moxibustion stick, a smoke exhaust port is provided on the outer cylinder 21, the moxibustion component 2 is limited in the structural component 1 including the moxibustion cabin 12 and the guiding shell 13 with a smoke channel 132, the smoke exhaust port corresponds to the smoke channel 132, and the outlet end of the smoke channel 132 is directly or indirectly connected to a negative pressure system.

[0056] Example 8

[0057] Based on Examples 2 to 7, in order to control the moxibustion component in multiple dimensions to cooperate with the robotic arm to align with the corresponding acupoints on the human body, a horizontal rotation servo 113 and a vertical rotation servo 151 are further adopted. The guiding shell 13 is limited on the output end of the horizontal rotation servo 113, and the moxibustion cabin 12 is arranged on the output end of the vertical rotation servo 151.

[0058] Explanation of reference numerals:

[0059] A Moxibustion head

[0060] 1 Structural component

[0061] 11 Top servo housing, 111 Cable lead-out hole, 112 Smoke lead-out hole, 113 Horizontal rotation servo, 12 Moxibustion cabin, 13 Guiding shell, 131 Cable channel, 132 Smoke channel, 14 Equipment cabin, 141 Lens hood, 142 Transparent window, 143 Laser ranging sensor, 144 Infrared temperature sensor, 145 Camera, 146 Crystal lens group, 147 LED, 148 Ignition lead, 15 Side servo housing, 151 Vertical rotation servo

[0062] 2 Moxibustion component

[0063] 21 Outer cylinder, 22 Inner cylinder, 221 Perforated reflector, 222 Spring, 223 Pin socket, 224 Moxibustion stick, 225 Ash scraping plate, 23 Motor reducer, 24 Driving gear, 25 Driven gear, 26 Bush

[0064] 3 Robotic arm assembly

[0065] 31 Forearm, 311 Forearm drive motor, 32 Upper arm, 321 Upper arm drive motor, 33 Turntable, 34 Turntable motor, 35 Robotic arm bracket, 36 Linear slide, 37 Slide motor, 38 Electrical control cabinet

[0066] 4 Bed assembly

[0067] 41 Mattress, 42 Bed base, 43 Lifting and adjusting arm

[0068] 5 Target point.

Claims

1. An intelligent moxibustion head, characterized in that: A moxibustion assembly (2) comprising a structural assembly (1) and a moxibustion strip (224) with controllable feeding; The structural assembly (1) comprises a top steering gear housing (11) arranged in sequence from top to bottom, a moxibustion cabin (12) and a guide housing (13) which cooperate with each other, a side steering gear housing (15) arranged on the guide housing (13), and an equipment cabin (14); the guide housing (13) is mainly composed of three parts, namely an upper housing which cooperates with the top steering gear housing (11), a pair of side housings which are respectively used to set a smoke channel (132) and a cable channel (131) and are arranged opposite to each other, and the end of the smoke channel (132) finally leads to a smoke outlet hole of the top steering gear housing (11). (112), and is connected to the negative pressure system; a horizontal rotating steering gear (113) is limited in the top steering gear housing (11) for providing Y-axis torque, and the upper housing of the guide housing (13) is installed on its output end; a vertical rotating steering gear (151) is limited in the side steering gear housing (15) for providing X-axis torque; the moxibustion cabin (12) is a spherical structure, one side of the moxibustion cabin (12) is hingedly matched with the side housing of the guide housing (13) with a smoke and dust channel (132), and the other side of the moxibustion cabin (12) is installed on the output end of the vertical rotating steering gear (151); A cable channel (131) is arranged in another side housing of the guide housing (13), the cable channel (131) leads to the top steering gear housing (11), and is finally connected to the control terminal through the cable lead-out hole (111), and the control cables of the horizontal rotation steering gear (113), the control cables of the vertical rotation steering gear (151), and the control cables of each sensor or integrated circuit board in the equipment cabin (14) are all led out to the cable lead-out hole (111) through the cable channel (131); The moxibustion assembly (2) comprises an outer cylinder (21), a motor reducer (23) limited at one side of the outer cylinder (21), a driving gear (24) arranged at the output end of the motor reducer (23), a driven gear (25) meshing with the driving gear (24), an inner cylinder (22) limited on the driven gear (25), and a pin holder (223) for fixing a moxibustion stick (224) and limited in the inner cylinder (22) by a spring (222); The bottom of the inner cylinder (22) is limited by a scraper plate (225); An ignition fuse (148) is provided at a position on the bottom of the outer tube (21) corresponding to the end of the moxibustion stick (224); The outer side of the outer cylinder (21) is limited by a distance measuring component and / or a temperature measuring component and / or an image acquisition component; The outer cylinder (21) is provided with a smoke exhaust port, the moxibustion assembly (2) is limited in a structural assembly (1) including a moxibustion cabin (12) and a guide shell (13) with a smoke channel (132), the smoke exhaust port corresponds to the smoke channel (132), and the outlet end of the smoke channel (132) is directly or indirectly connected to the negative pressure system.

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