A smart home moxibustion robot

Abstract

The present invention discloses an intelligent household moxibustion robot, which is mainly composed of a base, an intelligent mechanical arm, a moxibustion operation execution mechanism, a moxibustion auxiliary box feeding mechanism, a moxibustion auxiliary box, a controller and a smoke exhaust system, wherein the base is used for overall support, the moxibustion operation execution mechanism is connected to the intelligent mechanical arm, and is used for clamping, rotating and other operations of moxibustion sticks, the moxibustion auxiliary box feeding mechanism is connected to the intelligent mechanical arm and the moxibustion auxiliary box, and under the drive of the moxibustion auxiliary box feeding mechanism, the moxibustion auxiliary box can adjust its position and cooperate with the moxibustion operation execution mechanism to complete operations such as moxibustion and ash shaving, and the controller collects signals from the intelligent mechanical arm, a distance sensor and a visual sensor, and controls the intelligent mechanical arm to cooperate with the moxibustion auxiliary box to maintain consistency with the traditional hand-held moxibustion process, reproduce the characteristics of traditional Chinese medicine moxa stick moxibustion, and well solve the problem that the existing robot solution cannot retain the characteristics of traditional Chinese medicine moxa stick moxibustion.

Description

Technical Field

[0001] The present invention relates to the technical field of medical robots, and in particular to an intelligent household moxibustion robot. Background Art

[0002] Moxibustion with moxa sticks involves igniting moxa sticks and fumigating them over the area to be moxibustioned (acupoints). Moxibustion with moxa sticks is generally divided into two types: handheld moxibustion and moxibustion with a moxibustion device. Handheld moxibustion is performed by traditional Chinese medicine practitioners and includes traditional moxibustion techniques such as circular moxibustion, reciprocating moxibustion, pecking moxibustion, and fixed-position moxibustion. Moxibustion with a moxibustion device primarily utilizes a moxibustion box. During moxibustion, the warm moxibustion box is placed on a flat surface to be moxibustioned. The lit moxa roll is aligned with the acupoint, placed on a wire mesh, and the box lid is closed. The degree of opening of the moxa box lid can be adjusted according to the temperature. Each moxibustion session lasts 15-30 minutes.

[0003] Traditional handheld moxa stick moxibustion has many functions such as strengthening the body, prolonging life, improving the body's immune function, enhancing disease resistance, reducing the occurrence of diseases, etc. It is becoming more and more popular, especially among middle-aged and elderly people who come to traditional Chinese medicine hospitals for artificial moxibustion. There are problems such as patients queuing, tight appointments and insufficient medical resources. How can middle-aged and elderly people be able to perform moxibustion at home?

[0004] People have considered using robots, for example: Chinese patent CN20171138364, a binocular visual acupoint locator and its working method; Chinese patent CN201910482961, a moxibustion intelligent collaborative robot and its operation method; Chinese patent CN201910951488, a moxibustion robot and Chinese patent CN201911195810, a five-degree-of-freedom hybrid moxibustion robot, all disclose the structure of the moxibustion robot, but the robotic means adopted have changed the traditional handheld moxa stick moxibustion process, using moxibustion powder and moxibustion blocks to replace moxibustion sticks, and no longer has the characteristics of traditional Chinese medicine manual handheld moxibustion of preheating, expanding points, reciprocating, and rotating moxibustion sticks.

[0005] Therefore, how to develop a new type of intelligent home moxibustion robot to truly restore the process of hand-held moxibustion and ensure the effectiveness of moxibustion has become an urgent problem to be solved. Summary of the Invention

[0006] In view of this, the present invention provides an intelligent household moxibustion robot to truly and highly restore the process of handheld moxibustion and ensure the moxibustion effect.

[0007] The technical solution provided by the present invention is specifically, an intelligent household moxibustion robot, which includes: a base, an intelligent mechanical arm, a moxibustion operation execution mechanism, a moxibustion auxiliary box feeding mechanism, a moxibustion auxiliary box, a controller and a smoke exhaust system;

[0008] The base is used for overall support of the moxibustion robot;

[0009] The intelligent robotic arm has a fixed end and a free end, and the fixed end of the intelligent robotic arm is fixedly connected to the base;

[0010] The moxibustion operation execution mechanism includes: a moxibustion stick feeding slide mechanism, an angle adjustment motor, a moxa stick clamping device, a distance sensor and a visual sensor;

[0011] The angle adjustment motor is connected to the free end of the intelligent robotic arm;

[0012] The moxibustion stick feeding slide mechanism is rotatably connected to the free end of the intelligent robotic arm, and the moxibustion stick feeding slide mechanism is drivingly connected to the output shaft of the angle adjustment motor. Under the drive of the angle adjustment motor, the moxibustion stick feeding slide mechanism can adjust the angle relative to the intelligent robotic arm;

[0013] The moxa stick clamping device is connected to the moxa stick feeding slide mechanism and is used to clamp the moxa stick, and the moxa stick clamping device can move up and down relative to the moxa stick feeding slide mechanism;

[0014] The distance sensor is used to detect the distance between the moxa stick clamping device and the patient;

[0015] The visual sensor is used to detect the position of the ignited end of the moxa stick clamped by the moxa stick clamping device relative to the patient;

[0016] The moxibustion auxiliary box feeding mechanism is located on one side of the moxibustion operation execution mechanism and is fixedly connected to the free end of the intelligent robotic arm;

[0017] The moxibustion auxiliary box is connected to the moxibustion auxiliary box feeding mechanism, and the moxibustion auxiliary box can rotate and move up and down relative to the moxibustion auxiliary box feeding mechanism. The moxibustion auxiliary box includes: a shell, two sliding covers, a cover driving device and an ash cutting blade;

[0018] The upper end of the shell is open, and the bottom surface of the lower end is a scalding prevention net;

[0019] The two sliding covers are respectively slidably buckled on the upper end opening of the shell;

[0020] The cover driving device is arranged in the housing and is drivingly connected to the two sliding covers respectively;

[0021] The ash scraping blade is arranged in the housing and fixedly connected to the inner wall of the housing;

[0022] The smoke exhaust system includes: a front smoke exhaust pipe, a filter, a rear smoke exhaust pipe and a suction power box;

[0023] The smoke inlet end of the front smoke exhaust pipe is connected to the smoke exhaust port on the shell;

[0024] The smoke inlet end of the filter is connected to the smoke outlet end of the front smoke exhaust pipe;

[0025] The smoke inlet end of the rear smoke exhaust pipe is connected to the smoke outlet end of the filter;

[0026] The smoke inlet end of the suction power box is connected to the smoke outlet end of the rear end smoke exhaust pipe;

[0027] The input end of the controller is respectively connected to the output end of the intelligent robotic arm, the output end of the distance sensor and the output end of the visual sensor, and the output end of the controller is respectively connected to the control end of the intelligent robotic arm, the control end of the moxibustion operation execution mechanism and the control end of the moxibustion auxiliary box feeding mechanism, the control end of the capping drive device and the control end of the suction power box.

[0028] Preferably, the moxibustion operation execution mechanism further includes: an infrared temperature sensor;

[0029] The infrared temperature sensor is used to detect the surface skin temperature of the patient at the moxibustion site;

[0030] The output end of the infrared temperature sensor is connected to the input end of the controller.

[0031] Further preferably, the moxibustion stick feeding slide mechanism comprises: a first feeding slide base, a first feeding screw, a first feeding drive motor and two first feeding guide rods;

[0032] A first positioning plate and a second positioning plate extending vertically outward are respectively provided at both ends of the first feed slide base, and a first mounting hole is provided on the first positioning plate, and a limiting groove is provided on the second positioning plate, and the position of the limiting groove is opposite to the position of the first mounting hole;

[0033] The two ends of the first feed screw are rotatably arranged in the first mounting hole of the first positioning plate and the limiting groove of the second positioning plate respectively;

[0034] The two first feed guide rods are respectively located on both sides of the first feed screw, and both ends of each first feed guide rod are respectively fixedly connected to the first positioning plate and the second positioning plate;

[0035] The first feed drive motor is fixedly connected to the first positioning plate, and the output shaft of the first feed drive motor is drivingly connected to the first feed screw.

[0036] Further preferably, the moxa stick clamping device comprises: a base, a connecting block, a moxa stick socket and a first rotating motor;

[0037] The base includes: a stator, a bearing and a rotor;

[0038] A mounting cavity is provided inside the stator;

[0039] The outer sleeve of the bearing is fixedly connected to the inner wall of the mounting cavity of the stator;

[0040] The outer wall of the rotor is fixedly connected to the inner sleeve of the bearing;

[0041] A screw hole is provided in the middle of the connecting block, and mounting holes are provided on both sides of the screw hole. The connecting block is threadedly sleeved on the outside of the first feed screw in the moxibustion stick feeding slide mechanism through the screw hole. The connecting block is slidably sleeved on the outside of the two first feed guide rods through the two mounting holes, and the side wall of the connecting block is fixedly connected to the stator in the base;

[0042] The moxa stick socket is located in the base and is drivingly connected to the rotor;

[0043] The output end of the first rotating motor is drivingly connected to the rotor in the base.

[0044] Further preferably, the moxibustion auxiliary box feeding mechanism includes: a second feeding slide base, a second feeding screw, a second feeding drive motor, two second feeding guide rods, a rotating support, a rotating bracket and a second rotating motor;

[0045] A third positioning plate and a fourth positioning plate extending vertically outward are respectively provided at both ends of the second feed slide base, a mounting hole is provided on the third positioning plate, and a limiting groove is provided on the fourth positioning plate, and the position of the limiting groove is opposite to the position of the mounting hole;

[0046] The two ends of the second feed screw are rotatably arranged in the mounting hole of the third positioning plate and the limiting groove of the fourth positioning plate respectively;

[0047] The second feed drive motor is fixedly connected to the third positioning plate, and the output shaft of the second feed drive motor is drivingly connected to the second feed screw;

[0048] The two second feed guide rods are respectively located on both sides of the second feed screw, and both ends of each second feed guide rod are respectively fixedly connected to the third positioning plate and the fourth positioning plate;

[0049] The upper end of the rotating support is open, and a mounting cavity is provided inside. A connecting block is provided on one side of the rotating support. A screw hole is provided on the connecting block and passes through the upper and lower ends. Through holes are provided on both sides of the screw hole and pass through the upper and lower ends. The rotating support is threadedly mounted on the outside of the second feed screw through the screw hole on the connecting block, and the through holes on both sides are slidably mounted on the outside of the adjacent second feed guide rod.

[0050] One end of the rotating bracket is nested and installed in the mounting cavity of the rotating support through a bearing, and the other end of the rotating bracket is fixedly connected to the shell of the moxibustion auxiliary box;

[0051] The second rotating motor is fixedly connected to the rotating support, and the output shaft of the second rotating motor is drivingly connected to the rotating bracket.

[0052] Further preferably, the capping drive device comprises: a capping drive motor, a driving gear, a driven gear, a reverse gear and a transmission belt;

[0053] The capping drive motor is fixedly connected to the inner wall of the housing;

[0054] The driving gear is fixedly sleeved on the outside of the output shaft of the cover driving motor and is engaged with one of the sliding cover driving gears;

[0055] The driven gear is drivingly engaged with the reverse gear, and the reverse gear is simultaneously drivingly engaged with the other sliding cover;

[0056] The transmission belt transmits and connects the driving gear and the driven gear;

[0057] The control end of the capping drive motor is connected to the output end of the controller.

[0058] Further preferably, the moxibustion auxiliary box further comprises: an exhaust plate and an exhaust drive motor;

[0059] An exhaust port is provided on the side wall of the shell, the size of the exhaust plate is adapted to the size of the exhaust port, and the exhaust plate is slidably provided at the exhaust port;

[0060] The output shaft of the exhaust drive motor is sleeved with a drive gear, the drive gear is driven and meshed with the exhaust plate, and the control end of the exhaust drive motor is connected to the output end of the controller.

[0061] Further preferably, the intelligent robotic arm is a six-axis intelligent robotic arm.

[0062] The intelligent household moxibustion robot provided by the present invention is mainly composed of a base, an intelligent robotic arm, a moxibustion operation execution mechanism, a moxibustion auxiliary box feeding mechanism, a moxibustion auxiliary box, a controller and a smoke exhaust system, wherein the base is used for overall support, the moxibustion operation execution mechanism is connected to the intelligent robotic arm, and is used for clamping, rotating and other operations of moxibustion sticks, the moxibustion auxiliary box feeding mechanism is connected to the intelligent robotic arm, and the moxibustion auxiliary box is connected to the moxibustion auxiliary box feeding mechanism. Driven by the moxibustion auxiliary box feeding mechanism, the moxibustion auxiliary box can adjust its position and cooperate with the moxibustion operation execution mechanism to complete moxibustion and ash shaving operations, etc. The controller collects signals from the intelligent robotic arm, distance sensor and visual sensor, and then controls the intelligent robotic arm to cooperate with the moxibustion auxiliary box to maintain consistency with the traditional hand-held moxibustion process to the greatest extent, reproduce the characteristics of traditional Chinese medicine moxa stick moxibustion, and well solve the problem that the existing robot solution cannot retain the characteristics of traditional Chinese medicine moxa stick moxibustion.

[0063] The intelligent home moxibustion robot provided by this invention boasts a novel structure, comprehensive functions, and easy operation. It can replace manual moxibustion by moxibustion practitioners, freeing them from the tedious and fume-inducing labor of holding moxibustion sticks for long periods of time. This increases treatment and healthcare opportunities for patients, allowing them to perform moxibustion at home without having to wait in line at a hospital. It retains traditional characteristics, retains ancient craftsmanship, and performs at the same level as a human practitioner, making it highly valuable for future applications.

[0064] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0066] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0067] Figure 1 A schematic diagram of the structure of an intelligent household moxibustion robot provided by the embodiment of the present invention Figure 1 ;

[0068] Figure 2 A schematic diagram of the structure of a moxibustion auxiliary box in an intelligent household moxibustion robot provided by an embodiment of the present invention;

[0069] Figure 3A schematic diagram of the structure of an intelligent household moxibustion robot provided by the embodiment of the present invention Figure 2 ;

[0070] Figure 4 A schematic diagram of the structure of a moxibustion stick feeding slide mechanism in an intelligent household moxibustion robot provided by an embodiment of the present invention;

[0071] Figure 5 A schematic diagram of the structure of a moxa stick clamping device in an intelligent household moxibustion robot provided by an embodiment of the present invention;

[0072] Figure 6 A schematic diagram of the structure of a moxibustion auxiliary box feeding mechanism in an intelligent household moxibustion robot provided by an embodiment of the present invention;

[0073] Figure 7 This is an operational flowchart of an intelligent household moxibustion robot provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0074] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. In the following description, when referring to the drawings, like numbers in different figures represent like or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present invention. Rather, they are merely examples of devices consistent with certain aspects of the present invention, as detailed in the appended claims.

[0075] In order to truly restore the process of hand-held moxibustion and ensure the moxibustion effect, this embodiment provides an intelligent home moxibustion robot. Figure 1The moxibustion robot is mainly composed of a base 1, an intelligent robotic arm 2, a moxibustion operation execution mechanism 3, a moxibustion auxiliary box feeding mechanism 4, a moxibustion auxiliary box 5, a controller 6 and a smoke exhaust system 7. Among them, the base 1 is used for the overall support of the moxibustion robot, the intelligent robotic arm 2 has a fixed end and a free end, the fixed end of the intelligent robotic arm 2 is fixedly connected to the base 1, the moxibustion operation execution mechanism 3 and the moxibustion auxiliary box feeding mechanism 4 are both connected to the free end of the intelligent robotic arm 2, and the moxibustion auxiliary box 5 is connected to the moxibustion auxiliary box feeding mechanism 4, and the controller 6 is respectively connected to the intelligent robotic arm 2, The moxibustion operation execution mechanism 3 and the moxibustion auxiliary box feeding mechanism 4 are communicatively connected. The controller 6 controls the movements of the intelligent robotic arm 2, the moxibustion operation execution mechanism 3, and the moxibustion auxiliary box feeding mechanism 4, respectively, based on the input signals from the intelligent robotic arm 2 and the moxibustion operation execution mechanism 3. The intelligent robotic arm 2 can adjust the moxibustion trajectory, the moxibustion operation execution mechanism 3 is used to clamp the moxibustion stick and adjust the angle and height of the moxibustion stick within a small range, and the moxibustion auxiliary box feeding mechanism 4 is used to adjust the position of the moxibustion auxiliary box 5 to adapt it to the moxibustion operation execution mechanism 3. By controlling the intelligent robotic arm 2 and the moxibustion operation execution mechanism 3 by the controller 6, moxibustion can be performed according to different traditional ancient moxibustion operation modes, such as circular moxibustion, reciprocating moxibustion, pecking moxibustion, and positioning moxibustion.

[0076] Among them, the intelligent robotic arm 2 adopts the existing mature robotic arm technology. Since the operation and movement process of the intelligent robotic arm 2 is relatively complicated, in actual use, the intelligent robotic arm 2 adopts a six-axis robotic arm, and a corresponding control system is installed in the controller 6. The structure and control method of the intelligent robotic arm 2 adopt existing mature technology, which is commercially available and does not belong to the innovation of this solution. Therefore, the specific structure and components of the intelligent robotic arm 2 will not be described here.

[0077] See also Figure 1 The moxibustion operation execution mechanism 3 is mainly composed of a moxibustion stick feeding slide mechanism 31, an angle adjustment motor 32, a moxa stick clamping device 33, a distance sensor and a visual sensor, wherein the angle adjustment motor 32 is connected to the free end of the intelligent robotic arm 2, the moxibustion stick feeding slide mechanism 31 is rotatably connected to the free end of the intelligent robotic arm 2, and the moxibustion stick feeding slide mechanism 31 is driven by the output shaft of the angle adjustment motor 32. Under the drive of the angle adjustment motor 32, the moxibustion stick feeding slide mechanism 31 can be angle-adjusted relative to the intelligent robotic arm 2. The moxibustion stick clamping device 33 is connected to the moxibustion stick feeding slide mechanism 31 for clamping the moxibustion stick, and the moxa stick clamping device 33 can move up and down relative to the moxibustion stick feeding slide mechanism 31. The distance sensor is used to detect the distance between the moxa stick clamping device 33 and the patient, and the visual sensor is used to detect the position of the ignited end of the moxibustion stick clamped by the moxa stick clamping device 33 relative to the patient.

[0078] The output end of the distance sensor and the output end of the vision sensor are both connected to the input end of the controller 6 , and the output end of the controller 6 is respectively connected to the control end of the angle adjustment motor 32 and the control end of the first feed drive motor 313 .

[0079] When the above-mentioned moxibustion operation execution mechanism 3 is actually working, the moxa stick is clamped by the moxa stick clamping device 33, and the controller 6 controls the movement of the angle adjustment motor 32 to realize the angle control of the moxa stick clamping device 33 relative to the intelligent robotic arm 2, and then realizes the angle adjustment of the moxa stick relative to the patient as needed. The controller 6 controls the moxa stick feed slide mechanism 31 to realize the feed distance adjustment of the moxa stick clamping device 33 relative to the moxa stick feed slide mechanism 31, thereby ensuring that during the moxibustion burning process, the ignition end of the moxibustion stick always maintains the required distance from the human body, thereby ensuring the moxibustion effect. Among them, since the length of each moxa stick is fixed, the controller 6 will calculate the distance between the moxa stick clamping device 33 and the patient according to medical requirements, and detect whether the moxa stick clamping device 33 is at the specified position through the distance sensor. If not, the controller 6 controls the moxa stick feeding slide mechanism 31 to feed or retract until the moxa stick clamping device 33 is at the specified distance point. When the moxa stick is ignited, the controller 6 controls the moxa stick feeding slide mechanism 31 to feed according to the moxa stick burning speed calculated in advance based on experience to ensure that the distance between the ignition end of the moxa stick and the patient is within the range of medical requirements. The visual sensor can capture images of the moxa stick and the patient's acupuncture points, and the captured images are transmitted back to the controller 6. The controller 6 can further control and adjust the received images.

[0080] In actual use, in order to achieve the purpose of speed change, a reducer can be connected to the output shaft of the angle adjustment motor 32 to adjust the motor output speed. At this time, the moxibustion stick feeding slide mechanism 31 is drive-connected to the output shaft of the reducer.

[0081] See also Figure 1 The moxibustion auxiliary box feeding mechanism 4 is located on one side of the moxibustion operation execution mechanism 3 and is fixedly connected to the free end of the intelligent robotic arm 2. The moxibustion auxiliary box 5 is connected to the moxibustion auxiliary box feeding mechanism 4, and the moxibustion auxiliary box 5 can rotate and move up and down relative to the moxibustion auxiliary box feeding mechanism 4.

[0082] See also Figure 2The moxibustion auxiliary box 5 is mainly composed of a shell 51, two sliding covers 52, a cover driving device 53 and an ash-shaving blade 54, wherein the upper end of the shell 51 is open, and the bottom surface of the lower end is an anti-scalding net. The two sliding covers 52 are respectively slidably buckled on the upper open end of the shell 51, the cover driving device 53 is arranged in the shell 51, and is respectively driven and connected to the two sliding covers 52, the ash-shaving blade 54 is arranged in the shell 51, and is fixedly connected to the inner wall of the shell 51, and the output end of the controller 6 is connected to the control end of the cover driving device 53.

[0083] The specific working principle of the above-mentioned moxibustion auxiliary box 5 is as follows: the controller 6 controls the cover driving device 53 to move, thereby driving the two sliding covers 52 to move toward or in the opposite direction, thereby closing / opening the upper end opening of the housing 51. When the moxibustion robot is in operation, the moxa stick clamped by the moxa stick clamping device 33 is located in the moxibustion auxiliary box 5. By designing the housing as an anti-scalding net, on the one hand, the smoke from the moxibustion burning can act on the human skin to achieve the purpose of moxibustion, and on the other hand, it can catch the fallen moxa ash to prevent burns to the human body. The ash-cutting blade 54 in the housing 51 is mainly used for cutting ash. During the ash-cutting operation, the position of the ash-cutting blade 54 is fixed and unchanged, and the purpose of cutting ash is achieved mainly by the up and down movement and rotation of the moxa stick clamping device 33.

[0084] See also Figure 3 The smoke exhaust system 7 is mainly composed of a front-end smoke exhaust pipe 71, a filter 72, a rear-end smoke exhaust pipe 73 and a suction power box 74, wherein the smoke inlet end of the front-end smoke exhaust pipe 71 is connected to the smoke exhaust port on the shell 51, the smoke inlet end of the filter 72 is connected to the smoke outlet end of the front-end smoke exhaust pipe 71, the smoke inlet end of the rear-end smoke exhaust pipe 73 is connected to the smoke outlet end of the filter 72, the smoke inlet end of the suction power box 74 is connected to the smoke outlet end of the rear-end smoke exhaust pipe 73, and the control end of the suction power box 74 is connected to the output end of the controller 6.

[0085] The smoke exhaust system 7 is mainly used for exhausting smoke and ash from the moxibustion auxiliary box 5. When the smoke exhaust system 7 is working, the controller 6 controls the suction power box 74 to start. After starting, the suction power box 74 sucks air to the outside. At this time, the ash from the burning moxibustion stick will be discharged from the smoke exhaust port on the shell 51, pass through the front smoke exhaust pipe 71, enter the filter 72 for filtration, then enter the rear smoke exhaust pipe 73, and finally enter the suction power box 74, completing the ash exhaust process. The suction power box 74 can be composed of a collection box and a suction power vacuum pump, wherein the suction power vacuum pump is connected to the collection box and the suction power vacuum pump is located outside the collection box, and the sucked ash eventually falls into the collection box.

[0086] In order to further improve the safety of the moxibustion operation execution mechanism 3 when performing the moxibustion operation and avoid the accident of scalding the patient due to the excessive feeding of the moxibustion stick feeding slide mechanism 31, which causes the end of the ignited moxibustion stick to be too close to the end of the patient, as an improvement of the technical solution, an infrared temperature sensor can also be set in the moxibustion operation execution mechanism 3. The infrared temperature sensor is used to detect the surface skin temperature of the patient's moxibustion site, and the output end of the infrared temperature sensor is connected to the input end of the controller 6; at this time, a temperature threshold is pre-stored in the controller 6, and the infrared temperature sensor is used to detect the surface skin temperature of the patient's moxibustion site in real time. Once the detected temperature exceeds the threshold, the controller 6 will control the intelligent mechanical arm 2 to lift up and then stop to avoid accidents.

[0087] See also Figure 4 , which is a structural schematic diagram of a specific moxibustion stick feeding slide mechanism 31 provided in this embodiment, but is not limited to the structure shown in the figure. The moxibustion stick feeding slide mechanism 31 is mainly composed of a first feeding slide base 311, a first feeding screw 312, a first feeding drive motor 313 and two first feeding guide rods 314, wherein the two ends of the first feeding slide base 311 are respectively provided with a first positioning plate 3111 and a second positioning plate 3112 extending vertically outward, and a first mounting hole 31111 is provided on the first positioning plate 3111, and a limiting groove is provided on the second positioning plate 3112, and the position of the limiting groove is opposite to the position of the first mounting hole 31111, and the two ends of the first feeding screw 312 are respectively rotatably set on the first positioning plate 3 111, and the limiting groove of the first mounting hole 31111 and the second positioning plate 3112, the two first feed guide rods 314 are respectively located on both sides of the first feed screw 312, and the two ends of each first feed guide rod 314 are respectively fixedly connected to the first positioning plate 3111 and the second positioning plate 3112, the first feed drive motor 313 is fixedly connected to the first positioning plate 3111, and the output shaft of the first feed drive motor 313 is drive-connected to the first feed screw 312. In order to facilitate the connection between the first feed drive motor 313 and the first positioning plate 3111, as an improvement to the scheme, a first motor frame 315 can be designed, and the first feed drive motor 313 is fixedly connected to the first positioning plate 3111 through the first motor frame 315.

[0088] See also Figure 5, is a moxa stick clamping device 33 used in conjunction with the above-mentioned moxa stick feeding slide mechanism 31, the moxa stick clamping device 33 is mainly composed of a base 331, a connecting block 332, a moxa stick socket 333 and a first rotating motor 334, wherein the base 331 is composed of a stator 3311, a bearing 3312 and a rotor 3313, a mounting cavity is provided inside the stator 3311, the outer sleeve of the bearing 3312 is fixedly connected to the inner wall of the mounting cavity of the stator 3311, the outer wall of the rotor 3313 is fixedly connected to the inner sleeve of the bearing 3312, a screw hole is provided in the middle of the connecting block 332, and a screw hole is provided in the middle of the screw hole. Mounting holes are provided on both sides, and the connecting block 332 is threadedly mounted on the outside of the first feed screw 312 in the moxa stick feed slide mechanism 31 through the screw hole. The connecting block 332 is slidably mounted on the outside of the two first feed guide rods 314 through two mounting holes, and the side wall of the connecting block 332 is fixedly connected to the stator 3311 in the base 331. The moxa stick socket 333 is located in the base 331 and is driven and connected to the rotor 3313. The output end of the first rotating motor 334 is driven and connected to the rotor 3313 in the base 331, and the control end of the first rotating motor 334 is connected to the output end of the controller 6.

[0089] In order to facilitate the position fixation of the first rotary motor 334 , a rotary motor frame 335 may be further provided in the moxa stick clamping device 33 , and the rotary motor 434 is fixed to the base 431 via the rotary motor frame 435 .

[0090] The coordination process between the above-mentioned moxa stick feeding slide mechanism 31 and the moxa stick clamping device 33 is as follows: since the connecting block 332 in the moxa stick clamping device 33 is threadedly mounted on the outside of the first feeding screw 312 through the screw hole, and at the same time is slidably mounted on the outside of the two first feeding guide rods 314 through two through holes, when the controller 6 controls the first feeding drive motor 313 in the moxa stick feeding slide mechanism 31 to rotate, the first feeding drive motor 313 will drive the first feeding screw 312 to rotate, and the connecting block 332 can only move up and down along the first feeding screw 312 and the two first feeding guide rods 314 under the limitation of the two first feeding guide rods 314, to perform feeding and retracting actions, thereby driving the moxa stick clamping device 33 as a whole to perform feeding and retracting actions.

[0091] The structural design of the above-mentioned moxa stick clamping device 33 can not only realize the clamping of the moxa stick, but also realize the rotation of the moxa stick in the moxa stick clamping device 33. Specifically, during operation, the tail of the moxa stick B is inserted into the moxa stick socket 333 to fix the position of the moxa stick. When the moxa stick needs to be rotated, the first rotating motor 334 is controlled by the controller 6 to rotate, thereby driving the rotor 3313 in the base 331 to rotate. Since the moxa stick socket 333 is driven and connected to the rotor 3313, the moxa stick socket 333 also rotates, thereby driving the moxa stick to rotate. On the one hand, the rotation action can be different according to the different moxibustion modes. It rotates during the moxibustion process to achieve the moxibustion effect. On the other hand, when the ignited end of the moxibustion stick is shaved, the above-mentioned rotation action can cut the ash around the moxibustion stick.

[0092] See also Figure 6 The above-mentioned moxibustion auxiliary box feeding mechanism 4 is mainly composed of a second feeding slide base 41, a second feeding screw 42, a second feeding drive motor 43, two second feeding guide rods 44, a rotating support 45, a rotating bracket 46 and a second rotating motor 47. Among them, the two ends of the second feeding slide base 41 are respectively provided with a third positioning plate and a fourth positioning plate extending vertically outward, a mounting hole is provided on the third positioning plate, and a limiting slot is provided on the fourth positioning plate, and the position of the limiting slot is opposite to the position of the mounting hole, and the two ends of the second feeding screw 42 are respectively rotatably set in the mounting hole of the third positioning plate and the limiting slot of the fourth positioning plate, the second feeding drive motor 43 is fixedly connected to the third positioning plate, and in order to facilitate the fixation of the second feeding drive motor 43, it can be connected to the third fixing plate through the third motor bracket 48, and the output shaft of the second feeding drive motor 43 is drive-connected to the second feeding screw 42, and the two second feeding guide rods 44 are respectively located at the second On both sides of the feed screw 42, and both ends of each second feed guide rod 44 are fixedly connected to the third positioning plate and the fourth positioning plate respectively. The upper end of the rotating support 45 is open, and an installation cavity is provided inside. A connecting block is provided on one side of the rotating support 45, and screw holes passing through the upper and lower ends are provided on the connecting block. Through holes passing through the upper and lower ends are provided on both sides of the screw holes. The rotating support 45 is threadedly mounted on the outside of the second feed screw 42 through the screw holes on the connecting block, and the through holes on both sides are slidably mounted on the outside of the adjacent second feed guide rod 44. One end of the rotating bracket 46 is nested in the installation cavity of the rotating bracket 45 through a bearing, and the other end of the rotating bracket 46 is fixedly connected to the shell 51 of the moxibustion auxiliary box 5. The second rotating motor 47 is fixedly connected to the rotating support 45, and the output shaft of the second rotating motor 47 is drive-connected to the rotating bracket 46, wherein the control end of the second feed drive motor 43 and the control end of the second rotating motor 47 are both connected to the output end of the controller 6.

[0093] The above-mentioned moxibustion auxiliary box feeding mechanism 4 can achieve two aspects of work. On the one hand, it can drive the moxibustion auxiliary box 5 to move up and down, and on the other hand, it can drive the moxibustion auxiliary box 5 to rotate. Specifically, the up and down movement is mainly controlled by the controller 6 to control the second feed drive motor 43 to rotate, driving the second feed screw 42 to rotate, and the two feed guide rods 44 are used to limit the connection block on the rotating support 45. Since the connection block is connected to the second feed screw 42 by a thread, when the second feed screw 42 rotates, it will drive the connection block and its rotating support 45 to move up and down, thereby driving the rotating bracket 46 and the moxibustion auxiliary box 5 connected thereto to move up and down synchronously; the rotation is mainly controlled by the controller 6 to control the second rotary motor 47 to rotate, thereby driving the rotating bracket 46 to rotate relative to the rotating support 45, thereby driving the moxibustion auxiliary box 5 connected thereto to rotate synchronously.

[0094] See also Figure 2 The capping drive device 53 in the moxibustion auxiliary box 5 is mainly composed of a capping drive motor, a driving gear 532, a driven gear 533, a reverse gear 534, and a transmission belt 535. The capping drive motor is fixedly connected to the inner wall of the housing 51. The driving gear 532 is fixedly mounted on the outside of the output shaft of the capping drive motor and is driven and meshed with one sliding cap 52. The driven gear 533 is driven and meshed with the reverse gear 534, and the reverse gear 534 is also driven and meshed with the other sliding cap 52. The transmission belt 535 drives the driving gear 532 and the driven gear 533. The control end of the capping drive motor is connected to the output end of the controller 6. In conjunction with the structure of the capping drive device 53, the lower surface of the sliding cap 52 is designed as a rack structure.

[0095] The specific working principle of the above-mentioned cover drive device 53 is: the controller 6 controls the cover drive motor to rotate, drives the driving gear 532 to rotate, transmits the power through the transmission belt 535, drives the driven gear 533 to rotate, and reverses the rotation through the reverse gear 534. Under the drive of the cover drive motor, the two sliding covers 52 can move toward or in opposite directions to realize the opening / closing of the sliding cover 52.

[0096] As an improvement of the technical solution, see Figure 2 An exhaust plate 55 and an exhaust drive motor are also provided in the moxibustion auxiliary box 5, wherein an exhaust port 511 is provided on the side wall of the shell 51, the size of the exhaust plate 55 is adapted to the size of the exhaust port 511, and the exhaust plate 55 is slidably set at the exhaust port 511, and the output shaft of the exhaust drive motor is fitted with a drive gear 561, the upper edge of the exhaust plate 55 is designed as a rack structure, the drive gear 561 is driven to engage with the exhaust plate 55, and the control end of the exhaust drive motor is connected to the output end of the controller 6.

[0097] By setting an exhaust port 511 on the shell 51, the gas in the shell 51 can be discharged. When the exhaust port needs to be exhausted or closed, the controller 6 can control the exhaust drive motor to rotate, drive the exhaust plate 55 to move, and open / close the exhaust port.

[0098] See also Figure 7 This is the operating process of an intelligent household moxibustion robot, which is mainly used to assist in explaining a method of using the intelligent household moxibustion robot.

[0099] Other embodiments of the present invention will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the invention being indicated by the following claims.

[0100] It should be understood that the present invention is not limited to the above description and that various modifications and changes can be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. An intelligent household moxibustion robot, characterized in that: include: A base (1), an intelligent mechanical arm (2), a moxibustion operation execution mechanism (3), a moxibustion auxiliary box feeding mechanism (4), a moxibustion auxiliary box (5), a controller (6), and a smoke exhaust system (7); The base (1) is used for overall support of the moxibustion robot; The intelligent mechanical arm (2) has a fixed end and a free end, and the fixed end of the intelligent mechanical arm (2) is fixedly connected to the base (1); The moxibustion operation execution mechanism (3) comprises: a moxibustion stick feeding slide mechanism (31), an angle adjustment motor (32), a moxa stick clamping device (33), a distance sensor and a visual sensor; The angle adjustment motor (32) is connected to the free end of the intelligent mechanical arm (2); The moxibustion stick feeding slide mechanism (31) is rotatably connected to the free end of the intelligent mechanical arm (2), and the moxibustion stick feeding slide mechanism (31) is drivingly connected to the output shaft of the angle adjustment motor (32), and the moxibustion stick feeding slide mechanism (31) can be driven by the angle adjustment motor (32) to adjust the angle relative to the intelligent mechanical arm (2); The moxa stick clamping device (33) is connected to the moxa stick feeding slide mechanism (31) and is used to clamp the moxa stick, and the moxa stick clamping device (33) can move up and down relative to the moxa stick feeding slide mechanism (31); The distance sensor is used to detect the distance between the moxa stick clamping device (33) and the patient; The visual sensor is used to detect the position of the ignited end of the moxa stick clamped by the moxa stick clamping device (33) relative to the patient; The moxibustion auxiliary box feeding mechanism (4) is located on one side of the moxibustion operation execution mechanism (3) and is fixedly connected to the free end of the intelligent mechanical arm (2); The moxibustion auxiliary box (5) is connected to the moxibustion auxiliary box feeding mechanism (4), and the moxibustion auxiliary box (5) can rotate and move up and down relative to the moxibustion auxiliary box feeding mechanism (4). The moxibustion auxiliary box (5) comprises: a housing (51), two sliding covers (52), a cover driving device (53), and an ash-shaving blade (54); The upper end of the shell (51) is open, and the bottom surface of the lower end is a scalding prevention net; The two sliding covers (52) are respectively slidably buckled on the upper open end of the shell (51); The cover driving device (53) is arranged in the housing (51) and is drivingly connected to the two sliding covers (52) respectively; The ash scraping blade (54) is disposed in the housing (51) and is fixedly connected to the inner wall of the housing (51); The smoke exhaust system (7) comprises: a front smoke exhaust pipe (71), a filter (72), a rear smoke exhaust pipe (73), and a suction power box (74); The smoke inlet end of the front smoke exhaust pipe (71) is connected to the smoke exhaust port on the shell (51); The smoke inlet end of the filter (72) is connected to the smoke outlet end of the front smoke exhaust pipe (71); The smoke inlet end of the rear smoke exhaust pipe (73) is connected to the smoke outlet end of the filter (72); The smoke inlet end of the suction power box (74) is connected to the smoke outlet end of the rear end smoke exhaust pipe (73); The input end of the controller (6) is respectively connected to the output end of the intelligent mechanical arm (2), the output end of the distance sensor and the output end of the visual sensor, and the output end of the controller (6) is respectively connected to the control end of the intelligent mechanical arm (2), the control end of the moxibustion operation execution mechanism (3), the control end of the moxibustion auxiliary box feeding mechanism (4), the control end of the capping drive device (53) and the control end of the suction power box (74); The moxibustion stick feeding slide mechanism (31) comprises: a first feeding slide base (311), a first feeding screw (312), a first feeding drive motor (313) and two first feeding guide rods (314); A first positioning plate (3111) and a second positioning plate (3112) extending vertically outward are respectively provided at both ends of the first feed slide base (311), and a first mounting hole (31111) is provided on the first positioning plate (3111), and a limiting groove is provided on the second positioning plate (3112), and the position of the limiting groove is opposite to the position of the first mounting hole (31111); Two ends of the first feed screw (312) are rotatably disposed in a first mounting hole (31111) of the first positioning plate (3111) and a limiting groove of the second positioning plate (3112) respectively; The two first feeding guide rods (314) are respectively located on both sides of the first feeding screw (312), and both ends of each first feeding guide rod (314) are respectively fixedly connected to the first positioning plate (3111) and the second positioning plate (3112); The first feed drive motor (313) is fixedly connected to the first positioning plate (3111), and the output shaft of the first feed drive motor (313) is drivingly connected to the first feed screw (312); The moxa stick clamping device (33) comprises: a base (331), a connecting block (332), a moxa stick socket (333) and a first rotating motor (334); The base (331) comprises: a stator (3311), a bearing (3312) and a rotor (3313); A mounting cavity is provided inside the stator (3311); The outer sleeve of the bearing (3312) is fixedly connected to the inner wall of the installation cavity of the stator (3311); The outer wall of the rotor (3313) is fixedly connected to the inner sleeve of the bearing (3312); A screw hole is provided in the middle of the connecting block (332), and mounting holes are provided on both sides of the screw hole. The connecting block (332) is threadedly sleeved on the outside of the first feed screw (312) in the moxibustion stick feed slide mechanism (31) through the screw hole. The connecting block (332) is slidably sleeved on the outside of the two first feed guide rods (314) through the two mounting holes, and the side wall of the connecting block (332) is fixedly connected to the stator (3311) in the base (331); The moxa stick socket (333) is located in the base (331) and is drivingly connected to the rotor (3313); The output end of the first rotating motor (334) is drivingly connected to the rotor (3313) in the base (331); The moxibustion auxiliary box feeding mechanism (4) comprises: a second feeding slide base (41), a second feeding screw (42), a second feeding drive motor (43), two second feeding guide rods (44), a rotating support (45), a rotating bracket (46) and a second rotating motor (47); A third positioning plate and a fourth positioning plate extending vertically outward are respectively provided at two ends of the second feed slide base (41), a mounting hole is provided on the third positioning plate, and a limiting groove is provided on the fourth positioning plate, and the position of the limiting groove is opposite to the position of the mounting hole; Two ends of the second feed screw (42) are rotatably disposed in the mounting hole of the third positioning plate and the limiting groove of the fourth positioning plate respectively; The second feed drive motor (43) is fixedly connected to the third positioning plate, and the output shaft of the second feed drive motor (43) is drivingly connected to the second feed screw (42); The two second feed guide rods (44) are respectively located on both sides of the second feed screw (42), and both ends of each second feed guide rod (44) are respectively fixedly connected to the third positioning plate and the fourth positioning plate; The upper end of the rotating support (45) is open, and a mounting cavity is provided inside. A connecting block is provided on one side of the rotating support (45). A screw hole penetrating the upper and lower ends is provided on the connecting block, and through holes penetrating the upper and lower ends are provided on both sides of the screw hole. The rotating support (45) is threadedly mounted on the outside of the second feed screw (42) through the screw hole on the connecting block, and the through holes on both sides are slidably mounted on the outside of the adjacent second feed guide rod (44); One end of the rotating bracket (46) is nested and installed in the installation cavity of the rotating support (45) through a bearing, and the other end of the rotating bracket (46) is fixedly connected to the shell (51) of the moxibustion auxiliary box (5); The second rotating motor (47) is fixedly connected to the rotating support platform (45), and the output shaft of the second rotating motor (47) is drivingly connected to the rotating support (46); The capping drive device (53) comprises: a capping drive motor, a driving gear (532), a driven gear (533), a reverse gear (534), and a transmission belt (535); The capping drive motor is fixedly connected to the inner wall of the housing (51); The driving gear (532) is fixedly sleeved on the outside of the output shaft of the cover driving motor and is drivingly meshed with one of the sliding covers (52); The driven gear (533) is drivingly meshed with the reverse gear (534), and the reverse gear (534) is simultaneously drivingly meshed with the other sliding cover (52); The transmission belt (535) transmission-connects the driving gear (532) and the driven gear (533); The control end of the capping drive motor is connected to the output end of the controller (6).

2. The intelligent household moxibustion robot according to claim 1, characterized in that: The moxibustion operation execution mechanism (3) further includes: an infrared temperature sensor; The infrared temperature sensor is used to detect the surface skin temperature of the patient at the moxibustion site; The output end of the infrared temperature sensor is connected to the input end of the controller (6).

3. The intelligent household moxibustion robot according to claim 1, characterized in that: The moxibustion auxiliary box (5) further comprises: an exhaust plate (55) and an exhaust drive motor; An exhaust port (511) is provided on the side wall of the housing (51), the size of the exhaust plate (55) is adapted to the size of the exhaust port (511), and the exhaust plate (55) is slidably arranged at the exhaust port (511); The output shaft of the exhaust drive motor is sleeved with a drive gear (561), the drive gear (561) is drivingly engaged with the exhaust plate (55), and the control end of the exhaust drive motor is connected to the output end of the controller (6).

4. The intelligent household moxibustion robot according to claim 1, characterized in that: The intelligent robotic arm (2) is a six-axis intelligent robotic arm.

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