Intelligent moxibustion head for robotic arm

Abstract

The present invention discloses an intelligent moxibustion head for a mechanical arm, and the technical solution thereof includes a feeding module, a clamping module, a smoke removal module, and a positioning and protection module. The feeding module is coupled with a controller, and can control a driving mechanism to drive the moxa stick to move according to a set moxa stick burning distance, so as to realize real-time compensation for the moxa stick burning distance; the feeding module includes a driving mechanism, which is used to drive the moxa stick on the clamping module to move along the axial direction of the moxa stick; and a proximity switch, which is used to detect whether the clamping end of the moxa stick reaches a set replacement position. The present invention adopts a modular design, realizes rapid clamping of the moxa stick through the clamping module, monitors the real-time distance from the moxa stick burning surface to the human skin through the feeding module, and controls the moxa stick burning distance and the moxa stick feeding distance, that is, the controller drives the driving mechanism to compensate for the burning distance in real time according to the moxa stick burning distance, so as to realize maintaining a constant distance between the moxa stick burning surface and the human body during the moxibustion process.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and more specifically, to an intelligent moxibustion head for a robotic arm. Background Art

[0002] Moxibustion is to rub moxa into moxa sticks or moxa cones, and burn them to warm the skin surface of the acupuncture points to achieve the purpose of warming the meridians and harmonizing the qi and blood. Moxibustion has a long history and is deeply loved by the public, but the existing moxibustion equipment cannot detect the change in the length of the moxa stick during the moxibustion therapy, making it difficult to maintain a suitable constant distance between the burning surface of the moxa stick and the human body, reducing the effect of the treatment.

[0003] In view of the deficiencies in the prior art, the present invention aims to provide an intelligent moxibustion head for a robotic arm. Summary of the invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide an intelligent moxibustion head for a robotic arm, which can overcome the disadvantage that the existing moxibustion equipment cannot intelligently monitor the change in the length of the moxa stick during the moxibustion process and thus maintain a constant distance between the burning surface of the moxa stick and the human body.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent moxibustion head for a robotic arm, comprising a support, a connecting piece for connecting the support to the robotic arm, a clamping module for clamping moxa sticks, a feeding module for driving the moxa sticks on the clamping module to actively feed, a smoke removal module for processing moxa smoke, and a positioning protection module, wherein the feeding module comprises

[0006] A driving mechanism, the driving mechanism being arranged on the support and used for driving the moxa stick on the clamping module to move along the axial direction of the moxa stick;

[0007] A proximity switch, the proximity switch is used to detect whether the moxa stick clamping end reaches a set replacement position;

[0008] The feeding module is coupled to a controller for processing information and issuing control instructions. The controller can control the driving mechanism to move the moxa stick according to the set moxa stick burning distance, thereby realizing real-time compensation for the moxa stick burning distance. The controller can receive status information transmitted by the proximity switch and control whether the driving mechanism stops feeding according to the status information.

[0009] Furthermore, the driving mechanism includes a sliding guide rod arranged on the support, a sliding screw arranged on the support, a clamping seat slidingly connected to the sliding guide rod and screwed to the sliding screw, and a motor for driving the clamping seat to slide back and forth on the sliding screw along the axial direction of the frame.

[0010] Furthermore, the clamping module includes an elastic clamp arranged on the clamping seat for clamping the moxa stick, and the elastic clamp includes two clamping arms, one end of the two clamping arms is rotatably connected to the clamping seat, and the other movable end is provided with a closing structure for enclosing the two clamping arms to clamp the moxa stick.

[0011] Furthermore, a gap is left between the movable ends of the two clamping arms, and the clamping module also includes a push block slidably connected to the support for pushing open the gap, and the bottom end of the frame is provided with a reset structure for driving the push block to move away from the elastic clamp in a natural state.

[0012] Furthermore, the smoke removal module includes a replaceable smoking device and a filtering device for providing negative pressure smoking power, the replaceable smoking device and the filtering device are both coupled to a controller, the replaceable smoking device includes a bottom smoking chamber detachably connected to a support, and a top smoking chamber detachably connected to the support, and a smoke pipe for connecting the bottom smoking chamber and the top smoking chamber, a quick-change structure for quickly disassembling and assembling the smoke pipe is arranged between the smoke pipe and the bottom smoking chamber and the top smoking chamber, the bottom smoking chamber is provided with a smoke inlet for collecting moxa smoke, and the top smoking chamber is provided with a smoke outlet for connecting the filtering device.

[0013] Furthermore, the filtering device includes a sealed box body, in which a filter layer for filtering moxa smoke, an activated carbon box, and a fan for providing smoking power are arranged, and the filter layer is arranged at intervals in the sealed box body.

[0014] Furthermore, the replaceable smoking device also includes a detector arranged on the support for determining whether there is moxa smoke overflowing, and a smoke sensor arranged on the support for detecting the concentration of the overflowing moxa smoke. The detector and the smoke sensor are both coupled to the controller, and the controller adjusts the fan speed according to the moxa smoke concentration transmitted by the smoke sensor.

[0015] Furthermore, the intelligent moxibustion head also includes a human-computer interaction device coupled to the controller, the human-computer interaction device includes a storage unit for receiving moxa stick feeding distance information, moxa stick clamping status information, whether the moxa stick has reached the replacement position information, the distance information between the moxa stick and the human skin, and the service life information of each consumable, and a display unit for displaying the information transmitted by the controller, the storage unit transmits the received information to the controller and outputs it through the display unit, the fan is connected to a sensor for transmitting various data information of the fan operation to the controller, the controller can calculate the current smoking amount according to the fan operation data information, and convert it into the actual service life of each consumable, when the service life information of the consumable is zero, the human-computer interaction device issues a consumable replacement prompt, and after confirming the consumable replacement, sends a corresponding consumable service life information setting instruction to the controller, when the proximity switch detects that the moxa stick has reached the replaceable position, the human-computer interaction device issues a moxa stick replacement prompt.

[0016] Furthermore, the positioning and protection module includes a protection column for abutting against human skin to ensure that the burning surface of the moxa stick is at a safe distance from the human skin, a protection net for preventing the moxa ash on the burning surface of the moxa stick from falling and contacting the human skin, a laser target arranged on the protection column for assisting in acupuncture point positioning, and a laser sensor arranged on the support for measuring the distance between the support and the human skin.

[0017] In summary, the present invention has the following beneficial effects: a modular design is adopted to realize quick clamping of moxa sticks through a clamping module, the real-time distance from the burning surface of the moxa stick to the human skin is monitored through a feeding module, and the burning distance of the moxa stick and the feeding distance of the moxa stick are controlled, that is, the controller drives the driving mechanism to compensate for the burning distance in real time according to the burning distance of the moxa stick, thereby achieving a constant distance between the burning surface of the moxa stick and the human body during the moxibustion process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the three-dimensional structure of a moxibustion head (external);

[0019] Figure 2 A schematic diagram of the three-dimensional structure of a moxibustion head (interior);

[0020] Figure 3 It is a three-dimensional structural schematic diagram of the clamping mechanism and the feeding mechanism;

[0021] Figure 4 is a schematic diagram of the three-dimensional structure of the elastic clip;

[0022] Figure 5 It is a schematic diagram of the three-dimensional structure of the smoke removal module.

[0023] Figure numerals: 1. support; 11. sliding guide rod; 12. sliding screw; 13. clamping seat; 14. motor; 15. bottom smoking chamber; 151. smoke inlet; 16. top smoking chamber; 161. smoke outlet; 17. smoke pipe; 18. protective column; 181. laser target; 19. protective net; 2. elastic clip; 21. clamping arm; 22. closing structure; 3. push block; 31. reset structure; 4. sealing box body; 41. activated carbon box; 42. fan. DETAILED DESCRIPTION

[0024] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. The same parts are represented by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the accompanying drawings, and the words "bottom surface" and "top surface", "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0025] Reference Figure 1-5 As shown, an intelligent moxibustion head for a robotic arm includes a support 1, a connector for connecting the support 1 to the robotic arm, a clamping module for clamping moxa sticks, a feeding module for driving the moxa sticks on the clamping module to actively feed, a smoke removal module for processing moxa smoke, and a positioning protection module. The feeding module includes

[0026] The driving mechanism is arranged on the support 1, and is used to drive the moxa stick on the clamping module to move along the axial direction of the moxa stick; during the moxibustion process, due to the continuous burning of one end of the moxa stick, the length of the moxa stick will continue to decrease, and the burning surface of the moxa stick will continue to move away from the human skin, and the driving mechanism can drive the moxa stick on the clamping module to continuously move forward, so that the moxa stick can always be kept in a state close to the human skin.

[0027] A proximity switch, which is used to detect whether the moxa stick clamping end has reached a set replacement position;

[0028] The feeding module is coupled to a controller for processing information and issuing control instructions. The controller can control the driving mechanism to move the moxa stick according to the set moxa stick burning distance, thereby realizing real-time compensation for the moxa stick burning distance. In order to keep the distance between the burning surface of the moxa stick and the human skin constant, it is necessary to measure the burning distance of the moxa stick, and obtain the moxa stick burning speed through experiments. The feeding distance of the moxa stick is monitored by a distance detector, and the moxa stick feeding distance is adjusted by the controller so that the moxa stick feeding distance is always consistent with the moxa stick burning distance, that is, the moxa stick feeding speed is consistent with the moxa stick burning speed, thereby achieving the goal of always maintaining the initial constant distance between the burning end of the moxa stick and the human skin.

[0029] The controller can receive the status information transmitted by the proximity switch and control the drive mechanism to stop feeding according to the status information. During the moxibustion process, the moxa stick continues to burn until the length of the moxa stick reaches the length that needs to be replaced. The moxa stick is installed on the clamping module and is continuously fed with the drive mechanism. At this time, the position of the moxa stick is constantly changing. It is necessary to set a replacement position to determine when the moxa stick moves to this position. The length of the moxa stick reaches the standard that needs to be replaced. At this time, the moxa stick feeding should be stopped and the moxa stick should be replaced.

[0030] The operation process of the feeding module is as follows:

[0031] The controller controls the driving mechanism in the feeding module to drive the moxa stick to feed axially at a set threshold speed. When moxibustion begins, the distance between the human body surface and the lower end surface of the support 1 is d=d0. At this time, the distance between the burning surface position of the moxa stick and the lower end surface of the support 1 is h=h0, and the moxibustion warm burning distance is s=d0-h0. When performing machine moxibustion, the distance d=d0 remains unchanged, and h gradually decreases as the moxa stick burns, and the warm burning distance s=d0-h gradually increases. Therefore, after the start of moxibustion, a second threshold time can be preset, that is, after the second threshold time, such as 10, 20, 30 minutes, etc., the controller controls the driving mechanism to drive the moxa stick to feed or retract faster in the axial direction of the through hole, and the real-time distance from the burning surface of the moxa stick to the human skin is continuously monitored, thereby achieving constant control of the distance from the burning surface of the moxa stick to the human skin during the entire moxibustion process, which can improve the treatment effect. At the same time, intelligent operation can not only free both hands but also achieve more precise control effects through program calculations.

[0032] In summary, the present invention adopts a modular design, realizes the rapid clamping of moxa sticks through the clamping module, monitors the real-time distance from the burning surface of the moxa stick to the human skin through the feeding module, and controls the burning distance of the moxa stick and the feeding distance of the moxa stick. That is, the controller drives the driving mechanism to compensate for the burning distance in real time according to the burning distance of the moxa stick, thereby achieving a constant distance between the burning surface of the moxa stick and the human body during the moxibustion process.

[0033] The driving mechanism includes a sliding guide rod 11 arranged on the support 1, a sliding screw 12 arranged on the support 1, a clamping seat 13 slidingly connected to the sliding guide rod 11 and screwed to the sliding screw 12, and a motor 14 for driving the clamping seat 13 to slide back and forth on the sliding screw 12 along the axial direction of the support 1.

[0034] The clamping module includes an elastic clamp 2 arranged on a clamping seat 13 for clamping moxa sticks. The elastic clamp 2 includes two clamping arms 21. One end of the two clamping arms 21 is rotatably connected to the clamping seat 13, and the other movable end is provided with a closing structure 22 for enclosing the two clamping arms 21 to clamp the moxa sticks.

[0035] The closing structure 22 can be a tension spring arranged on the movable ends of the two clamping arms 21. In the natural state, the coils on the tension spring are in a tight state and can drive the two clamping arms 21 to close to form a closed loop for clamping the moxa stick. When the tension spring is deformed by an external force, the movable ends of the two clamping arms 21 can be driven to separate, so that the clamping arms 21 lose the clamping force of the moxa stick. The inner side of the clamping arm 21 that abuts the moxa stick can be set to an arc structure. In this way, the shape of the moxa stick can be more closely fitted, and the contact area with the moxa stick is increased during clamping, so that the clamping is more secure. The inner side of the clamping arm 21 can also be provided with a convex pattern for increasing friction, which can further enhance the clamping firmness of the clamping arm 21.

[0036] A gap is left between the movable ends of the two clamping arms 21. The clamping module also includes a push block 3 slidably connected to the support 1 for pushing open the gap. The support 1 is provided with a reset structure 31 for driving the push block 3 to move away from the elastic clamp 2 in a natural state.

[0037] One embodiment of the reset structure 31 includes a mounting seat provided at the bottom end of the support 1 for the push block 3 to be slidably connected, and a pressing block connected to the push block 3 for driving the push block 3 to slide from the mounting seat to the direction of the elastic clip 2. A reset spring is provided between the pressing block and the mounting seat. Pressing the pressing block can drive the push block 3 to slide in the direction of the elastic clip 2 and push open the elastic clip 2. The reset structure 31 realizes the automatic reset of the push block 3. When replacing the moxa stick, the pressing block can be pushed into the notch of the movable end of the clamping arm 21 to push open the elastic clip 2 holding the moxa stick and take out the moxa stick. Then, when filling the moxa stick, the pressing block is pressed again to open the elastic clip 2, and the moxa stick is more easily placed in the elastic clip 2. When the pressing block is released, the reset spring drives the push block 3 to slide and reset to the outside of the mounting seat. The elastic clip 2 loses the push force of the pushing block 3 and the clamping of the closing structure 22 realizes the clamping of the new moxa stick. The reset structure 31 makes the loading and unloading and replacement of the moxa stick more convenient and labor-saving.

[0038] In addition, the position of the mounting seat can be coordinated with the set moxa stick replacement position. When the controller controls the motor 14 to drive the moxa stick to move to the calibrated position, it indicates that the moxa stick in the moxa stick head can no longer be used for moxibustion and needs to be replaced. The controller controls the motor 14 to stop feeding. The mounting seat is set at a position that matches the moxa stick replacement position, which can facilitate the disassembly and assembly of the moxa stick on the elastic clip 2, further improving the intelligence and ease of operation of the moxa stick head.

[0039] The smoke removal module includes a replaceable smoking device and a filter device for providing negative pressure smoking power. The replaceable smoking device and the filter device are coupled to the controller. The replaceable smoking device includes a bottom smoking chamber 15 detachably connected to the support 1, and a top smoking chamber detachably connected to the support 1, and a smoke pipe 17 for connecting the bottom smoking chamber 15 and the top smoking chamber. A quick-change structure for quickly disassembling and assembling the smoke pipe 17 is provided between the smoke pipe 17 and the bottom smoking chamber 15 and the top smoking chamber. A smoke inlet 151 for collecting moxa smoke is provided on the bottom smoking chamber 15, and a smoke outlet 161 for connecting the filter device is provided on the top smoking chamber. The quick-change structure can more conveniently disassemble and replace the smoke pipe 17.

[0040] The filter device includes a sealed box body 4, in which a filter layer for filtering moxa smoke, an activated carbon box 41, and a fan 42 for providing smoking power are arranged, and the filter layer is arranged in the sealed box body 4 at intervals. The filter layer includes but is not limited to a primary moxa ash filter layer, a primary moxa smoke filter layer, a primary moxa oil filter layer, a secondary moxa oil filter layer, a PM2.5 filter layer, and an odor filter layer. The filtration of these filter layers can block the pollutants carried in the moxa smoke as much as possible, and reduce the harm caused by the release of the filtered moxa smoke into the atmosphere.

[0041] The replaceable smoking device also includes a detector arranged on the support 1 for judging whether there is moxa smoke overflowing, and a smoke sensor arranged on the support 1 for detecting the concentration of the overflowing moxa smoke. Both the detector and the smoke sensor are coupled to the controller, and the controller adjusts the speed of the fan 42 according to the moxa smoke concentration transmitted by the smoke sensor. By detecting the moxa smoke concentration and adjusting the speed of the fan 42 corresponding to the moxa smoke concentration, it is possible to control the smoking power, reasonably and effectively utilize the smoking power, and provide users with a good moxibustion treatment environment.

[0042] The intelligent moxibustion head also includes a human-computer interaction device coupled to the controller, and the human-computer interaction device includes a

[0043] The moxa stick feeding distance information is fed back by the Hall sensor arranged on the motor 14, and the distance of the moxa stick feeding driven by the motor is calculated by compiling the rotation angle of the driving mechanism;

[0044] The moxa stick clamping state information is fed back through a slow reflection photoelectric switch arranged on the clamping seat 13;

[0045] Whether the moxa stick has reached the replacement position is fed back through the proximity switch, which can use a laser tube. When a disconnection signal is received, it indicates that the moxa stick is in the feeding state, and when it is in the connection state, it indicates that the moxa stick has reached the replacement position;

[0046] The distance information between the moxa stick and the human skin is fed back by the laser sensor set in the positioning protection module, and the controller determines whether the distance information is a safe distance;

[0047] The service life information of each consumable is input through external data;

[0048] The storage unit 42 is connected to a sensor for transmitting various operation data information of the fan 42 to the controller. The controller can calculate the current smoking amount according to the operation data information of the fan 42 and convert it into the actual service life of each consumable. The smoking amount formula is: Among them, v is the power of the fan 42, t is the operating time of the fan 42, when the service life information of the consumable is zero, the human-computer interaction device issues a consumable replacement reminder, and after confirming the consumable replacement, sends a corresponding consumable service life information setting instruction to the controller, and when the proximity switch detects that the moxa stick reaches the replacement position, the human-computer interaction device issues a moxa stick replacement reminder.

[0049] The human-computer interaction device can also display information such as the current overflow smoke concentration, fan 42 speed, filter material life, system status, fault status, etc.

[0050] After replacing the consumables, the controller receives a reset instruction, resets the consumable life, and restarts the calculation. This makes the life management of consumables more accurate and intelligent. The consumables here are mainly the smoke tube 17 and the filter layer. The smoke tube 17 needs to be replaced after a certain amount of smoking passes through it. Similarly, the filter layer also has a filtering amount that can be converted to the same as the amount of smoking. The setting of the smoke tube 17 is input into the input module of the human-computer interaction device through the amount of smoking and the filtering amount of the filter element. The controller can calculate the actual amount of smoking and compare it to obtain the remaining service life information, which is then displayed through the display unit, such as the remaining service life information is 30%.

[0051] The positioning and protection module includes a protection column 18 for abutting against human skin to ensure that the burning surface of the moxa stick is at a safe distance from the human skin, a protection net 19 for preventing the moxa ash on the burning surface of the moxa stick from falling and contacting the human skin, a laser target 181 arranged on the protection column 18 for assisting in acupuncture point positioning, and a laser sensor arranged on the support 1 for measuring the distance between the support 1 and the human skin.

[0052] The controller can receive the distance value transmitted by the laser sensor and determine whether the distance value belongs to the safe distance threshold; since the moxa stick is in a burning state, in addition to the warm burning distance suitable for treatment, there should also be a safe distance between the burning surface of the moxa stick and the human skin. The laser sensor can detect this distance. The controller determines whether it is in a safe distance state based on the distance value transmitted by the laser sensor, and makes adjustments if not.

[0053] The laser target 181 can produce a "cross" mark on the human body surface to assist in acupuncture point determination. One end of the protective column 18 is connected to the support 1, and the other end can abut against the human skin to ensure a safe distance between the burning surface of the moxa stick and the human skin. Since the moxa stick is in a burning state, there should be a safe distance between the burning surface of the moxa stick and the human skin in addition to the warm burning distance suitable for treatment. The provision of the protective column 18 can materialize this safe distance, making it more convenient for the operator to judge, and increasing protection, so that the end in direct contact with the human skin at the bottom end of the support 1 can only be the protective column 18, thereby avoiding the hidden danger of the moxa stick head causing the burning end of the moxa stick to directly contact the human skin due to improper operation, and increasing the safety of the moxibustion process.

[0054] In addition, the protection column 18 is arranged around the moxa stick so that when the protection column 18 is horizontally in contact with human skin, the burning surface of the moxa stick is in a horizontal state with the acupuncture point facing it, which can further improve the warm burning treatment effect of the moxa stick on the acupuncture point.

[0055] The protective net 19 is located between the moxa stick and the human skin, and is detachably connected to the support 1. The moxa ash that falls during the burning process of the moxa stick has a high temperature and can easily burn the human skin. Therefore, it is necessary to protect the burning end of the moxa stick to ensure safe treatment without affecting the warm burning effect of the moxa stick. The protective net 19 is set below the through hole to block the through hole, which can directly block the risk of moxa ash falling, improve the safety of the moxibustion process and the user's experience. In addition, the protective net 19 is detachably connected to the support 1, so that the operation of removing the moxa stick from the through hole when replacing the moxa stick will not be affected, which facilitates the replacement of the moxa stick.

[0056] The above are only preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. An intelligent moxibustion head for a robotic arm, characterized by: The invention comprises a support (1), a connecting piece for connecting the support (1) to a mechanical arm, a clamping module for clamping moxa sticks, a feeding module for driving the moxa sticks on the clamping module to actively feed, a smoke removal module for processing moxa smoke, and a positioning and protection module. The feeding module comprises A driving mechanism, the driving mechanism being arranged on the support (1) and being used for driving the moxa stick on the clamping module to move along the axial direction of the moxa stick; A proximity switch, the proximity switch is used to detect whether the moxa stick clamping end reaches a set replacement position; The feeding module is coupled with a controller for processing information and issuing control instructions. The controller can control the driving mechanism to drive the moxa stick to move according to the set moxa stick burning distance, so as to achieve real-time compensation for the moxa stick burning distance. The controller can receive status information transmitted by the proximity switch and control whether the driving mechanism stops feeding according to the status information; The driving mechanism comprises a sliding guide rod (11) arranged on a support (1), a sliding screw rod (12) arranged on the support (1), a clamping seat (13) slidably connected to the sliding guide rod (11) and screwed to the sliding screw rod (12), and a motor (14) for driving the clamping seat (13) to slide back and forth on the sliding screw rod (12) along the axial direction of the frame; The clamping module comprises an elastic clamp (2) arranged on a clamping seat (13) for clamping the moxa stick, the elastic clamp (2) comprising two clamping arms (21), one end of each of the two clamping arms (21) being rotatably connected to the clamping seat (13), and the other movable end being provided with a closing structure (22) for surrounding the two clamping arms (21) to clamp the moxa stick; A gap is left between the movable ends of the two clamping arms (21), the clamping module further comprising a push block (3) slidably connected to the support (1) for pushing open the gap, and a reset structure (31) is provided at the bottom end of the frame for driving the push block (3) to move away from the elastic clamp (2) in a natural state; The smoke removal module comprises a replaceable smoking device and a filtering device for providing negative pressure smoking power, the replaceable smoking device and the filtering device are coupled to a controller, the replaceable smoking device comprises a bottom smoking chamber (15) detachably connected to a support (1), a top smoking chamber detachably connected to the support (1), and a smoke pipe (17) for connecting the bottom smoking chamber (15) and the top smoking chamber, a quick-change structure for quickly disassembling the smoke pipe (17) is provided between the smoke pipe (17) and the bottom smoking chamber (15) and the top smoking chamber, the bottom smoking chamber (15) is provided with a smoke inlet (151) for collecting moxa smoke, and the top smoking chamber is provided with a smoke outlet (161) for connecting the filtering device.

2. The intelligent moxibustion head for a robotic arm according to claim 1, characterized in that: The filtering device comprises a sealed box body (4), wherein a filter layer for filtering moxa smoke, an activated carbon box (41), and a fan (42) for providing smoking power are arranged inside the sealed box body (4), and the filter layer is arranged at intervals inside the sealed box body (4).

3. The intelligent moxibustion head for a robotic arm according to claim 2, characterized in that: The replaceable smoking device also includes a detector arranged on the support (1) for determining whether moxa smoke overflows, and a smoke sensor arranged on the support (1) for detecting the concentration of the overflowing moxa smoke. Both the detector and the smoke sensor are coupled to a controller, and the controller adjusts the speed of the fan (42) according to the moxa smoke concentration transmitted by the smoke sensor.

4. The intelligent moxibustion head for a robotic arm according to claim 3, characterized in that: The intelligent moxibustion head also includes a human-computer interaction device coupled to the controller, the human-computer interaction device includes a storage unit for receiving moxa stick feeding distance information, moxa stick clamping state information, whether the moxa stick has reached the replacement position, the distance information between the moxa stick and the human skin, and the service life information of each consumable, and a display unit for displaying the information transmitted by the controller, the storage unit transmits the received information to the controller and outputs it through the display unit, the fan (42) is connected to a sensor, which is used to transmit various data information of the fan (42) operation to the controller, the controller can calculate the current smoking amount according to the fan (42) operation data information, and convert it into the actual service life of each consumable, when the service life information of the consumable is zero, the human-computer interaction device issues a consumable replacement prompt, and after confirming the consumable replacement, sends a corresponding consumable service life information setting instruction to the controller, when the proximity switch detects that the moxa stick has reached the replacement position, the human-computer interaction device issues a moxa stick replacement prompt.

5. The intelligent moxibustion head for a robotic arm according to claim 1, characterized in that: The positioning protection module comprises a protection column (18) for contacting human skin to ensure a safe distance between the burning surface of the moxa stick and the human skin, a protection net (19) for preventing moxa ash on the burning surface of the moxa stick from falling and contacting the human skin, a laser target (181) arranged on the protection column (18) for assisting in acupuncture point positioning, and a laser sensor arranged on the support (1) for measuring the distance between the support (1) and the human skin.

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