Moxibustion instrument

Abstract

The present invention discloses a moxibustion instrument. The tool head is provided with a receiving portion for accommodating moxa sticks. The receiving portion penetrates through the lower end of the tool head and even through the upper end of the tool head. The machine case is provided with an ash removal mechanism and a smoke filtering mechanism. The ash removal mechanism is used to remove the ash of the moxa stick in the receiving portion. One end of the robotic arm is connected to the machine case, and the other end is connected to the tool head. The exhaust pipe is connected to the robotic arm. One end of the exhaust pipe is used to communicate with the receiving portion, and the other end is used to communicate with the smoke filtering mechanism. It performs moxibustion mechanically and automatically. The robotic arm flexibly drives the tool head to perform moxibustion and ash removal. The smoke filtering mechanism and the ash removal mechanism are arranged in the machine case. The tool head is made more portable and smaller. The tool head can perform moxibustion on a smaller affected area. The tool head can be closer to the human skin. The relatively small tool head will not cause a sense of oppression to the patient. The ash removal mechanism and the smoke filtering mechanism are concentrated in the machine case, making it more convenient to pour ash, replace the filter element, clean the mechanism, etc.

Description

Technical Field

[0001] The present invention relates to the field of moxibustion, and particularly to a moxibustion device. Background Art

[0002] Moxibustion is a common method in traditional Chinese medicine for preventing and treating diseases. Moxa leaves are made into moxa sticks / moxa cones. The heat generated by the burning of the moxa stick stimulates human acupoints or specific parts, and adjusts the disordered physiological and biochemical functions of the human body by stimulating the activities of the meridians. With the popularization and development of moxibustion, moxibustion devices have emerged and gradually developed.

[0003] There are two common types of existing moxibustion devices. One type of moxibustion device includes a lazy bracket and a tool head connected to the end of the lazy bracket. The moxa stick burns in the tool head. The lazy bracket is a support rod that can be bent into a predetermined shape or a multi-joint bracket with a tight fit between joints. The other type of moxibustion device includes a hospital bed, an XYZ-axis displacement mechanism, and a tool head connected to the end of the XYZ-axis displacement mechanism.

[0004] It can be seen that the existing moxibustion devices do not have a relatively reasonable and effective structure for smoke filtration and ash removal. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides a moxibustion device that can perform moxibustion mechanically and automatically, and has relatively reasonable and reliable ash removal and smoke filtration, effectively ensuring a clean and fresh working environment for moxibustion.

[0006] A moxibustion device according to an embodiment of the first aspect of the present invention includes a tool head, a chassis, a robotic arm, and an exhaust pipe. The tool head is provided with a receiving portion for accommodating a moxa stick. The receiving portion penetrates through the lower end of the tool head. The chassis is provided with an ash removal mechanism and a smoke filtration mechanism. The ash removal mechanism is used to remove the ash of the moxa stick in the receiving portion. One end of the robotic arm is connected to the chassis, and the other end is connected to the tool head. The exhaust pipe is connected to the robotic arm. One end of the exhaust pipe is used to communicate with the receiving portion, and the other end is used to communicate with the smoke filtration mechanism.

[0007] A moxibustion instrument according to an embodiment of the present invention has at least the following beneficial effects: moxibustion is performed mechanically and automatically, a mechanical arm flexibly drives the tool head to perform moxibustion, and during the moxibustion process, the tool head can move its position and adjust its posture according to the distribution of the curved surface of the affected part of the human body; the smoke filtering mechanism and the ash removal mechanism are arranged in the chassis, and the tool head does not need to be provided with too many electrical components and circuit boards related to smoke filtering and ash removal, and the tool head does not need to be provided with movable components for receiving and removing ash. The present invention effectively reduces the structure of the tool head, and the tool head can be set to be lighter and smaller. The tool head can perform moxibustion on a smaller affected area, the tool head can be closer to the human skin, and the relatively small tool head will not bring a sense of oppression to the patient; the ash removal mechanism and the smoke filtering mechanism are concentrated in the chassis, and emptying ash, replacing the filter element, cleaning the mechanism, etc. are more convenient.

[0008] According to some embodiments of the present invention, the tool head includes a main body and a combustion chamber, the accommodating portion is arranged in the combustion chamber, the accommodating portion is a through hole passing through the upper and lower ends of the combustion chamber or a first blind hole opening facing downward, the combustion chamber is movably connected to the lower end of the main body, and the movement of the combustion chamber causes the upper end of the combustion chamber to be covered by the main body or to move away from the main body.

[0009] According to some embodiments of the present invention, the tool head includes a main body and a combustion chamber detachably connected to the main body, the accommodating portion is arranged in the combustion chamber, the accommodating portion passes through the lower end of the combustion chamber, and the lower end of the combustion chamber is detachably connected to a retaining frame in a screw-type manner, the retaining frame covers the lower port of the accommodating portion, and the retaining frame is used to support the moxa stick.

[0010] According to some embodiments of the present invention, a ash removal window is provided on a peripheral wall of the main body, the ash removal window is connected to the accommodating portion, and the ash removal window corresponds to the lower end of the moxa stick in the accommodating portion.

[0011] According to some embodiments of the present invention, the tool head also includes a core shaft, which is provided with a second blind hole for accommodating the moxa stick, and the core shaft is detachably inserted into the accommodating portion, with the second blind hole facing downward, and a smoke chamber surrounding the second blind hole is provided in the wall of the core shaft, and a smoke inlet hole connected to the smoke chamber is provided at the lower end of the core shaft, and a first smoke exhaust hole connected to the smoke chamber is opened on the outer peripheral wall of the core shaft, and the combustion chamber is provided with a second smoke exhaust hole for docking with the first smoke exhaust hole, and the second smoke exhaust hole is used to connect to the one end of the smoke exhaust pipe.

[0012] According to some embodiments of the present invention, a filter plate is provided on the core shaft, and a plurality of smoke inlet holes are provided on the filter plate, and the plurality of smoke inlet holes surround the second blind hole.

[0013] According to some embodiments of the present invention, the mandrel is made of one of PPS plastic, PPS with glass fiber, nylon, nylon with glass fiber, stainless steel, aluminum, aluminum alloy and tinplate.

[0014] According to some embodiments of the present invention, the mandrel includes an inner cylinder and an outer cylinder sleeved on the inner cylinder. The inner cylinder and the outer cylinder define the smoke chamber. The smoke inlet hole is arranged on the inner cylinder and / or the outer cylinder, and the second smoke outlet hole is arranged on the outer cylinder.

[0015] According to some embodiments of the present invention, the main body part is provided with a second detection member, and the combustion chamber is provided with a measured part, which is an air avoidance opening or a measured plate. The movement of the combustion chamber makes the measured part move away from or close to the second detection member.

[0016] According to some embodiments of the present invention, the combustion chamber and the main body part are detachably connected; there are m combustion chambers, m≥2, and the m combustion chambers are respectively used to place the moxa sticks of different specifications; the main body part is provided with m second detection members, and the combustion chamber is provided with the air avoidance opening and the measured plate; in the air avoidance opening and the measured plate of a single combustion chamber, one is provided with one, and the other is provided with m - 1, and the air avoidance opening and the measured plate both correspond to the second detection member one by one.

[0017] According to some embodiments of the present invention, a slider is slidably connected to the main body part, and a first detection member is connected to the slider. The first detection member includes a temperature measurement sensor and / or a distance measurement sensor. The slider is used to drive the first detection member to move away from or close to the accommodating part. The combustion chamber is provided with a first avoidance through hole, and the first avoidance through hole is arranged corresponding to the lower part of the first detection member one by one.

[0018] According to some embodiments of the present invention, there are at least three sliders, and the first detection members are respectively connected to the sliders one by one. The at least three sliders are distributed circumferentially around the accommodating part.

[0019] According to some embodiments of the present invention, the slider and the first detection member are arranged in the inner cavity of the main body part, and the main body part is provided with a second avoidance through hole, and the second avoidance through hole is arranged corresponding to the lower part of the first detection member one by one.

[0020] According to some embodiments of the present invention, the position adjustment mechanism includes a rotating member and an elastic member. The rotating member is rotatably connected to the outer wall of the main body part, the rotating member is in transmission connection with the slider, the rotating member is used to drive the slider to approach the accommodating part, one end of the elastic member is connected to the main body part, and the other end is connected to the corresponding slider. The elastic member is used to drive the slider to move away from the accommodating part.

[0021] According to some embodiments of the present invention, the positioning mechanism includes a positioning motor and at least one transmission structure. The positioning motor is connected to the main body portion. One end of the transmission structure is drivingly connected to the positioning motor, and the other end is drivingly connected to the corresponding slider. The positioning motor drives the transmission structure, and the transmission structure drives the slider to move away from or close to the accommodating portion.

[0022] According to some embodiments of the present invention, the ash removal mechanism includes an isolation cover and an ash receiving box. An opening is provided at the upper end of the isolation cover, and the tool head can be placed into the opening. The ash receiving box communicates with the lower end of the isolation cover. A dusting air nozzle is provided in the isolation cover, and the dusting air nozzle is communicated with an air source mechanism. The dusting air nozzle is used for blowing air towards the moxa stick.

[0023] According to some embodiments of the present invention, the air source mechanism includes a on-off valve, a constant pressure gas tank, and an air pump. The dusting air nozzle, the on-off valve, the constant pressure gas tank, and the air pump are sequentially communicated.

[0024] According to some embodiments of the present invention, the ash receiving box communicates with the isolation cover through a transfer pipe, and the transfer pipe is communicated with a negative pressure mechanism. A filter element is provided at the position where the transfer pipe communicates with the negative pressure mechanism.

[0025] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, wherein:

[0027] Figure 1 is a schematic structural diagram of the moxibustion instrument of the present invention;

[0028] Figure 2 is Figure 1 a schematic structural diagram showing the tool head of the moxibustion instrument;

[0029] Figure 3 is Figure 2 a exploded view showing the tool head;

[0030] Figure 4 is a schematic structural view of the tool head from a three-dimensional perspective Figure One ;

[0031] Figure 5 is a schematic structural view of the tool head from a three-dimensional perspective Figure Two ;

[0032] Figure 6 is Figure 2 a top view showing the tool head;

[0033] Figure 7 for Figure 2 A schematic diagram showing the structure of the rotating part of the tool head;

[0034] Figure 8 for Figure 2 A diagram showing the distribution of the combustion chamber, baffle and silicone ring of the tool head;

[0035] Figure 9 for Figure 2 A schematic diagram showing the core shaft structure of the tool head is shown;

[0036] Figure 10 for Figure 9 An exploded view of the mandrel is shown;

[0037] Figure 11 for Figure 1 Shown is a schematic diagram of the structure of the ash removal mechanism of the moxibustion instrument.

[0038] Tool head 100, main body 110, second detection member 111, second avoidance through-hole 112, combustion chamber 120, accommodating portion 121, second smoke exhaust hole 122, first avoidance through-hole 123, ash removal window 124, core shaft 130, second blind hole 131, smoke chamber 132, smoke inlet 133, first smoke exhaust hole 134, inner cylinder 135, outer cylinder 136, adapter 140, third smoke exhaust hole 141, retaining frame 150, slider 161, first detection member 162, rotating member 171, elastic member 172, silicone ring 180, temperature sensor 191, circuit board 192;

[0039] Chassis 200;

[0040] Ash removal mechanism 300, isolation cover 310, cylinder 311, cover 312, ash receiving box 320, ash blower nozzle 330, adapter tube 350, negative pressure mechanism 360, filter element 370, barrier ring 380;

[0041] Smoke filtering mechanism 400, filter element 410, negative pressure smoking fan 420, and silencer structure 430;

[0042] Robotic arm 500. DETAILED DESCRIPTION

[0043] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0044] In the description of the present invention, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc., it is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0045] In the description of the present invention, the meaning of several is one or more, and the meaning of multiple is two or more. Understandings such as greater than, less than, exceeding, etc. do not include the present number, and understandings such as above, below, within, etc. include the present number. If there is a description of first and second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0046] In the description of the present invention, unless otherwise clearly defined, words such as setting, installing, connecting, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meaning of the above words in the present invention in combination with the specific content of the technical solution.

[0047] Referring to Figure 1 , an moxibustion instrument according to an embodiment of the first aspect of the present invention includes a tool head 100, a chassis 200, a robotic arm 500, and an exhaust pipe. The tool head 100 is provided with a receiving portion 121 for accommodating an moxa stick. The receiving portion 121 penetrates through the lower end of the tool head 100. The chassis 200 is provided with an ash removal mechanism 300 and a smoke filtering mechanism 400. The ash removal mechanism 300 is used to remove the ash of the moxa stick in the receiving portion 121. One end of the robotic arm 500 is connected to the chassis 200, and the other end is connected to the tool head 100. The exhaust pipe is connected to the robotic arm 500. One end of the exhaust pipe is used to communicate with the receiving portion 121, and the other end is used to communicate with the smoke filtering mechanism 400.

[0048] The receiving portion 121 accommodates the moxa stick, and the moxa stick burns in the receiving portion 121; because the receiving portion 121 penetrates through the lower end of the tool head 100, the receiving portion 121 has a port at the lower end of the tool head 100, and the moxa heat emitted by the burning of the moxa stick can diffuse outward through this port. Generally, the middle part of the exhaust pipe is connected to the robotic arm 500 through a hoop or a bandage, etc., and some users only tie the two ends of the exhaust pipe to the robotic arm 500; the two ends of the exhaust pipe are respectively communicated with the receiving portion 121 and the smoke filtering mechanism 400. The moxa stick burns in the receiving portion 121, and the moxa smoke generated by the burning of the moxa stick is discharged to the smoke filtering mechanism 400 through the exhaust pipe, and the smoke filtering mechanism 400 discharges relatively clean gas outward. The moxa stick burns and generates ash, and the ash removal mechanism 300 is used to drive the ash away from the moxa stick.

[0049] According to an embodiment of the present invention, a moxibustion instrument has at least the following beneficial effects: mechanical and automated moxibustion, the mechanical arm 500 flexibly drives the tool head 100 to perform moxibustion, and during the moxibustion process, the tool head 100 can move its position and adjust its posture according to the distribution of the curved surface of the affected part of the human body; the smoke filtering mechanism 400 and the dust removal mechanism 300 are arranged in the chassis 200, and the tool head 100 does not need to be provided with too many electrical components and circuit boards 192 related to smoke filtering and dust removal, and the tool head 100 does not need to be provided with movable components for receiving and removing dust. The present invention effectively reduces the structure of the tool head 100, and the tool head 100 can be set to be more lightweight and compact. The tool head 100 can perform moxibustion on a smaller affected area, and the tool head 100 can be closer to the human skin. The relatively small tool head 100 will not bring a sense of oppression to the patient; the dust removal mechanism 300 and the smoke filtering mechanism 400 are concentrated in the chassis 200, and it is more convenient to pour out dust, replace the filter element, and clean the mechanism.

[0050] The chassis 200 is the structural foundation / base of the moxibustion apparatus. Preferably, the lower end of the chassis 200 is connected to running wheels. In some embodiments of the present invention, the chassis 200 is further provided with an electronic control device; and a touch screen is provided on the outer wall of the chassis 200.

[0051] Reference Figure 2 and Figure 3 In some embodiments of the present invention, the tool head 100 includes a main body 110 and a combustion chamber 120. The accommodating portion 121 is arranged in the combustion chamber 120. The accommodating portion 121 is a through hole that passes through the upper and lower ends of the combustion chamber 120 or a first blind hole with an opening facing downward. The combustion chamber 120 is movably connected to the lower end of the main body 110. The movement of the combustion chamber 120 causes the upper end of the combustion chamber 120 to be covered by the main body 110 or to move away from the main body 110.

[0052] Specifically: When the accommodating part 121 is a through hole penetrating the upper and lower ends of the combustion chamber 120, the moxa stick is inserted into the accommodating part 121 from the upper port or the lower port of the accommodating part 121. The combustion chamber 120 is movably connected to the lower end of the main body part 110. By driving the combustion chamber 120 to move and making the upper port of the accommodating part 121 away from the main body part 110, the upper port of the accommodating part 121 is opened, and a new moxa stick is put into the accommodating part 121 through the upper port of the accommodating part 121; then, the combustion chamber 120 is driven to move to make the upper port of the accommodating part 121 covered by the main body part 110. When the combustion chamber 120 is assembled in place, the tool head 100 can start moxibustion. The moxa stick burns in the accommodating part 121, and the lower port of the accommodating part 121 can emit moxa heat, and the moxa heat can diffuse towards the patient's body; when the upper port of the accommodating part 121 is covered by the main body part 110, the moxa smoke is not likely to overflow. The structure of the tool head 100 is reasonably arranged. The accommodating part 121 of the combustion chamber 120 is vertically through. The combustion chamber 120 is movably connected to the lower end of the main body part 110. Simply moving the combustion chamber 120 can conveniently load a new moxa stick into the accommodating part 121, and simply moving the combustion chamber 120 can also quickly reset the combustion chamber 120; the combustion chamber 12 is mainly used for burning the moxa stick, and the electrical components are mainly arranged in the main body part 110. The combustion chamber 120 is below the main body part 110, so when exhausting smoke outward from the side wall or the lower end of the combustion chamber 120, the electrical components are not easily baked by the burning end of the moxa stick and the smoke.

[0053] Specifically: When the accommodating part 121 is a first blind hole with an opening facing downward, the moxa stick is inserted into the accommodating part 121 from the lower port of the accommodating part 121.

[0054] Referring to Figure 2 and Figure 3 In some embodiments of the present invention, the tool head 100 includes a main body part 110 and a combustion chamber 120 detachably connected to the main body part 110. The accommodating part 121 is arranged in the combustion chamber 120. The accommodating part 121 penetrates the lower end of the combustion chamber 120. A blocking frame 150 is detachably screwed to the lower end of the combustion chamber 120. The blocking frame 150 blocks the lower port of the accommodating part 121, and the blocking frame is used to support the moxa stick. The accommodating part 121 penetrates the lower end of the combustion chamber 120, and the accommodating part 121 even penetrates the upper end of the combustion chamber 120, that is: the accommodating part 121 is a through hole or a first blind hole with an opening facing downward. The main body part 110 is screwed to the combustion chamber 120. By rotating the combustion chamber 120 by a certain angle, the combustion chamber 120 is disengaged from the main body part 110, or the combustion chamber 120 is engaged with the main body part 110. Rotate the combustion chamber 120 to disengage the combustion chamber 120 from the main body part 110, remove the blocking frame 150, and load the moxa stick into the accommodating part 121 from bottom to top. Preferably, the blocking frame 150 is in the shape of a sleeve, and the peripheral wall of the sleeve-shaped blocking frame 150 is hollowed out, and even an ash removal window is arranged on the blocking frame 150.

[0055] Referring to Figure 2 and Figure 3, the main body 110 is provided with electrical components and / or a circuit board 192. The combustion chamber 120 is connected to the lower end of the main body 110. The main body 110 covers the accommodating portion 121. The burning end of the moxa stick faces downward and is far from the electrical components / electrical appliances. The moxa smoke carrying a certain temperature is not likely to bake the electrical components, and the electrical components work in a more suitable environment, which more effectively ensures the service life of the electrical components.

[0056] Refer to Figure 6 , in some embodiments of the present invention, the combustion chamber 120 is hinged to the main body 110, or the main body 110 is provided with a guiding insertion structure for slidably connecting the combustion chamber 120, and the guiding insertion structure is a guide groove or a guide rail bar. By swinging and opening the combustion chamber 120 or moving the combustion chamber 120 away, the accommodating portion 12 can be opened, and then a new moxa stick can be conveniently loaded.

[0057] Refer to Figure 6 , the combustion chamber 120 is hinged to the main body 110, and the combustion chamber 120 can swing and rotate along the W direction shown in the figure. That is: Refer to Figure 6 , the combustion chamber 120 can be opened clockwise around the hinge axis, so that the upper port of the accommodating portion 121 is far from the main body 110, the upper port of the accommodating portion 121 is opened, and a new moxa stick is put into the accommodating portion 121 through the upper port of the accommodating portion 121; then, the combustion chamber 120 swings and rotates counterclockwise around the hinge axis to reset.

[0058] In some embodiments of the present invention, a pin / screw pin is detachably connected to the lower end of the main body 110, and a sleeve for movably sleeving the pin is provided on the combustion chamber 120. It can be seen that the combustion chamber 120 and the main body 110 are detachably connected; the combustion chamber 120 for accommodating moxa sticks of different specifications has accommodating portions 121 of different specifications. One combustion chamber 120 of a predetermined specification is installed on the main body 110 at a time, so that the combustion chamber 120 is hinged to the main body 110.

[0059] Refer to Figure 3 , Figure 4 and Figure 5 , the combustion chamber 120 is slidably connected to the main body 110, and the combustion chamber 120 can move in the left-right direction shown in the figure. That is: Refer to Figure 3 , the combustion chamber 120 can slide to the right and open, so that the upper port of the accommodating portion 121 is far from the main body 110, the upper port of the accommodating portion 121 is opened, and a new moxa stick is put into the accommodating portion 121 through the upper port of the accommodating portion 121; then, the combustion chamber 120 slides to the left to reset.

[0060] In some embodiments of the present invention, the combustion chamber 120 can slide along the guiding insertion structure and then completely disengage from the main body 110, that is, the combustion chamber 120 is detachably connected to the main body 110. When it is necessary to replace the combustion chamber 120 of different specifications, the old combustion chamber 120 is driven to completely disengage from the main body 110.

[0061] In some embodiments of the present invention, a locking structure is further included, and the locking structure is used to fixedly connect the combustion chamber 120 and the main body 110. After the combustion chamber 120 is assembled in place on the main body 110, the locking structure fixedly connects the combustion chamber 120 and the main body 110. The locking structure can be an elastic clamping foot and a clamping block, or an elastic clamping foot and a clamping hole. One of the elastic clamping foot and the clamping block is arranged on the main body 110, and the other is arranged on the combustion chamber 120. The elastic clamping foot is used for snap-connecting with the clamping block. The locking structure can also be a hook and a clamping block. One of the hook and the clamping block is arranged on the main body 110, and the other is arranged on the combustion chamber 120. The hook is used for hooking the clamping block.

[0062] Refer to Figure 2 and Figure 3 , in some embodiments of the present invention, a smoke exhaust structure communicating with the accommodating portion 121 is provided on the peripheral wall of the combustion chamber 120. The main body 110 is provided with an electrical chamber, and the electrical chamber is located above the combustion chamber 120. The electrical chamber is used to accommodate electrical components and / or a circuit board 192. The main body 110 is provided with a ventilation hole for communicating with the electrical chamber. Electrical components and / or a circuit board 192 are provided on the main body 110. The combustion chamber 120 is connected to the lower end of the main body 110, and the burning end of the moxa stick is far from the electrical components. The moxa smoke carrying a certain temperature is discharged outward through the side of the combustion chamber 120, and the high-temperature moxa smoke is also far from the electrical components. The electrical components work in a more suitable environment, and the present invention more effectively ensures the service life of the electrical components.

[0063] In some embodiments of the present invention, the smoke filtering mechanism 400 is directly connected to the smoke exhaust structure on the combustion chamber 120 through a smoke exhaust pipe.

[0064] Refer to Figure 2 , Figure 3 , Figure 9 and Figure 10, in some embodiments of the present invention, the tool head 100 further includes a mandrel 130. The mandrel 130 is provided with a second blind hole 131 for accommodating moxa sticks. The mandrel 130 is detachably inserted into the receiving portion 121, and the second blind hole 131 faces downward. A smoke chamber 132 surrounding the second blind hole 131 is provided inside the wall of the mandrel 130. A smoke inlet hole 133 communicating with the smoke chamber 132 is provided at the lower end of the mandrel 130. A first smoke exhaust hole 134 communicating with the smoke chamber 132 is provided on the outer peripheral wall of the mandrel 130. The combustion chamber 120 is provided with a second smoke exhaust hole 122 for docking with the first smoke exhaust hole 134. The second smoke exhaust hole 122 is used to connect one end of the smoke exhaust pipe. A smoke chamber 132 surrounding the second blind hole 131 is provided inside the wall of the mandrel 130. It can be understood that: the wall of the mandrel 130 is approximately a double-layer wall, and this double-layer wall has a slit cavity, and this slit cavity is the smoke chamber 132. The mandrel 130 is used to accommodate moxa sticks. The moxa stick is in a burning state during moxibustion. The burning moxa stick generates high-temperature smoke. The smoke passes through the smoke inlet hole 133 and the smoke chamber 132 of the mandrel 130 in sequence, and then is discharged outward. Therefore, on the tool head 100, the mandrel 130 is used for burning moxa sticks, and the mandrel 130 is subjected to high-temperature baking. The mandrel 130 is detachably connected to the combustion chamber 120. The mandrel 130 is used as a consumable and is replaced irregularly / regularly. Other structures of the tool head 100 are reused. The smoke chamber 132 is also used for oil absorption and dust collection. When the moxa stick burns and generates a certain amount of oil fume and even raises a certain amount of small particulate soot, the oil fume and small dust can enter the smoke chamber 132; when the smoke chamber 132 is connected to a smoke filtering mechanism, the oil fume and small dust mainly flow toward the smoke filtering mechanism. When a certain amount of oil or a certain amount of soot accumulates in the smoke chamber 132, or when the mandrel is thermally damaged and deformed to a certain extent, the mandrel is replaced.

[0065] In some embodiments of the present invention, the smoke filtering mechanism 400 is directly connected to the second smoke exhaust hole 122 on the combustion chamber 120 through a smoke exhaust pipe.

[0066] Refer to Figure 2 and Figure 3 , the second smoke exhaust hole 122 is a transition hole. The second smoke exhaust hole 122 is directly connected to the end of the smoke exhaust pipe or docks with the third smoke exhaust hole 141 described below. The second smoke exhaust hole 122 is a transition hole and can be easily cleaned. Preferably, the second smoke exhaust hole 122 is a straight through hole so that a cleaning brush / cloth can pass through it straight.

[0067] Refer to Figure 6 , the combustion chamber 120 is hinged to the main body portion 110, and the combustion chamber 120 can swing along the W direction shown in the figure. That is: refer to Figure 6 , the combustion chamber 120 can be opened clockwise around the hinge axis, so that the upper port of the receiving portion 121 is far away from the main body portion 110. The upper port of the receiving portion 121 is opened. After a new moxa stick is placed in the mandrel 130, the mandrel 130 is placed into the receiving portion 121 through the upper port of the receiving portion 121; the combustion chamber 120 can be reset counterclockwise around the hinge axis. Refer toFigure 3 , Figure 4 and Figure 5 , the combustion chamber 120 is slidably connected to the main body 110, and the combustion chamber 120 can move in the left - right direction as shown in the figure. That is: referring to Figure 3 , the combustion chamber 120 can slide to the right to open, so that the upper port of the accommodating part 121 is far away from the main body 110, the upper port of the accommodating part 121 is opened. After the new moxa stick is placed on the mandrel 130, the mandrel 130 is placed into the accommodating part 121 through the upper port of the accommodating part 121; then, the combustion chamber 120 slides to the left to reset.

[0068] Because the combustion chamber 120 is easy to open, the mandrel 130, which is a consumable for accommodating the moxa stick, is easy to be replaced; by unscrewing / pushing open the combustion chamber 120, the consumable mandrel 130 can be replaced and / or the mandrel 130 can be taken out and a new moxa stick can be loaded.

[0069] Referring to Figure 2 and Figure 3 , in some embodiments of the present invention, the main body 110 is provided with a downwardly protruding adapter 140. The adapter 140 is provided with a docking surface that cooperates with the outer peripheral wall of the combustion chamber 120. A third smoke exhaust hole 141 is provided on the adapter 140. The third smoke exhaust hole 141 is used to dock with the second smoke exhaust hole 122 on the combustion chamber 120, and one end of the smoke exhaust pipe is connected to the third smoke exhaust hole 141.

[0070] Referring to Figure 2 and Figure 3 , in some embodiments of the present invention, a temperature - measuring sensor 191 is provided at the lower end of the adapter 140. The temperature - measuring sensor 191 is obliquely arranged so that the measuring end of the temperature - measuring sensor 191 biases towards the axis of the accommodating part 121.

[0071] Referring to Figure 2 and Figure 3 , further, the third smoke exhaust hole 141 is a stepped hole, and the end of the third smoke exhaust hole 141 close to the aforementioned second smoke exhaust hole 122 is lower. The moxa smoke is guided from the second smoke exhaust hole 122 to the third smoke exhaust hole 141. During the upward movement of the moxa smoke in the third smoke exhaust hole 141, the larger - sized soot settles. This structure reduces the amount of soot in the moxa smoke exported outward; when the third smoke exhaust hole 141 is connected to the smoke exhaust pipe, it can effectively reduce the amount of soot in the moxa smoke flowing into the smoke exhaust pipe.

[0072] Referring to Figure 2 , Figure 3 , Figure 9 and Figure 10, in some embodiments of the present invention, a filter plate is provided on the mandrel 130, and a plurality of smoke inlet holes 133 are provided on the filter plate. The plurality of smoke inlet holes 133 surround the second blind hole 131. That is, the smoke inlet holes 133 are the filtering holes of the filter plate. The smoke inlet holes 133 are used to introduce flue gas into the smoke chamber 132, and the filter plate is used to filter the flue gas. When the moxa stick burns, a certain amount of soot is generated. When the soot drifts towards the position of the smoke inlet holes 133, it is blocked and cannot pass through the filter plate. The plurality of smoke inlet holes 133 surround the second blind hole 131. The moxa stick in the second blind hole 131 burns, and the moxa smoke generated by the moxa stick is introduced into the smoke chamber 132 through the circumferential smoke inlet holes 133; the plurality of smoke inlet holes 133 surround the second blind hole 131, and the moxa smoke generated by the moxa stick can be discharged more quickly.

[0073] In some embodiments of the present invention, the mandrel 130 is made of one of PPS plastic, PPS with glass fiber, nylon, nylon with glass fiber, stainless steel, aluminum, aluminum alloy, and tinplate. PPS plastic is an existing material, abbreviated as PPS; PPS with glass fiber is an existing material, also known as reinforced PPS; nylon with glass fiber is an existing material, also known as reinforced nylon.

[0074] Refer to Figure 2 , Figure 3 , Figure 9 and Figure 10 , in some embodiments of the present invention, the mandrel 130 includes an inner cylinder 135 and an outer cylinder 136 sleeved on the inner cylinder 135. The inner cylinder 135 and the outer cylinder 136 define the smoke chamber 132. The smoke inlet holes 133 are provided on the inner cylinder 135 and / or the outer cylinder 136, and the second smoke exhaust hole 122 is provided on the outer cylinder 136. The mandrel 130 needs to be provided with complex structures such as the smoke chamber 132 and a plurality of smoke inlet holes 133. Since the mandrel 130 is composed of the inner cylinder 135 and the outer cylinder 136, the smoke chamber 132 is defined by the inner cylinder 135 and the outer cylinder 136, and the smoke inlet holes 133 are provided on the inner cylinder 135 and / or the outer cylinder 136. The independent inner cylinder 135 and outer cylinder 136 are more convenient for processing, and the processed inner cylinder 135 and outer cylinder 136 can be combined into a mandrel 130 with a complex structure.

[0075] In some embodiments, refer to Figure 9 , the inner cylinder 135 and the outer cylinder 136 are in the shape of a simple stepped shaft, and the inner cylinder 135 and the outer cylinder 136 define the smoke chamber 132. In some embodiments, the inner cylinder 135 is in the shape of a stepped shaft, the smoke inlet holes 133 are provided on the stepped portion of the inner cylinder 135, the outer cylinder 136 is in the shape of a straight cylinder or a stepped shaft, and the inner cylinder 135 and the outer cylinder 136 define the smoke chamber 132.

[0076] Refer to Figure 2 , Figure 3 and Figure 8In some embodiments of the present invention, a retaining frame 150 is detachably connected to the lower end of the combustion chamber 120 or the lower end of the mandrel 130. The retaining frame 150 is used to support the burning end of the moxa stick. When the retaining frame 150 is severely damaged by burning, the retaining frame 150 is replaced. After lighting the moxa stick at the lower end and placing it properly on the mandrel 130, the mandrel 130 and the moxa stick are synchronously placed into the combustion chamber 120. The burning end of the moxa stick is supported on the retaining frame 150. The retaining frame 150 is a hollow frame or a wire frame, etc., so that the burning end of the moxa stick will not be extinguished due to lack of oxygen; the retaining frame 150 can be a perforated plate, a cross shape, or a rice shape, etc.

[0077] Referring to Figure 2 , Figure 3 and Figure 8 , in some embodiments of the present invention, a retaining frame 150 is detachably connected to the lower end of the combustion chamber 120. The retaining frame 150 is arranged at the lower port of the accommodating part. A silica gel ring 180 is arranged at the lower end of the combustion chamber 120, and the silica gel ring 180 surrounds the lower port of the accommodating part. The silica gel ring 180 can be abutted against the human body, giving a relatively soft and comfortable tactile sensation. The process of the silica gel ring 180 abutting against the human body is also a buffering process. The silica gel ring 180 is below the retaining frame, and the silica gel ring 180 is lower than the retaining frame. When the silica gel ring 180 abuts against the human skin, even the hot retaining frame cannot touch the human body. Preferably, the lower end of the silica gel ring 180 is wavy.

[0078] Referring to Figure 6 , the combustion chamber 120 is hinged to the main body part 110, and the combustion chamber 120 can swing along the W direction shown in the figure. That is: referring to Figure 6 , the combustion chamber 120 can be opened clockwise around the hinge axis, so that the upper port of the accommodating part 121 is far away from the main body part 110. The upper port of the accommodating part 121 is opened. After a new moxa stick is placed on the mandrel 130, the mandrel 130 is placed into the accommodating part 121 through the upper port of the accommodating part 121. The placed mandrel 130 and the new moxa stick are supported on the retaining frame 150.

[0079] In some embodiments of the present invention, the combustion chamber 120 is provided with a tapered hole / stepped hole for inserting the mandrel 130. The lower end of the tapered hole / stepped hole faces downward, and the moxa stick is supported on the inner wall of the tapered hole / stepped hole.

[0080] Referring to Figure 3, in some embodiments of the present invention, the main body 110 is provided with a second detector 111, and the combustion chamber 120 is provided with a measured part, where the measured part is an air avoidance opening or a measured plate. The movement of the combustion chamber 120 makes the measured part move away from or close to the second detector 111. The second detector 111 can be a mechanical switch, which has a static contact piece and a moving contact piece inside. When the measured part pushes the moving contact piece to electrically connect the moving contact piece with the static contact piece, the mechanical switch is turned on. For example, common push-button switches, travel switches, and touch switches (contact switches); the second detector 111 can also be a switch (sensor) in a sensing manner, such as common Hall sensors, photosensitive sensors, and force-sensitive sensors. The second detector 111 can be a normally open switch or a normally closed switch, that is, when the second detector 111 is not touched by an external structure or does not sense an external structure, the inside of the second detector 111 is normally open or normally conducting. When the second detector 111 is touched by an external structure or senses an external structure, the state of the second detector 111 changes (that is, the second detector 111 has a detection), and the controller electrically connected to the second detector 111 receives an electrical signal. The air avoidance opening is generally a hole or notch formed in the housing of the main body 110; the measured plate can be an independent small piece or a part of the housing of the main body 110. When the combustion chamber 120 is assembled in place on the main body 110, the second detector 111 has a detection, and the controller electrically connected to the second detector 111 receives an electrical signal.

[0081] In some embodiments of the present invention, the combustion chamber 120 and the main body 110 are detachably connected; there are m combustion chambers 120, where m≥2, and the m combustion chambers 120 are respectively filled with moxa sticks of different specifications; the main body 110 is provided with m second detectors 111, and the combustion chamber 120 is provided with an air avoidance opening and a measured plate; in the air avoidance opening and the measured plate of a single combustion chamber 120, one is provided with one, and the other is provided with m - 1, and both the air avoidance opening and the measured plate correspond to the second detector 111 one by one. It can be understood that m is used to represent the number of actual objects, and m is an integer. The m combustion chambers 120 are used to place moxa sticks of different specifications. The predetermined combustion chamber 120 is provided with the aforementioned "one" at a predetermined position, the aforementioned "one" corresponds to a predetermined second detector 111, and the aforementioned "the other" corresponds to other second detectors 111. These m second detectors 111 form a microswitch structure; when the predetermined second detector 111 has a detection and the other second detectors 111 do not have a detection, the controller determines that the currently assembled combustion chamber 120 is of a certain predetermined specification.

[0082] Refer to Figure 2 and Figure 3, in some embodiments of the present invention, a slider 161 is slidably connected to the main body portion 110. A first detection member 162 is connected to the slider 161. The first detection member 162 includes a temperature measurement sensor 191 and / or a distance measurement sensor. The slider 161 is used to drive the first detection member 162 away from or close to the accommodating portion 121. The combustion chamber 120 is provided with a first avoidance through hole 123, and the first avoidance through holes 123 are arranged corresponding to the positions below the first detection members 162 one by one. The slider 161 can slide on the housing. When the slider 161 moves, the distance between the slider 161 and the accommodating portion 121 changes. The slider 161 and the first detection member 162 can be arranged inside or on the outer wall of the housing. In the field of moxibustion, the temperature measurement sensor 191 is used to detect the temperature of the human skin or the burning end of the moxa stick, and the distance measurement sensor is used to measure the distance from the measuring point on the human skin. Since the first detection member 162 can be away from or close to the accommodating portion 121, and the accommodating portion 121 is used to accommodate the moxa stick, when the tool head 100 is used for moxibustion on affected areas of different areas, the distance between the first detection member 162 and the accommodating portion 121 can be adjusted. The moxa stick in the accommodating portion 121 can moxibust the affected area, and the first detection member 162 can also sense the affected area.

[0083] Referring to Figure 2 and Figure 3 , in some embodiments of the present invention, at least three sliders 161 are provided. The first detection members 162 are connected to the sliders 161 one by one. The at least three sliders 161 are distributed circumferentially around the accommodating portion 121. The first detection member 162 is a temperature measurement sensor 191. The at least three temperature measurement sensors 191 measure the temperatures at at least three different points, and the at least three temperatures determine a temperature distribution situation around the axis of the accommodating portion 121. The first detection member 162 is a distance measurement sensor. The at least three distance measurement sensors measure the distances from at least three different points to the tool head 100. The positions of each point and the tool head 100 are determined. According to the principle that a plane can be determined by three non-collinear points, the corresponding plane is determined by the at least three points with determined positions. This plane approximately represents the local surface of the human skin to be moxibusted. The controller changes the position and / or posture of the robotic arm 500 and the tool head 100 according to this plane model.

[0084] In some embodiments of the present invention, the slider 161 moves away from or close to the accommodating portion 121 along the radial direction of the accommodating portion 121. In some embodiments of the present invention, the slider 161 moves away from or close to the accommodating portion 121 along a chord path (for a circle, a chord is a straight line that does not pass through the center of the circle).

[0085] Referring to Figure 2 and Figure 3, in some embodiments of the present invention, the slider 161 and the first detecting member 162 are disposed in the inner cavity of the main body portion 110, and the main body portion 110 is provided with a second avoiding through hole 112, and the second avoiding through holes 112 are disposed corresponding to the lower sides of the first detecting members 162 one by one.

[0086] Refer to Figure 2 and Figure 3 , in some embodiments of the present invention, it further includes an adjusting mechanism disposed on the main body portion 110, the adjusting mechanism is connected to the slider 161, and the adjusting mechanism is used to drive the slider 161 to move away from or close to the accommodating portion 121.

[0087] Refer to Figure 2 and Figure 3 , in some embodiments of the present invention, the adjusting mechanism includes a rotating member 171 and an elastic member 172, the rotating member 171 is rotatably connected to the outer wall of the main body portion 110, the rotating member 171 is drivingly connected to the slider 161, the rotating member 171 is used to drive the slider 161 to approach the accommodating portion 121, one end of the elastic member 172 is connected to the main body portion 110, and the other end is connected to the corresponding slider 161, and the elastic member 172 is used to drive the slider 161 to move away from the accommodating portion 121. The elastic member 172 can be a spring, an elastic plastic part, a disc spring, a torsion spring, a coil spring, etc.

[0088] The rotating member can be a rotating cylinder, the rotating cylinder is sleeved on the outer wall of the main body portion 110, and the rotating cylinder is provided with an arc edge for driving the slider 161 to approach the accommodating portion 121. A rotating ring, a turntable, etc. are equivalent replacements of the rotating member 171. The structure of the rotating cylinder refers to Figure 7 , the rotating cylinder is in tight fit with the housing, the rotating member 171 can stay at a certain rotating position, when the operator drives the rotating member 171 to retreat and reset, the elastic member 172 drives the slider 161 to move away from the accommodating portion 121, and the distance between the first detecting member 162 and the accommodating portion 121 is increased.

[0089] The rotating member can also be a gear disk, a rotating shaft, etc.

[0090] , in some embodiments of the present invention, at least two marks are provided on the outer wall of the housing, the at least two marks are distributed along the circumferential direction of the rotating member 171, a pointer is provided on the rotating member 171, and the pointer can point to different marks during the rotation of the rotating member 171. When the rotating member 171 rotates to make the pointer point to one of the marks, the first detecting member 162 is at a certain predetermined distance from the accommodating portion 121, marking that: at this time, a combustion chamber 120 of a predetermined specification should be assembled onto the main body portion 110.

[0091] In some embodiments of the present invention, the positioning mechanism includes a positioning motor and at least one transmission structure. The positioning motor is connected to the main body portion 110. One end of the transmission structure is drivingly connected to the positioning motor, and the other end is drivingly connected to the corresponding slider 161. The positioning motor drives the transmission structure, and the transmission structure drives the slider 161 to move away from or close to the accommodating portion 121. Therefore, the first detection member 162 is mechanically and electrically driven, and the first detection member 162 can be more accurately moved to a predetermined position. At least three sliders 161 are provided, and the first detection members 162 are connected to the sliders 161 in a one-to-one correspondence. The at least three sliders 161 are circumferentially distributed around the accommodating portion 121, and the positioning motor can drive the at least three first detection members 162 to synchronously move away from or close to the accommodating portion 121. The transmission structure can be a crank-slider structure. The transmission structure includes a connecting rod and a crank. The crank is connected to the output shaft of the positioning motor. One end of the connecting rod is hinged to the slider 161, and the other end is hinged to the eccentric point on the crank (the connection point between the output shaft of the positioning motor and the crank is the rated center). The transmission structure can be a gear-rack structure. The gear is connected to the output shaft of the positioning motor, and the rack is connected to the corresponding slider 161. The rack and the slider 161 move along the radial direction of the output shaft of the positioning motor. The transmission structure can also be other structures.

[0092] Referring to Figure 1 and Figure 11 , in some embodiments of the present invention, the ash removal mechanism 300 includes an isolation cover 310 and an ash receiving box 320. An opening is provided at the upper end of the isolation cover 310, and the tool head 100 can be placed into the opening. The ash receiving box 320 is communicated with the lower end of the isolation cover 310. A dusting air nozzle 330 is provided in the isolation cover 310. The dusting air nozzle 330 is communicated with an air source mechanism, and the dusting air nozzle 330 is used for blowing air towards the moxa stick. The burning end of the moxa stick is placed into the isolation cover 310 from the opening of the isolation cover 310. The air source mechanism introduces gas into the dusting air nozzle 330, and the gas is ejected onto the burning end of the moxa stick, causing the ash on the burning end of the moxa stick to fall off. The gas ejected while ejecting the gas onto the burning end of the moxa stick makes the moxa stick burn more vigorously. The ash on the burning end of the moxa stick is blown off by the jetting method, and the ash quickly falls off, making the burning end of the moxa stick burn more vigorously and the ash on the burning end of the moxa stick fall off more cleanly. There is no impact damage caused by hitting and shaking the ash, and no extinguishing damage caused by scraping the burning end of the moxa stick. The ash removal by the air flow jetting method is also faster. After the ash is quickly removed, the moxa stick can return to the moxibustion step / process faster. More time during the burning process of the moxa stick can be applied to the moxibustion step / process, effectively shortening the waiting time of the patient and effectively ensuring the moxibustion effect. The moxa stick can be placed into the isolation cover 310. After the moxa stick is placed into the isolation cover 310, the ash is driven to fall off, and the ash is not easily scattered outward. The ash receiving box 320 is connected to the lower end of the isolation cover 310, and the fallen ash can be away from the isolation cover 310 and settle into the ash receiving box 320, and the isolation cover 310 can receive new ash.

[0093] Referring toFigure 1 and Figure 11 In some embodiments of the present invention, the isolation cover 310 is in a columnar or frustum shape, with an opening provided at one end of the isolation cover 310. A plurality of ash-blowing nozzles 330 are provided, and the plurality of ash-blowing nozzles 330 are distributed circumferentially along the isolation cover 310 in the isolation cover 310. The isolation cover 310 can be cylindrical, prismatic, etc., and one end of the isolation cover 310 is the upper or lower base of the columnar shape. For example, at least two ash-blowing nozzles 330 surround the moxa stick. Since the gas has a certain flexibility, the at least two ash-blowing nozzles 330 can remove the soot more cleanly.

[0094] In some embodiments of the present invention, the air source mechanism is simply an air pump, and the air pump is connected to the ash-blowing nozzle.

[0095] In some embodiments of the present invention, the air source mechanism includes a on-off valve, a constant-pressure gas tank and an air pump, and the ash-blowing nozzle 330, the on-off valve, the constant-pressure gas tank and the air pump are connected in sequence. The air pump is connected to the constant-pressure gas tank through an overflow valve or the constant-pressure gas tank is provided with an overflow structure. By adjusting the overflow valve / overflow structure, the overflow valve / overflow structure sets a rated air pressure. The air pump imports gas into the constant-pressure gas tank. When the pressure in the constant-pressure gas tank reaches the rated value, the constant-pressure gas tank maintains this air pressure, the air pump stops or overflows outward through the overflow valve / overflow structure. When removing ash, the on-off valve is opened, and a stream of air collected by the constant-pressure gas tank is instantaneously released. This stream of air quickly sprays the burning end of the moxa stick, causing the soot at the burning end of the moxa stick to quickly fall off and the burning end of the moxa stick to burn more vigorously instantaneously. The method of instantaneously spraying with a certain air pressure can quickly and cleanly remove the soot and make the moxa stick burn more vigorously.

[0096] Refer to Figure 1 and Figure 11 In some embodiments of the present invention, a funnel is connected to the lower end of the isolation cover 310, and the isolation cover 310 is connected to the ash-receiving box 320 through the funnel. The soot detached from the burning end of the moxa stick can be guided and settled into the ash-receiving box 320 by the funnel in a relatively large amount, reducing the accumulation amount of soot at the bottom of the isolation cover 310; the soot flow between the isolation cover 310 and the ash-receiving box 320 is smoother.

[0097] Refer to Figure 1 and Figure 11, in some embodiments of the present invention, the ash removal mechanism 300 includes an isolation cover 310 and an ash receiving box 320. The upper end of the isolation cover 310 is provided with an opening into which the tool head 100 can be inserted. The ash receiving box 320 communicates with the lower end of the isolation cover 310. An impact member is provided in the isolation cover 310. The impact member is connected to a dusting power member, and the dusting power member is connected to the isolation cover 310. The dusting power member is used to drive the impact member to make the impact member contact the moxa stick. The dusting power member can simply be a cylinder, a hydraulic cylinder or an electric cylinder. The impact member is connected to the output shaft of the cylinder block, and the impact member is even slidably connected to the isolation cover 310. The impact member can also be hinged to the isolation cover 310 in the middle. One end of the impact member is pushed by the output shaft of the cylinder block, and the other end of the impact member is used to contact the moxa stick. The impact member is also connected to an elastic reset member. During the dusting process, the burning end of the moxa stick is inserted into the isolation cover 310 through the opening of the isolation cover 310. Under the drive of the dusting power member, the impact member contacts the moxa stick, and the moxa stick shakes and the ash on the moxa stick falls off.

[0098] The isolation cover 310 is provided, and the moxa stick can be inserted into the isolation cover 310. After the moxa stick is inserted into the isolation cover 310, dusting / air jet dusting is performed. The ash is trapped in the isolation cover 310 and is not easily scattered outward. The ash receiving box 320 is connected to the lower end of the isolation cover 310. The fallen ash can settle and move away from the isolation cover 310, and the isolation cover 310 can receive new ash.

[0099] Refer to Figure 2 , Figure 3 and Figure 8 , in some embodiments of the present invention, an ash removal window 124 is provided on the peripheral wall of the main body portion 110. The ash removal window 124 communicates with the accommodating portion 121 and corresponds to the lower end of the moxa stick in the accommodating portion 121. The impact member can contact the moxa stick through the ash removal window 124, and the dusting air nozzle can jet gas through the ash removal window 124 to make the ash separate from the moxa stick.

[0100] In some embodiments of the present invention, a retaining frame 150 is detachably and rotatably connected to the lower end of the combustion chamber 120. The retaining frame 150 shields the lower port of the accommodating portion 121 and is used to support the moxa stick. The retaining frame 150 is in the shape of a sleeve. An ash removal window 124 is provided on the peripheral wall of the retaining frame 150. The ash removal window 124 communicates with the accommodating portion 121 and corresponds to the lower end of the moxa stick in the accommodating portion 121. The impact member can contact the moxa stick through the ash removal window 124, and the dusting air nozzle can jet gas through the ash removal window 124 to make the ash separate from the moxa stick.

[0101] In some embodiments, the ash removal window 124 is connected with a barrier net, and the barrier net is connected to the port position or the middle position in the axial direction of the ash removal window 124. Preferably, the barrier net is connected to the inner port of the ash removal window 124, that is: the barrier net is connected to the inner wall of the accommodating portion 121.

[0102] Refer to Figure 1 andFigure 11 In some embodiments of the present invention, the isolation cover 310 includes a cylindrical portion 311 and a cover 312, and an opening is provided in the cover 312; the opening is adapted to the moxa stick or the tool head 100.

[0103] Refer to Figure 1 and Figure 11 In some embodiments of the present invention, the ash receiving box 320 is connected to the isolation cover 310 through a connecting pipe 350, the connecting pipe 350 is connected to a negative pressure mechanism 360, and a filter element 370 is provided at the position where the connecting pipe 350 is connected to the negative pressure mechanism 360. The negative pressure mechanism 360 can simply be a negative pressure pump, or can simply be a negative pressure valve, or other structures. The isolation cover 310 has an opening, and the ash receiving box 320 is a closed member connected to the isolation cover 310; therefore, the ash separates from the burning end of the moxa stick and enters the isolation cover 310, and then under the negative pressure drive of the negative pressure mechanism 360, the ash quickly leaves the isolation cover 310 and then settles into the ash receiving box 320 according to the flow inertia, and the isolation cover 310 will receive new ash.

[0104] In some embodiments of the present invention, the filter element 370 is in the shape of a sleeve, the filter element 370 is accommodated in the connecting pipe 350, and the negative pressure mechanism 360 is connected to the peripheral wall of the connecting pipe 350.

[0105] Refer to Figure 1 and Figure 11 In some embodiments of the present invention, at least one barrier ring piece 380 is provided in the isolation cover 310, and the at least one barrier ring piece 380 is arranged along the axial direction of the isolation cover 310. By providing the isolation ring piece, the backflow of ash is effectively prevented, and the ash is effectively prevented from spreading out through the opening.

[0106] Refer to Figure 1 and Figure 11 In some embodiments of the present invention, the isolation ring piece is an inverted cone, and the peripheral wall of the cone is concave towards the axis.

[0107] In some embodiments of the present invention, the smoke filtering mechanism 400 includes a filter element 410 and a positive pressure blower connected to the input end of the filter element 410.

[0108] Refer to Figure 1 In some embodiments of the present invention, the smoke filtering mechanism 400 includes a filter element 410 and a negative pressure smoking blower 420 connected to the output end of the filter element 410.

[0109] The filter element 410 includes a housing and a filter element disposed therein. The filter element is removably connected to the housing, and can even be removably connected to the chassis 200. The filter element includes multiple layers of filter discs, including an ash filter, a grease absorber, and an odor absorber. The ash filter can be made of steel mesh, aluminum mesh, sponge, cloth, etc. The grease absorber can be made of electrostatic cloth, oil-absorbing cotton, or a honeycomb porous plate. The honeycomb porous plate can be made of ceramic or a polymer. The negative pressure exhaust fan 420 drives the smoke from the tool head 100 into the exhaust pipe. The smoke from the exhaust pipe is filtered by the filter element 410 and then discharged from the negative pressure exhaust fan 420. The negative pressure method drives the smoke into the filter element; compared to the positive pressure method, the power to drive the smoke into the filter element is greater. In the positive pressure mode, the flue gas first passes through the fan and then is directed to the filter element. The fan is easily contaminated and damaged. In the negative pressure mode, the flue gas first passes through the filter element and then passes through the fan. The gas directed to the fan is relatively clean, the fan is not easily contaminated, and the fan can work stably for a long time.

[0110] Reference Figure 1 In some embodiments of the present invention, the smoke filter mechanism 400 further includes a sound-absorbing structure 430. The sound-absorbing structure 430 includes a coiled tube and a sound-absorbing layer disposed on the inner wall of the coiled tube. One end of the coiled tube is connected to the output end of the negative pressure smoke blower 420. The sound-absorbing layer can be made of cloth, cotton, or sponge.

[0111] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the scope of the present invention.

[0112] The present invention discloses a moxibustion instrument. The tool head is provided with a receiving portion for accommodating moxa sticks. The receiving portion extends through the lower end of the tool head and even extends through the upper end of the tool head. The chassis is provided with an ash removal mechanism and a smoke filter mechanism. The ash removal mechanism is used to remove smoke ash from the moxa sticks in the receiving portion. One end of a robotic arm is connected to the chassis and the other end is connected to the tool head. A smoke exhaust pipe is connected to the robotic arm. One end of the smoke exhaust pipe is connected to the receiving portion and the other end is connected to the smoke filter mechanism. Moxibustion is performed mechanically and automatically. The robotic arm flexibly drives the tool head to perform moxibustion and remove ash. The smoke filter mechanism and the ash removal mechanism are arranged in the chassis. The tool head is configured to be more lightweight and compact. The tool head can perform moxibustion on a smaller affected area and can be closer to human skin. The relatively compact tool head does not cause a sense of pressure on the patient. The ash removal mechanism and the smoke filter mechanism are concentrated in the chassis, making it more convenient to empty ash, replace filter elements, and clean the mechanism.

Claims

1. A moxibustion instrument, characterized in that: Comprising: A tool head provided with a receiving portion for receiving moxa sticks, and the receiving portion penetrates through the lower end of the tool head; A chassis provided with an ash removal mechanism and a smoke filtering mechanism, and the ash removal mechanism is used to remove the ash of the moxa stick in the receiving portion; A robotic arm, one end of the robotic arm is connected to the chassis, and the other end is connected to the tool head; A smoke exhaust pipe connected to the robotic arm, one end of the smoke exhaust pipe is used to communicate with the receiving portion, and the other end is used to communicate with the smoke filtering mechanism; The tool head includes a main body portion and a combustion chamber, the receiving portion is arranged in the combustion chamber, and the receiving portion is a through hole penetrating through the upper and lower ends of the combustion chamber or a first blind hole with an opening facing downwards. The combustion chamber is movably connected to the lower end of the main body portion, and the movement of the combustion chamber causes the upper end of the combustion chamber to be covered by the main body portion or to be away from the main body portion; The tool head further includes a core shaft, the core shaft is provided with a second blind hole for receiving the moxa stick, the core shaft is detachably inserted into the receiving portion, the second blind hole faces downwards, a smoke cavity surrounding the second blind hole is arranged inside the wall of the core shaft, a smoke inlet hole communicating with the smoke cavity is arranged at the lower end of the core shaft, a first smoke exhaust hole communicating with the smoke cavity is arranged on the outer peripheral wall of the core shaft, and the combustion chamber is provided with a second smoke exhaust hole for docking with the first smoke exhaust hole, and the second smoke exhaust hole is used to communicate with one end of the smoke exhaust pipe; The core shaft includes an inner cylinder and an outer cylinder sleeved on the inner cylinder, and the inner cylinder and the outer cylinder define the smoke cavity. The smoke inlet hole is arranged on the inner cylinder and / or the outer cylinder, and the second smoke exhaust hole is arranged on the outer cylinder.

2. The moxibustion instrument according to claim 1, wherein The tool head includes a main body portion and a combustion chamber detachably connected to the main body portion. The receiving portion is arranged in the combustion chamber, and the receiving portion penetrates through the lower end of the combustion chamber. A baffle is detachably screwed to the lower end of the combustion chamber, and the baffle blocks the lower port of the receiving portion. The baffle is used to support the moxa stick.

3. The moxibustion instrument according to claim 1, characterized in that, A filter plate is arranged on the core shaft, and a plurality of the smoke inlet holes are arranged on the filter plate, and the plurality of smoke inlet holes surround the second blind hole.

4. The moxibustion instrument according to claim 1, characterized in that, The core shaft is made of one of PPS plastic, PPS with glass fiber, nylon, nylon with glass fiber, stainless steel, aluminum, aluminum alloy and tinplate.

5. The moxibustion instrument according to any one of claims 1 to 4, characterized in that, The main body portion is provided with a second detection member, and the combustion chamber is provided with a measured part, and the measured part is an avoidance opening or a measured plate. The movement of the combustion chamber causes the measured part to be away from or close to the second detection member.

6. The moxibustion apparatus according to claim 5, wherein, The combustion chamber and the main body portion are detachably connected; there are m combustion chambers, m≥2, and the m combustion chambers respectively place moxa sticks of different specifications; the main body portion is provided with m second detection members, and the combustion chamber is provided with the avoidance opening and the measured plate; in the avoidance opening and the measured plate of a single combustion chamber, one is provided with one, and the other is provided with m-1, and the avoidance opening and the measured plate both correspond to the second detection member one by one.

7. The moxibustion instrument according to any one of claims 1 to 4, characterized in that, A slider is slidably connected to the main body portion. A first detection member is connected to the slider. The first detection member includes a temperature measurement sensor and / or a distance measurement sensor. The slider is used to drive the first detection member away from or close to the accommodation portion. The combustion chamber is provided with a first avoidance through hole, and the first avoidance through holes are correspondingly arranged below the first detection members one by one.

8. The moxibustion instrument according to claim 7, characterized in that, At least three sliders are provided. The first detection members are correspondingly connected to the sliders one by one. The at least three sliders are circumferentially distributed around the accommodation portion.

9. The moxibustion instrument according to claim 7, characterized in that, The slider and the first detection member are arranged in the inner cavity of the main body portion. The main body portion is provided with a second avoidance through hole, and the second avoidance through holes are correspondingly arranged below the first detection members one by one.

10. The moxibustion instrument according to claim 7, characterized in that, It further includes an adjustment mechanism. The adjustment mechanism includes a rotating member and an elastic member. The rotating member is rotatably connected to the outer wall of the main body portion. The rotating member is in transmission connection with the slider. The rotating member is used to drive the slider close to the accommodation portion. One end of the elastic member is connected to the main body portion, and the other end is connected to the corresponding slider. The elastic member is used to drive the slider away from the accommodation portion.

11. The moxibustion device according to claim 7, characterized in that, It further includes an adjustment mechanism. The adjustment mechanism includes an adjustment motor and at least one transmission structure. The adjustment motor is connected to the main body portion. One end of the transmission structure is in transmission connection with the adjustment motor, and the other end is in transmission connection with the corresponding slider. The adjustment motor drives the transmission structure, and the transmission structure drives the slider away from or close to the accommodation portion.

12. The moxibustion instrument according to any one of claims 1 to 4, characterized in that, The ash removal mechanism includes an isolation cover and an ash receiving box. The upper end of the isolation cover is provided with an opening into which the tool head can be inserted. The ash receiving box communicates with the lower end of the isolation cover. A dust blowing nozzle is arranged in the isolation cover. The dust blowing nozzle is communicated with a gas source mechanism. The dust blowing nozzle is used to blow air towards the moxa stick.

13. The moxibustion instrument according to claim 12, characterized in that, An ash removal window is provided on the peripheral wall of the main body portion. The ash removal window communicates with the accommodation portion and corresponds to the lower end of the moxa stick in the accommodation portion.

14. The moxibustion apparatus according to claim 12, wherein, The gas source mechanism includes a on-off valve, a constant pressure gas tank and an air pump. The dust blowing nozzle, the on-off valve, the constant pressure gas tank and the air pump are communicated in sequence.

15. The moxibustion instrument according to claim 12, characterized in that, The ash receiving box is communicated with the isolation cover through a transfer pipe. The transfer pipe is communicated with a negative pressure mechanism. A filter element is arranged at the position where the transfer pipe is communicated with the negative pressure mechanism.

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