Automatic moxibustion device

Abstract

The present invention provides an automatic moxibustion device. The automatic moxibustion device comprises: a walking part, a moxa stick clamping part and a mechanical arm connected therebetween; wherein the moxa stick clamping part comprises: a housing provided with a moxa stick delivery channel; a vertical motion mechanism provided on one side of the moxa stick delivery channel and having a sliding block; and a moxa stick clamping mechanism connected to the sliding block and corresponding to the moxa stick delivery channel. Automatic moxibustion can be achieved without manual operation, thereby improving the moxibustion effect.

Description

Technical Field

[0001] The present invention relates to the technical field of moxibustion, and in particular to an automatic moxibustion device. Background Art

[0002] At present, most of the existing moxibustion methods are manually operated, that is, the operator holds the ignited moxa stick and places it on the part that needs to be burned. Of course, there are also some auxiliary moxibustion devices. However, these devices generally include a container for accommodating the moxa stick, and the outside of the container is provided with a hand-held part; the moxa stick is ignited in the container and then placed on the part that the user needs to burn.

[0003] The above-mentioned auxiliary moxibustion device also needs manual operation to control the distance between it and the human body part to avoid the moxibustion temperature being insufficient due to a large distance, or the user being scalded due to a small distance. It can be seen that when moxibustion is performed manually, not only is the moxibustion effect poor, but the labor cost is also high. Summary of the invention

[0004] The present invention solves the problems of poor effect and high labor cost of artificial moxibustion.

[0005] To solve the above problems, an embodiment of the present invention provides an automatic moxibustion device, comprising: a walking part, a moxa stick clamping part and a mechanical arm connected therebetween; wherein the moxa stick clamping part comprises: a shell, provided with a moxa stick delivery channel; a vertical motion mechanism, arranged on one side of the moxa stick delivery channel, having a sliding block; a moxa stick clamping mechanism, connected to the sliding block and corresponding to the moxa stick delivery channel.

[0006] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the walking part can control the movement of the automatic moxibustion device; the mechanical arm can drive the movement of the moxa stick clamping device; the moxa stick clamping mechanism can clamp the moxa stick, and the vertical motion mechanism drives the moxa stick clamping device to move up and down in the moxa stick conveying channel. It can be seen that the automatic moxibustion device can automatically control the up and down movement of the moxa stick and control the distance between the moxa stick and the human body part, thereby realizing automatic moxibustion, improving the moxibustion effect, and saving manual labor.

[0007] In one embodiment of the present invention, the vertical motion mechanism includes: a screw assembly, vertically arranged on one side of the moxa stick delivery channel, and provided with a moving surface facing the moxa stick delivery channel; wherein the sliding block is arranged on the moving surface; and a driver, connected to the side of the screw assembly away from the shell.

[0008] The technical effect achieved by adopting this technical solution is as follows: the driver drives the screw rod assembly to realize up and down movement in the vertical direction, and its moving surface is directed toward the moxa stick delivery channel, so that the slider can drive the moxa stick clamping mechanism to realize up and down movement.

[0009] In one embodiment of the present invention, the automatic moxibustion device further comprises: a barrier member, which covers the moving surface and is clamped between the slider and the moxa stick clamping mechanism.

[0010] The technical effect achieved by adopting this technical solution is that the barrier member covers the moving surface, which can prevent the smoke generated by burning moxa sticks from entering the interior of the screw assembly, and protect the screw and sliding block inside the screw assembly from being contaminated by the smoke.

[0011] In one embodiment of the present invention, the automatic moxibustion device further includes: two position sensors, respectively disposed at opposite ends of the vertical motion mechanism; and a sensing element, matched with the two position sensors and connected to the moxa stick clamping mechanism.

[0012] The technical effect achieved by adopting this technical solution is as follows: the two position sensors limit the movement range of the moxa stick clamping mechanism on the vertical movement mechanism; thereby the movement of the moxa stick clamping mechanism can be accurately controlled.

[0013] In one embodiment of the present invention, the shell is also provided with a plurality of mounting positions surrounding the moxa stick delivery channel; wherein the vertical motion mechanism is arranged at a first mounting position among the plurality of mounting positions; the automatic moxibustion device further comprises: at least one distance sensor, respectively installed at a plurality of second mounting positions among the plurality of mounting positions.

[0014] The technical effect achieved by adopting this technical solution is as follows: the distance sensor can detect the distance between the moxibustion clamping part and the part that needs moxibustion, which is also the distance between the ignited moxa stick and the part; thus, the moxa stick clamping mechanism can be controlled by the vertical motion mechanism to drive the ignited moxa stick to move, so that the distance between the ignited moxa stick and the part is appropriate.

[0015] In one embodiment of the present invention, the walking portion is provided with an opposite walking side and an arm connecting side; wherein the arm connecting side is provided with an inclined mounting surface; and the robotic arm is mounted to the inclined mounting surface.

[0016] The technical effect achieved by adopting this technical solution is that the inclined mounting surface can increase the motion range of the robotic arm.

[0017] In one embodiment of the present invention, the walking portion is provided with an arm connection side; and further comprises: a dust wiping portion, which is provided on the arm connection side.

[0018] The technical effect achieved by adopting this technical solution: during the use of the automatic moxibustion device, when the ignited moxa stick needs to be wiped off, the mechanical arm can be rotated and the automatic wiping action can be performed at the wiping part, so that unattended and fully automated moxibustion can be achieved.

[0019] In one embodiment of the present invention, the dust wiping part comprises: a dust wiping cavity and a plurality of dust wiping needles arranged in the dust wiping cavity.

[0020] The technical effect achieved by adopting this technical solution is: controlling the mechanical arm to drive the moxa stick clamping part to rotate, and allowing the end of the ignited moxa stick to extend into the ash wiping cavity, rub against the ash wiping needle, and the rubbed ashes are collected in the ash wiping cavity.

[0021] In one embodiment of the present invention, the walking part is provided with a moxibustion side and a back side opposite to each other; and further comprises: a counterweight block provided on the back side of the walking part.

[0022] The technical effect achieved by adopting this technical solution is as follows: when the mechanical arm moves on the moxibustion side, the counterweight block can ensure the stability of the automatic moxibustion device.

[0023] In one embodiment of the present invention, the robotic arm is provided with a connecting end pointing vertically downward; and further comprises: an arm adapter connected between the connecting end and the moxa stick clamping portion.

[0024] The technical effect achieved by adopting this technical solution is that the mechanical arm and the moxa stick clamping part are connected via an arm adapter, which can improve the flexibility of the moxa stick clamping part.

[0025] In summary, the above-mentioned embodiments of the present application may have one or more of the following advantages or beneficial effects: i) it is capable of automatically controlling the height of the ignited moxa stick, thereby adjusting the distance between it and the part requiring moxibustion, thereby realizing automatic moxibustion, improving the moxibustion effect, and saving labor costs; ii) it is capable of protecting the screw assembly; iii) it is capable of accurately determining the distance between the ignited moxa stick and the part requiring moxibustion, thereby better controlling the vertical motion mechanism and adjusting the movement of the moxa stick clamping part. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of the structure of an automatic moxibustion device 200 provided in an embodiment of the present invention.

[0027] Figure 2 for Figure 1 A side view of the automatic moxibustion device 200 is shown.

[0028] Figure 3 for Figure 1 A schematic structural diagram of the middle dust wiping portion 260.

[0029] Figure 4 for Figure 2 Schematic diagram of the connection between the middle moxa stick clamping part 100 and the arm adapter 110.

[0030] Figure 5a for Figure 4 A schematic diagram of the structure of the middle arm adapter 110 at one viewing angle.

[0031] Figure 5b for Figure 4 A schematic diagram of the structure of the middle arm adapter 110 from another perspective.

[0032] Figure 6 for Figure 4 A schematic structural diagram of the middle moxa stick clamping portion 100.

[0033] Figure 7 for Figure 6 The moxa stick shown is a bottom view of the moxa stick clamping portion 100.

[0034] Figure 8 for Figure 6 A schematic diagram of the internal structure of the moxa stick clamping portion 100 is shown.

[0035] Figure 9a for Figure 8 A schematic structural diagram of the middle housing 10.

[0036] Figure 9b for Figure 8 A bottom view of the housing 10 is shown.

[0037] Fig.10 for Figure 8 Schematic diagram of the connection between the vertical motion mechanism 30 and the moxa stick clamping mechanism 50.

[0038] 200 is an automatic moxibustion device; 100 is a moxa stick clamping part; 110 is an arm adapter; 111 is an arm connection surface; 112 is a first extended arm; 114 is a first threading port; 115 is an image collector; 120 is a wire accommodating space; 121 is a first opening; 210 is a walking part; 220 is an arm connection side; 221 is an inclined mounting surface; 222 is a horizontal mounting surface; 230 is a walking side; 231 is a walking wheel; 240 is a moxibustion side; 250 is a back side; 251 is a counterweight; 260 is a dust wiping part; 261 is a dust wiping cavity; 262 is a dust wiping needle; 290 is a mechanical arm; 291 is a connecting end;

[0039] 10 is a housing; 11 is a moxa stick delivery channel; 12 is a first mounting position; 13 is a second mounting position; 14 is a third mounting position; 21 is a second opening; 22 is a second extension arm; 23 is a connecting groove; 24 is a second threading port; 30 is a vertical motion mechanism; 31 is a screw rod assembly; 32 is a driver; 35 is a barrier member; 36 is a connecting plate; 37 is a position sensor; 40 is a distance sensor; 41 is a moxa stick sensor; 50 is a moxa stick clamping mechanism; 51 is a clamping connector; 51a is a sensing member; 52 is a clamping sleeve; 90 is a protective cover; DETAILED DESCRIPTION

[0040] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0041] See also Figure 1 , which is a schematic diagram of the structure of an automatic moxibustion device provided by the present invention. The automatic moxibustion device 200 includes, for example, a moxa stick clamping part 100, a walking part 210, and a mechanical arm 290 connected therebetween.

[0042] The automatic moxibustion device 200 moves to the target position through the walking part 210, and the mechanical arm 290 can drive the moxa stick clamping part 100 to rotate to a certain part of the human body that needs moxibustion. The moxa stick clamping part 100 clamps the ignited moxa stick and maintains a suitable distance from the part to perform moxibustion.

[0043] In a specific embodiment, the walking part 210 is further provided with an ash wiping part 260. During the moxibustion process, the moxa stick clamping part 100 can be driven to rotate to the ash wiping part 260 by controlling the mechanical arm 290, and excess ashes can be wiped off at the ash wiping part 260. This prevents ashes from falling during the moxibustion process and scalding the user.

[0044] For details, see Figure 2 The walking part 210 is provided with an arm connection side 220, for example; the robot arm 290 is connected to the arm connection side 220. For example, the arm connection side 220 can be located at the top of the walking part 210, opposite to the walking side 230 located at the bottom of the walking part 210. The walking side 230 is provided with a walking wheel 231, and a driving motor can be provided in the walking part 210, and the driving motor drives the walking wheel 231 to rotate to realize the movement of the walking part 210.

[0045] In a specific embodiment, the walking part 210 is further provided with a moxibustion side 240 and a back side 250. The mechanical arm 290 is connected to the arm connection side 220 near the moxibustion side 240. For example, the moxibustion side 240 is the front side of the walking part 210, and the mechanical arm 290 drives the moxibustion clamping part 100 to move on the moxibustion side 240.

[0046] In addition, the position where the arm connection side 220 connects to the mechanical arm 290 is an inclined mounting surface 221, which can be inclined downward from the middle of the arm connection side 220 toward the moxibustion side 240. The inclined mounting surface 221 can increase the working radius of the mechanical arm 290, so when the walking part 210 is stationary, the working range of the automatic moxibustion device 200 is larger.

[0047] In order to avoid the problem that the center of gravity of the automatic moxibustion device 200 is unstable when the mechanical arm 290 extends in a direction away from the back side 250, it may tilt toward the moxibustion side 240, and even may cause the automatic moxibustion device 200 to fall. In a specific embodiment, the automatic moxibustion device 200 also includes a counterweight 251, which is arranged on the back side 250 of the walking part 210; the counterweight 251 can solve the above problem and ensure the stability of the automatic moxibustion device 200. For example, the counterweight 251 is arranged at the center of the walking part 210 on the back side 250, or at a position slightly below the center; in order to make the counterweight 251 as far away from the moxibustion side 240 as possible, the counterweight 251 can be arranged close to the inner wall of the outer shell of the walking part 210, which will not be repeated here.

[0048] Continue to see Figure 2 The mechanical arm 290 is provided with a connection end 291 for connecting the moxa stick clamping part 100, and the connection end 291 is connected to the arm adapter 110, and the arm adapter 110 is further connected to the moxa stick clamping part 100. Among them, the connection end 291 can be set vertically downward, and the moxa stick clamping part 100 is connected to the side of the connection end 291 away from the walking part 210 through the arm adapter 110.

[0049] See also Figure 3 The dust wiping part 260 is provided with a dust wiping cavity 261, and a plurality of dust wiping needles 262 are provided in the dust wiping cavity 261. The plurality of dust wiping needles 262 are connected in the dust wiping cavity 261 in an array, for example, a circular area is provided in the middle of the dust wiping cavity 261, and the plurality of dust wiping needles 262 are arranged circumferentially around the circular area.

[0050] In a specific embodiment, the arm connection side 220 of the walking part 210 is provided with a horizontal mounting surface 222 near the back side 250, and the dust wiping part 260 is provided on the horizontal mounting surface 222. For example, the walking part 210 is provided with a groove on the horizontal mounting surface 222, and the dust wiping part 260 is sleeved in the groove.

[0051] See also Figure 4A wire space 120 is provided between the arm adapter 110 and the moxa stick clamping part 100. The arm adapter 110 and the moxa stick clamping part 100 are provided with electrical components, for example, and the electrical components of the two are electrically connected to the control circuit board provided inside the walking part 210 through the line; for the convenience of wiring, the lines are uniformly gathered in the wire space 120, and then connected to the walking part 210 along the mechanical arm 290.

[0052] Combination Figure 5a and Figure 5b The arm adapter 110 is provided with a cavity for installing an electrical device, for example. The arm adapter 110 is also provided with two first extending arms 112, and a first opening 121 is formed between the two first extending arms 112; the arm adapter 110 is also provided with a first threading opening 114 between the two first extending arms 112, and the first threading opening 114 communicates with the cavity and the first opening 121.

[0053] In a specific embodiment, the arm adapter 110 is provided with an arm connection surface 111 connected to the mechanical arm 290, and the other surface opposite to the arm connection surface 111 is provided with an opening that can expose the cavity, and an image collector 115 is provided in the cavity, and the image collector 115 is exposed in the opening to collect images directly below the mechanical arm 290. That is, when the automatic moxibustion device 200 is performing moxibustion, the image collector 115 is, for example, a camera to obtain the moxibustion picture.

[0054] Combination Figure 6 The moxa stick holding part 100 includes, for example, a housing 10, wherein a housing cavity for installing an electrical device is provided in the housing 10, and a protective cover 90 is sleeved on the housing 10 to protect the electrical device. The housing 10 is provided with two second extending arms 22, and a second opening 21 is formed between the two second extending arms 22; and the housing 10 is further provided with a second threading opening 24 between the two second extending arms 22.

[0055] When the two second extension arms 22 are respectively connected with the two first extension arms 112, the first opening 121 and the second opening 21 cooperate to form a wire-accommodating opening 120. The circuit of the electrical device set in the moxa stick clamping part 100 is arranged in the wire-accommodating opening 120 through the second threading opening 24; the circuit of the electrical device set in the arm adapter 110 is arranged in the wire-accommodating opening 120 through the first threading opening 114. The two circuits merge and are connected to the walking part 210 through the mechanical arm 290, which will not be repeated here.

[0056] Combination Figure 7 , Figure 8 , Figure 9a and Figure 9bThe housing 10 is provided with a moxa stick delivery channel 11, which is, for example, provided in the middle of the housing 10, and the accommodating cavity is provided around the moxa stick delivery channel 11. The accommodating cavity includes a plurality of mounting positions provided around the moxa stick delivery channel 11. The plurality of mounting positions are, for example, used to install electrical components of the moxa stick clamping portion 100.

[0057] The plurality of mounting positions include a first mounting position 12 and at least one second mounting position 13. The side of the moxa stick clamping portion 100 opposite to the mounting protective cover 90 is a working side, which faces the part of the human body that needs moxibustion. The moxa stick delivery channel 11 and the second mounting position 13 both penetrate from the inside of the accommodating cavity to the working side and expose an opening.

[0058] Specifically, the electrical components in the moxa stick clamping portion 100 include, for example, a vertical motion mechanism 30, at least one distance sensor 40, and a moxa stick clamping mechanism 50 connected to the vertical motion mechanism 30. The vertical motion mechanism 30 is installed at the first installation position 12, and the moxa stick clamping mechanism 50 is directly opposite to the moxa stick delivery channel 11; the distance sensor 40 is installed at the second installation position 13.

[0059] The moxa stick clamping mechanism 50 is used to clamp the moxa stick, and the vertical motion mechanism 30 drives the moxa stick clamping mechanism 50 and the moxa stick to move up and down in the vertical direction through the moxa stick delivery channel 11; and the distance sensor 40 is used to detect the distance between the working side and the moxibustion site through the second installation position 13.

[0060] In a specific embodiment, the electrical components provided in the moxa stick clamping portion 100 also include, for example, two paired moxa stick sensors 41; the multiple mounting positions also include two third mounting positions 14, the two third mounting positions 14 are respectively connected to the moxa stick delivery channel 11, and the two moxa stick sensors 41 are respectively provided on the two third mounting positions 14 and paired with each other.

[0061] For example, one of the moxa stick sensors 41 is an infrared transmitter, and the other moxa stick sensor 41 is a paired infrared receiver; when the moxa stick clamping mechanism 50 clamps the ignited moxa stick for moxibustion, the moxa stick passes through the moxa stick delivery channel 11, and the moxa stick blocks the infrared signal emitted by the infrared reflector, and when the moxa stick burns beyond the position of the third installation position 14, the infrared receiver can receive the infrared signal. At this time, the length of the moxa stick can be sensed.

[0062] See also Fig.10The vertical motion mechanism 30 includes, for example, a screw assembly 31 and a driver 32 that can drive the screw assembly 31 to move. The side of the screw assembly 31 facing the moxa stick delivery channel 11 is a motion surface, and the moxa stick clamping mechanism 50 is connected to the motion surface; the screw assembly 31 is also provided with a vertically arranged screw and a sliding block matched with the screw. The driving force 32 is, for example, a servo motor driving the screw to rotate so that the sliding block moves along the length direction of the screw.

[0063] The moxa stick clamping mechanism 51 includes, for example, a clamping connector 51 connected to the sliding block, and a clamping sleeve 52 detachably connected to the moxa stick connector 51. The clamping sleeve 52 can be threadedly connected to the moxa stick connector 51, or other detachable connection methods.

[0064] In a specific embodiment, the screw assembly 30 further includes a barrier member 35 covering the moving surface. The barrier member 35 is sandwiched between the clamping connector 51 and the sliding block.

[0065] Continue to see Fig.10 , a connecting plate 36 is also connected to one side of the screw assembly 30. Position sensors 37 are respectively provided at both ends of the connecting plate 36 in the vertical direction; and the moxa stick clamping mechanism 51 is also provided with a sensing member 51a connected to the clamping connector 51. For example, when the moxa stick clamping mechanism 51 moves on the screw assembly 30, the sensing member 51a moves between the two position sensors 37. When it moves to any one of the position sensors 37, it means that the moxa stick clamping mechanism 51 has moved to the end of the screw assembly 30 and should move in the opposite direction.

[0066] The use of the automatic moxibustion device 200 provided in this embodiment includes, for example: the moxibustion user is in a supine state; the walking part 210 is moved to the vicinity of the moxibustion user. The moxa stick is clamped in the clamping sleeve 52, and then the moxa stick is ignited, and the moxa stick is connected to the clamping connector 51 through the moxa stick holding sleeve 52 on the working side through the moxa stick delivery channel 11. The mechanical arm 290 is then rotated to move the moxa stick clamping part 100 to a suitable position away from the moxibustion part of the moxibustion user to perform moxibustion. During the moxibustion process, the mechanical arm 290 can also rotate to move the moxibustion clamping part 100 to the wiping part 260 to wipe off excess ashes.

[0067] The connection lines of the driver 32, the position sensor 37, the distance sensor 40 and the moxa stick sensor 41 in the moxa stick clamping part 100 of the automatic moxibustion device 200 are all arranged in the wire-accommodating space 120 through the second opening 21; and the connection line of the image collector 115 in the arm adapter 110 is arranged in the wire-accommodating space 120 through the first opening 121. The lines of the above-mentioned multiple electrical components are gathered in the wire-accommodating space 120 and arranged along the mechanical arm 290 to the walking part 210, and are respectively electrically connected to the controller arranged inside the walking part 210.

[0068] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. An automatic moxibustion device, characterized in that: include: A walking part, a moxa stick clamping part and a mechanical arm connected therebetween; wherein the moxa stick clamping part comprises: The shell is provided with a moxa stick delivery channel; A vertical motion mechanism, arranged on one side of the moxa stick delivery channel, having a sliding block; A moxa stick clamping mechanism, connected to the sliding block and corresponding to the moxa stick delivery channel; The automatic moxibustion device further comprises: a dust wiping part, the walking part is provided with an arm connection side, the dust wiping part is provided at the arm connection side, the dust wiping part comprises a dust wiping cavity and a plurality of dust wiping needles provided in the dust wiping cavity; The housing is further provided with a plurality of mounting positions surrounding the moxa stick delivery channel, and the vertical motion mechanism is provided at a first mounting position among the plurality of mounting positions; The robotic arm is provided with a connecting end for connecting to the moxa stick clamping part, and the connecting end is connected to an arm adapter, and the arm adapter is provided with two first extending arms, and a first opening is formed between the two first extending arms; the shell is provided with two second extending arms, and a second opening is formed between the two second extending arms; when the two second extending arms are respectively connected with the two first extending arms, the first opening and the second opening cooperate to form a wire accommodating space.

2. The automatic moxibustion device according to claim 1, characterized in that: The vertical motion mechanism comprises: A screw rod assembly is vertically arranged on one side of the moxa stick delivery channel and is provided with a moving surface facing the moxa stick delivery channel; wherein the sliding block is arranged on the moving surface; A driver is connected to a side of the screw assembly away from the housing.

3. The automatic moxibustion device according to claim 2, characterized in that: Also includes: The barrier member is covered on the moving surface and clamped between the sliding block and the moxa stick clamping mechanism.

4. The automatic moxibustion device according to claim 1, characterized in that: Also includes: Two position sensors are respectively arranged at two opposite ends of the vertical motion mechanism; The induction component matches the two position sensors and is connected to the moxa stick clamping mechanism.

5. The automatic moxibustion device according to claim 1, characterized in that: The automatic moxibustion device also includes: At least one distance sensor is respectively installed at a plurality of second installation positions among the plurality of installation positions.

6. The automatic moxibustion device according to claim 1, characterized in that: The walking part is provided with an arm connection side; Wherein, an inclined mounting surface is provided on the arm connection side; and the robotic arm is mounted on the inclined mounting surface.

7. The automatic moxibustion device according to claim 1, characterized in that: The walking part is provided with a moxibustion side and a back side opposite to each other; and further comprises: A counterweight block is arranged on the back side of the walking part.

8. The automatic moxibustion device according to claim 1, characterized in that: The mechanical arm is provided with a connection end pointing vertically downward; and further comprises: An arm adapter is connected between the connecting end and the moxa stick clamping portion.

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