A machine device for moxibustion

Abstract

The embodiment of the present application discloses a machine device for moxibustion, which is used to reduce the burden of a physiotherapist in performing moxibustion work. The machine device for moxibustion of the present application includes: a collaborative robot and a moxibustion actuator; wherein the moxibustion actuator is fixedly mounted on the free end of the collaborative robot and is used to clamp the moxa stick; wherein the collaborative robot is used to command the moxibustion actuator to reach a designated position where moxibustion is required according to preset instructions.

Description

Technical Field

[0001] The present application relates to the technical field of medical care equipment, and in particular to a machine for moxibustion. Background Art

[0002] Moxibustion is a method of moxibustion in traditional Chinese acupuncture therapy. It is a treatment method that uses the heat generated by the moxibustion material made of mugwort as the main ingredient to stimulate the acupuncture points or specific parts of the body surface, and adjusts the disordered physiological and biochemical functions of the human body by stimulating the activity of meridian qi, thereby achieving the purpose of preventing and curing diseases.

[0003] Traditional moxibustion is mainly done by physical therapists. For example, the physical therapist holds a burning moxa stick close to the body surface where the patient needs moxibustion. The burning moxa stick transfers heat to the acupuncture points on the body surface of the moxibustion patient, and adjusts the disordered physiological and biochemical functions of the human body by stimulating the activity of the meridian qi. The physical therapist achieves different moxibustion treatment purposes by placing the burning moxa stick close to different acupuncture points on the body surface of the moxibustion patient, combining different acupuncture points, moxibustion time of different acupuncture points, and different moxibustion orders of different acupuncture points. The operation of the moxibustion process in the prior art requires physical therapists to perform the whole process, which is very labor-intensive. There is an urgent need for a solution that can reduce the workload of physical therapists in moxibustion. Summary of the invention

[0004] The embodiment of the present application provides a machine device for moxibustion, which is used to provide a solution that can reduce the workload of moxibustion therapists during moxibustion.

[0005] The first aspect of the present application provides a machine device for moxibustion, comprising:

[0006] Collaborative robots and moxibustion actuators;

[0007] The moxibustion actuator is fixedly mounted on the free end of the collaborative robot and is used to clamp the moxa stick;

[0008] The collaborative robot is used to command the moxibustion actuator to reach a designated position where moxibustion is required according to preset instructions.

[0009] Furthermore, the moxibustion actuator includes at least two clamping devices for clamping the moxa stick, one of which is a flexible clamping device for flexibly clamping the moxa stick, and the other is a rigid clamping device for rigidly clamping the moxa stick;

[0010] Further, the flexible clamping device is a spring clamping steel sheet, and the rigid clamping device is a pneumatic clamping claw;

[0011] Furthermore, the moxibustion actuator further includes an adapter plate, which is cooperatively connected with the free end interface of the collaborative robot to provide a vertical plate-type adapter interface;

[0012] The pneumatic clamp is installed on one side of the adapter plate through the adapter interface;

[0013] The spring clamping steel sheet is installed at different heights on the same surface of the adapter plate and the pneumatic clamping jaws through the adapter interface;

[0014] Furthermore, the moxibustion actuator further includes a visual component, and the visual component is installed on the other side of the adapter plate through the adapter interface;

[0015] Furthermore, the moxibustion actuator further includes a distance measuring sensor, and the distance measuring sensor is installed on the side of the adapter plate through the adapter interface;

[0016] Furthermore, the moxibustion actuator further includes a moxibustion actuator protective cover, which is connected to the top surface of the adapter plate through the adapter interface, and wraps the pneumatic clamp, the spring clamping steel sheet, the visual component, and the distance measuring sensor in the moxibustion actuator protective cover;

[0017] Furthermore, the moxibustion actuator further comprises a moxa stick sleeve, and the protective cover of the moxibustion actuator is provided with a moxa stick placement opening for conveniently placing the moxa stick;

[0018] One end of the moxa sleeve is fixedly connected to the protective cover of the moxibustion actuator and is connected to the moxa placement port, and the other end of the moxa sleeve is connected to the spring clamping steel sheet, and the spring clamping steel sheet is used to flexibly clamp the moxa stick placed in the moxa sleeve. The clamping jaws of the pneumatic clamp are directly below the spring clamping steel sheet, and the pneumatic clamping jaws are used to rigidly clamp the moxa stick extending from directly below the moxa sleeve.

[0019] Furthermore, it also includes an air extraction system, which includes an air extraction hole opened on the protective cover of the moxibustion actuator, a plurality of air extraction pipes, and an air extraction pump;

[0020] The air extraction hole and the air inlet hole of the air extraction pump are connected through the air extraction pipe to form an air extraction pipeline;

[0021] Furthermore, the exhaust system also includes a smoke filter, and the smoke filter is installed in the exhaust pipeline between the exhaust hole and the exhaust pump through the exhaust pipe.

[0022] Furthermore, it also includes a collaborative linear module, and the collaborative robot is installed on a slider of the collaborative linear module;

[0023] Furthermore, the cooperative linear module is any one of a pneumatic slide, a screw linear module, and a gear rack linear module.

[0024] Furthermore, a position sensor is installed on the base of the collaborative linear module, and the position sensor is used to identify the position of the collaborative robot on the collaborative linear module;

[0025] Furthermore, there are three position sensors, and the three position sensors are respectively used to identify the left limit position, the origin position, and the right limit position of the collaborative robot on the collaborative linear module.

[0026] Furthermore, it also includes a frame, and the cooperative linear module is fixedly mounted on the frame.

[0027] Furthermore, it also includes: a dust removal device, the dust removal device includes a motor and a brush;

[0028] The brush is connected to the rotating shaft of the motor;

[0029] Furthermore, the dust removal device further comprises a motor fixing frame, through which the motor is fixed on the frame, and the rotating shaft of the motor faces upward;

[0030] Furthermore, the dust removal device also includes a dust removal box body, and the dust removal box body is a box body;

[0031] Furthermore, the dust removal device further comprises a funnel structure, the inlet surface of the funnel structure replaces the top surface of the dust removal box body to extend the outlet of the funnel structure toward the inside of the dust removal box body, and the fan surface of the funnel structure has a motor through hole;

[0032] The motor is fixed inside the dust removal box body through the motor fixing frame, the dust removal box is fixed on the frame, and the rotating shaft of the motor is exposed to the fan surface of the funnel structure through the motor through hole;

[0033] The brush is connected to the rotating shaft of the motor through a detachable connection;

[0034] Furthermore, the dust removal device also includes a cup, and the cup is placed directly below the outlet of the funnel structure in the dust removal box body.

[0035] Furthermore, the dust removal box also includes a dust removal system, and the dust removal system includes: a dust removal air extraction hole opened on the dust removal box body, a plurality of dust removal air extraction pipes, a dust removal filter, and a dust removal air extraction pump;

[0036] The dust removal exhaust pipe is connected to the dust removal exhaust hole, the dust removal filter, and the dust removal exhaust pump in sequence.

[0037] Furthermore, the brush is connected to the rotating shaft of the motor through a coupling.

[0038] Furthermore, it also includes a moxa stick recovery device, which is fixedly mounted on the frame, and includes: a box-shaped recovery box body, the top surface of which is provided with a moxa stick recovery through hole leading to the inside of the recovery box body;

[0039] Furthermore, a door is provided on the side of the recovery box body;

[0040] Furthermore, the moxa stick recovery device also includes a rod support, a rod linear movement module, and a rod;

[0041] One end of the rod bracket is vertically fixedly installed on one side of the recovery box body, and the other end is suspended vertically upward;

[0042] The plunger linear movement module is fixedly mounted on the suspended vertically upward end of the plunger bracket and is located above the recovery box body;

[0043] The insertion rod is fixedly mounted on the slider of the insertion rod linear movement module and is vertically downward facing the moxa stick recovery through hole;

[0044] Furthermore, the moxa stick recovery device also includes a rod insertion origin position sensor;

[0045] The plunger origin position sensor is installed on one side of the plunger bracket and is used to identify the origin position of the plunger moving on the plunger linear motion module;

[0046] Furthermore, the moxa stick recovery device also includes a moxa stick working position sensor, and the side of the moxibustion actuator protective cover has a detection notch;

[0047] The moxa stick working position sensor is horizontally fixedly mounted on the upper surface of the recovery box body and is aligned above the moxa stick recovery through hole. The moxa stick working position sensor detects the working position of the moxa stick in the moxibustion actuator protective cover through the detection notch.

[0048] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0049] In the present application, a collaborative robot equipped with a moxibustion actuator is used to assist the physical therapist in holding the moxa stick. The physical therapist only needs to light the moxa stick, and hand the lit moxa stick to the moxibustion actuator for clamping, and input corresponding motion instructions to the collaborative robot. The collaborative robot can move the lit moxa stick to the position where moxibustion is needed for moxibustion according to the motion instructions. The physical therapist does not need to hold the moxa stick throughout the process, thereby reducing the physical therapist's workload. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic diagram of an embodiment of a machine device for moxibustion in the present application;

[0051] Figure 2 This is a schematic diagram of the internal structure of the actuator of the machine device used for moxibustion in this application;

[0052] Figure 3 Schematic diagram of the actuator protection cover structure of the machine equipment used for moxibustion in this application

[0053] Figure 4 This is a schematic diagram of the structure of the cooperative linear module of the machine equipment used for moxibustion in this application;

[0054] Figure 5 This is a schematic diagram of the dust removal box structure of the machine equipment used for moxibustion in this application;

[0055] Figure 6 This is a schematic diagram of the structure of the moxa stick recovery device of the machine equipment used for moxibustion in this application. DETAILED DESCRIPTION

[0056] The embodiment of the present application provides a machine device for moxibustion, which is used to provide a solution that can reduce the workload of moxibustion therapists during moxibustion.

[0057] See also Figure 1 An embodiment of the machine device for moxibustion in the present application mainly includes: a collaborative robot 500 and a moxibustion actuator 600. The moxibustion actuator 600 is fixedly installed at the free end of the collaborative robot 500 and is mainly used to clamp the moxa stick; the collaborative robot 500 is a joint robot, which is used to command the moxibustion actuator to reach the designated position where moxibustion is required according to preset instructions. That is to say, the embodiment of the present application adopts a collaborative robot equipped with a moxibustion actuator to assist the physical therapist in clamping the moxa stick. The physical therapist only needs to light the moxa stick, and hand the lit moxa stick to the moxibustion actuator for clamping, and input the corresponding motion instructions to the robot. The collaborative robot can move the lit moxa stick to the position where moxibustion is needed for moxibustion according to the motion instructions. That is, the moxibustion patient 700 lies within the motion range of the collaborative robot 500 and exposes the body surface part that needs moxibustion, so that the moxibustion stick 900 clamped on the moxibustion actuator 600 carried by the free end of the collaborative robot 500 can reach the part of the moxibustion patient 700 that needs moxibustion. The moxibustion patient 700 can choose to lie on soft bedding 800, which can further improve the experience of the moxibustion process, such as a beauty bed, sofa, etc.

[0058] Among them, the collaborative robot 500, as an articulated robot, can be: an industrial six-axis robot, a four-axis robot (selective compliance assembly robot arm, SCARA) or a robot with other axes, etc. It is understandable that the more axes the collaborative robot has, the more delicate the movements that the collaborative robot can perform, which will provide a better user experience for the moxibustion practitioner during the moxibustion process, and the number of axes of the collaborative robot 500 is not limited here; in addition, the longer the arm length of the collaborative robot, the wider the range of moxibustion positions that the collaborative robot can reach, which can provide a wider coverage area for the moxibustion practitioner during the moxibustion process, and the fewer times the moxibustion practitioner needs to move during the moxibustion process, and the better the user experience.

[0059] In one embodiment, the moxibustion actuator mainly plays the role of clamping the moxa stick. The moxibustion actuator of the embodiment of the present application should have at least two or more clamping devices for clamping the moxa stick, at least one of which is a flexible clamping device for flexibly clamping the moxa stick, mainly used to clamp the moxa stick to overcome its own gravity, so that the moxa stick will not fall automatically under the action of the flexible clamping device, and at least another clamping device is a rigid clamping device for rigidly clamping the moxa stick, mainly used to fix the moxa stick, so that the moxa stick cannot fall easily even under a certain external force, so as to ensure the safety of burning the moxa stick during the moxibustion process. For example, the flexible clamping device can be a spring clamping steel sheet, etc., and the rigid clamping device can be a pneumatic clamping claw, etc.

[0060] For more specific examples, please refer to Figure 2 and Figure 3 The adapter plate 602 is mainly used to convert the free end interface of the collaborative robot 500 into a dedicated interface for components related to the moxibustion actuator 600, so the adapter plate 602 has an interface that can be connected to the free end interface of the collaborative robot 500, and a dedicated interface for components related to the moxibustion actuator 600. In the present embodiment, since the moxibustion patient lies on one side within the motion range of the collaborative robot, the moxibustion actuator 600 mainly moves above the moxibustion patient under the drive of the collaborative robot 500, so the adapter plate 602 is designed as a vertical plate-type adapter interface.

[0061] Specifically, the adapter plate 602 includes a protruding structure 60211 that cooperates with the free end of the collaborative robot 500 for positioning, a circular plate structure 6021 that cooperates with the moxibustion actuator protection cover 601, a straight plate structure 6022 that cooperates with the pneumatic clamp 604 and is perpendicular to the circular plate structure 6021, a plate structure 6024 that cooperates with the visual component 603 and is perpendicular to the circular plate structure 6021 and the straight plate structure 6022 and connected to one side of the straight plate structure 6022, and a plate structure 6023 that cooperates with the ranging sensor 605 and is perpendicular to the circular plate structure 6021 and the straight plate structure 6022 and connected to the other side of the straight plate structure 6022. The protruding structure 60211, the circular plate structure 6021, the straight plate structure 6022, the plate structure 6023, and the plate structure 6024 described above may be an adapter plate 602 in which the entire structure is integrated; or an adapter plate 602 in which a modular structure is fixedly connected and assembled together; or an adapter plate 602 in which a part is integrated and another part is modularly fixedly assembled together, for example Figure 2 The circular plate structure 6021 and the protruding structure 60211 are integrated structures, and are then connected with the modular straight plate structure 6022, the plate structure 6023, and the plate structure 6024 by screws to form the shape shown in the figure. It should be noted that the specific structure of the adapter plate 602 can be different according to the different components that need to be installed in the moxibustion actuator 600, and examples will not be given one by one here.

[0062] The pneumatic clamp 604 is fixedly mounted on one side of the adapter plate 602 through an adapter interface. Specifically, the cylinder 6041 is fixed on one side of the straight plate structure 6022 through screws, and the clamp 6042 side of the pneumatic clamp 604 is facing downward. The pneumatic clamp 604 is used to clamp the burning moxa stick 900 for a second time to prevent the moxa stick from falling and injuring the moxibustion user 700 during the moxibustion process, and the clamped part is the end close to the ignition point (burning point) of the moxa stick (a certain distance from the ignition point of the moxa stick). As is known to all, during moxibustion, the burning end of the moxa stick is facing the body surface of the person being moxibustioned 700, and the heat generated by the burning moxa stick stimulates the acupuncture points on the person's body surface, stimulates the activity of the person's meridian qi to adjust the disordered physiological and biochemical functions of the person's body, thereby achieving the purpose of preventing and curing diseases. In order to transfer the heat generated by the burning moxa stick to the acupuncture points on the person's body surface as accurately as possible, the burning point of the moxa stick needs to be precisely controlled. The clamping jaw 6042 of the pneumatic clamp 604, as the clamping structure closest to the burning point of the moxa stick, has important coordinate reference significance.

[0063] In another possible embodiment, the spring clamping steel sheet can also be clamped on the moxa stick in cooperation with the pneumatic clamp through an adapter plate at different heights on the same surface of the adapter plate and the pneumatic clamp, thereby realizing the clamping function of the moxibustion actuator.

[0064] The visual component 603 is fixedly mounted on the other side of the adapter plate 602 through the adapter interface. Specifically, the main part of the visual component 603 is fixed on the plate structure 6024 by screws, and is located on the other side of the adapter plate 6022 on which the pneumatic clamp 604 is installed, and the lens part of the visual component 603 is facing downward. The visual component 603 is used to take pictures of the moxibustion body surface of the moxibustion patient 700 to obtain a plane picture of the body surface of the moxibustion patient 700, that is, a two-dimensional coordinate. In order to reduce the shaking of the lens part 6031 of the visual component 603 and improve the accuracy of taking pictures, an auxiliary lens support frame 6025 can be added to the adapter plate 602 accordingly, and one end of the auxiliary lens support frame 6025 is connected to the straight plate structure 6024, and the other end is connected to the lens part 6031 of the visual component 603. The visual component 603 is a relatively mature product now, and will not be introduced in detail here. Configuring the visual component for the moxibustion actuator can record the entire moxibustion process of the moxibustion practitioner 700 and provide data for subsequent moxibustion research.

[0065] The distance measuring sensor 605 is fixedly installed on the side of the adapter plate 602 through the adapter interface, specifically, it is fixedly installed on the plate structure 6023 by screws. The detection area of ​​the distance measuring sensor 605 should be the same as the above-mentioned visual component 603. It is mainly used to supplement the depth coordinates for the two-dimensional coordinates of the body surface of the moxibustion patient 700 obtained by the visual component 603. That is, it can be understood that the two-dimensional coordinates (x, y) of the image of the visual component 603 provide a new coordinate z, which then constitutes the three-dimensional coordinates (x, y, z). In this way, the distance between the plane of the moxibustion part on the body surface of the moxibustion patient 700 and the moxibustion actuator 600 can be obtained through the combination of the coordinates of the distance measuring sensor 605 and the visual component 603, further enriching the data of subsequent moxibustion research.

[0066] The moxibustion actuator protective cover 601 is fixedly connected to the top surface of the adapter plate 602 through the adapter interface, and the pneumatic clamp 604, the visual component 603, and the distance sensor 605 are wrapped in the moxibustion actuator protective cover 601. The moxibustion actuator protective cover 601 is provided with a moxa stick placement port 6013 for convenient placement of moxa sticks. Specifically, the moxibustion actuator protective cover 601 is fixedly installed on the circular plate structure 6021 by screws, and the circular plate structure 6021 is precious in the moxibustion actuator protective cover 301. The shape of the moxibustion actuator protective cover 601 is like an inverted barrel, except that the "barrel mouth" curling edge 6011 of the moxibustion actuator protective cover is facing the inside of the barrel. It should be noted that in this embodiment, only the moxibustion actuator protective cover 601 is a cylindrical shape as an example for explanation. In actual applications, the moxibustion actuator protective cover 601 can be various cubic structures, which will not be described in detail here. It is worth noting that a circular through hole 6016 is provided at the center of the top surface of the moxibustion actuator protective cover 601 of this embodiment, and the circular through hole is used to allow the protruding structure 60211 of the adapter plate 602 to extend from the moxibustion actuator protective cover 601, and to cooperate with the moxibustion actuator protective cover 601 and the free end of the collaborative robot 500 for positioning. At this time, the screw hole 6017 on the moxibustion actuator protective cover 601 corresponds to the threaded hole on the circular plate structure 6021, and also corresponds to the screw hole of the flange interface after the free end of the collaborative robot is positioned. The free end of the collaborative robot 500, the moxibustion actuator protective cover 601, and the circular plate structure 6021 can be fixedly connected by screws. The use of the moxibustion actuator protective cover can prevent the burning moxa stick from scalding surrounding objects or personnel under the drive of the collaborative robot.

[0067] The top surface of the moxibustion actuator protective cover 601 is also provided with an electrical wire through hole 6018, which is used to allow the electrical connection wires of the distance sensor 605 and the visual component 603 to go out of the moxibustion actuator protective cover 601. Specifically, the electrical wire through hole 6018 is opened just above the visual component 603. This is based on the principle of the shortest routing distance and the least signal interference of the electrical connection wires in the moxibustion actuator protective cover 601. The video component 603 is used to collect two-dimensional coordinate data, while the distance sensor 605 only collects distance (one-dimensional) coordinate data. The distance sensor 605 05 requires fewer electrical connection wires than the video component 603, and the electrical connection of the visual component 603 is preferably connected to the moxibustion actuator protective cover 60 at a shorter distance; and because the moxa stick will emit light and heat when burning in the moxibustion actuator protective cover when the moxibustion actuator is working normally, the loosening and clamping of the moxa stick by the pneumatic clamp will produce vibration, and various environmental factors in the moxibustion actuator protective cover 601 may interfere with the signals of the ranging sensor 605 and the visual component 603, the electrical connection wire needs to be connected to the outside of the moxibustion actuator protective cover 601 with the shortest distance and the least signal interference. It is worth noting that the electrical wire through hole 6018 opened on the top surface of the moxibustion actuator protective cover 601 will be blocked by the circular plate structure 6021. In order to facilitate the wiring, the circular plate structure 6021 opens a gap 60212 for the electrical connection wire.

[0068] The top surface of the moxa actuator protective cover 601 is also provided with a moxa stick placement port 6013 in the shape of a hollow truncated cone. One end of the moxa stick sleeve 606 is fixedly connected to the moxa actuator protective cover 601 and communicated with the moxa stick placement port 6013. The other end of the moxa stick sleeve 606 has a clamping device, which is used to clamp the moxa stick in the moxa stick sleeve 606. Preferably, the clamping device is a flexible clamping structure, which can play a role in clamping the moxa stick placed in the moxa stick sleeve 606. The moxa stick 900 of the sleeve 606 plays the role of buffering flexible clamping. For example, the elastic clamping structure is a spring clamping steel sheet 6062, which is used to play a flexible clamping role for the moxa stick placed in the moxa stick sleeve 606. The spring clamping steel sheet 6062 is directly below the spring clamping steel sheet 6062. The clamping claw 6042 of the pneumatic clamp 604 is used to perform secondary clamping, that is, rigid clamping, on the moxa stick 900 extending from the moxa stick sleeve 606. Specifically, the moxa stick placement port 6013 can be as follows: Figure 3The hollow truncated cone protruding from the top surface of the moxibustion actuator protective cover 601 shown in the figure may also be a hollow truncated cone without the protruding top surface of the moxibustion actuator protective cover 601, or other shapes, which are not limited here. It should be noted that there are a plurality of screw through holes 6015 around the moxa stick placement port 6013, and the screw through holes are used to cooperate with the threaded holes on the flange at one end of the moxa stick sleeve 606, so as to fix the moxa stick sleeve 606 inside the moxa actuator protective cover 601, and make the moxa stick placement port 6013 communicate with the moxa stick sleeve 606. The spring clamping steel sheet 6062 of the moxa stick sleeve 606 clamps the moxa stick 900 placed therein. The clamping of the moxa stick 900 by the spring steel sheet 6062 is elastic and slight. The clamping force can only overcome the self-gravity of the moxa stick 900, so that the moxa stick 900 will not fall automatically. If an axial force is applied to the moxa stick 900 in the moxa stick sleeve 606, the moxa stick 900 can move in the moxa stick sleeve 606. When the axial force is removed, the moxa stick stops moving under the clamping of the spring steel sheet 6062. Different from the pneumatic clamp 604 that clamps the moxa stick 900, the pneumatic clamp 604 has a greater clamping force on the moxa stick 900. If the pneumatic clamp 604 does not relax its clamping of the moxa stick 900, the position of the moxa stick 900 in the moxa stick sleeve 606 cannot be easily changed. The pneumatic clamp 604 fixes the moxa stick to ensure that the burning moxa stick 900 will not fall and burn the person being moxibustioned when the person's body moves, and makes it more accurate to calculate the actual ignition point position of the moxa stick using the pneumatic clamp 604 as a reference coordinate. It is understandable that after the moxibustion actuator 600 is fixedly connected to the collaborative robot 500, it may be necessary to input the dimensional coordinates of the moxibustion actuator 600 into the system of the collaborative robot, such as: the top surface center point coordinates of the moxa stick sleeve 606, the inner diameter of the moxa stick sleeve 606, the clamping point coordinates of the spring steel sheet 6062 of the moxa stick sleeve 606, the clamping point coordinates of the pneumatic clamp 604, as well as the bottom surface coordinates of the moxibustion actuator 600, the outer contour coordinates of the moxibustion actuator 600 and other coordinate information into the system of the collaborative robot, so that the collaborative robot can understand the spatial dimensions of the carried and installed moxibustion actuator 600, avoid collision with other position components during movement, and facilitate rapid positioning.

[0069] The top surface of the moxibustion actuator protective cover 601 is also provided with an inverted trumpet-shaped protrusion, which is hollow. The through hole connected to the inside of the moxibustion actuator protective cover 601 is used to extract the air inside the moxibustion actuator protective cover 601, which is called an exhaust hole 6014. In order to achieve a better exhaust effect, multiple exhaust holes can be designed so that the smoke generated by the burning moxa stick during moxibustion can be extracted in time.

[0070] Based on the above understanding, the machine equipment for moxibustion of the present application also includes an exhaust system, which includes an exhaust hole 6014, a plurality of exhaust pipes, and an exhaust pump. The exhaust hole 6014 and the air inlet of the exhaust pump are connected by an exhaust pipe to form an exhaust pipeline, and then the gas in the exhaust pipeline is discharged to a suitable place, which can avoid the smoke generated by the burning of moxa sticks in the moxibustion actuator protective cover 601 from polluting the physiotherapy environment. Furthermore, a smoke filter can also be included, and the exhaust hole 6014 is connected to the air inlet end of the smoke filter by using an exhaust pipe, and the air outlet of the smoke filter is connected to the exhaust pump. The exhaust pump is connected to the power supply to operate, which can realize the extraction of the control in the moxibustion actuator protective cover 601, and it is discharged from the exhaust pump after being filtered by the smoke filter. It only needs to replace the smoke filter regularly. The exhaust system can maintain a certain negative pressure state in the moxibustion actuator protective cover 601. The smoke generated by the moxa stick during the moxibustion process can be purified in time through the exhaust system, reducing the pollution of the moxa stick smoke to the environment during the moxibustion process and improving the comfort of the moxibustion environment.

[0071] See also Figure 4 , the machine equipment for moxibustion of the present application may also include a collaborative linear module 400, which may be a combination of one or more of a pneumatic slide, a ball screw linear module, and a gear rack linear module, as long as it can realize the mechanical equipment of linear movement, it is not limited here. It should be noted that the main purpose of the collaborative linear module 400 introduced in the embodiment of the present application is to make up for the insufficient arm length of the collaborative robot 500, and to achieve a shorter collaborative robot arm length that can also cover the moxibustion parts of the whole body of the human body, because the longer the arm length of the collaborative robot 500, the higher the price. Take a human as an example to briefly explain, if it is necessary to perform moxibustion on the whole body of a person, according to the structural characteristics of the human body, the height size is larger than the body width size, to achieve a collaborative robot arm length that fully covers the operating range of the human body, at least the arm length needs to be 0.5 human height size, and in general, 0.5 human height length is also larger than the human body width. The embodiment of the present application proposes a motion combination scheme of a collaborative robot and a collaborative linear module, so that a collaborative robot with an arm length equal to the width of a human body can cover the moxibustion areas of the entire human body. Since the cost of the collaborative linear module is much lower than that of a collaborative robot with a large arm length, it is possible to reduce costs while obtaining a larger moxibustion operation space.

[0072] Figure 4The collaborative linear module 400 is a screw linear module. The collaborative robot 500 is fixedly mounted on the slider 404 of the collaborative linear module 400 through its base 501. The slider 404 is slidably mounted on the screw of the base 401. One end of the screw is connected to the motor 402. The slider 404 realizes left and right linear motion when the motor 402 drives the screw to rotate. It is worth noting that the slider 404 is a slider with a hollow through hole in the axial direction of the screw. A cover plate 403 is installed in the through hole between the screw and the slider and is fixed to the base 401 to cover the screw but not contact the slider 404. This can prevent the rotating screw from being accidentally touched during the moxibustion process to avoid mechanical strangulation. At the same time, it also prevents debris from falling onto the screw in the moxibustion environment, affecting the movement accuracy of the collaborative linear module 400. A crawler-type cable duct 409 is fixedly connected to one side of the movement direction of the slider 404. The crawler-type cable duct 409 is used to place electrical wiring, exhaust pipes and other lines connected from the moxibustion actuator 600 and extending along the arm length of the collaborative robot, and are connected through the crawler-type cable duct 409.

[0073] A position sensor is installed on the base of the collaborative motion module 400, and the position sensor is used to identify the position of the collaborative robot on the linear module, and also to identify the specific position of the slider 404. Specifically, the embodiment of the present application is described by taking three position sensors and one baffle as an example, which are the left limit position sensor 406, the origin position sensor 407, the right limit position sensor 408, and the baffle 404. The baffle 404 is fixedly installed on the other side of the movement direction of the slider 404, and the crawler-type cable trough 409 is on one side of the slider 404. Similarly, the baffle will make a linear motion back and forth left and right on the base 401 as the slider 404 slides. The left limit position sensor 406 is installed on the base 406 and is in the moving path of the baffle 405, so that when the baffle 405 (which means the slider 404, which means the collaborative robot base 501) reaches the left limit position 406, the sensor sends a stop signal to the motor 402 to prevent the slider 404 from continuing to move to the left; similarly, the right limit position sensor 408 is installed on the base 406 and is in the moving path of the baffle 405 So that when the baffle 405 (which means the slider 404, which means the collaborative robot base 501) reaches the right limit position 408, the sensor sends a stop signal to the motor 402 to prevent the slider 404 from continuing to move to the right; and the origin position sensor 407 is installed between the left limit position sensor 406 and the right limit position sensor 408, and is also located on the base 406 and in the moving path of the baffle 405. The position here is used as the origin position of the collaborative motion module 400, that is, the 0 coordinate position of the collaborative motion module 400. When the baffle 405 moves to the origin position sensor 407, it means that it is at the 0 coordinate position of the collaborative motion module 400.

[0074] Please refer again Figure 1 The machine for moxibustion of the embodiment of the present application further includes a frame 100, the above-mentioned cooperative mobile module 400 is fixedly mounted on the upper surface of the frame 100, and the smoke filter, the air pump and other components of the exhaust system can be installed inside the frame 100. The frame 100 can be a frame box with movable rollers to facilitate the movement and installation of auxiliary components.

[0075] The machine equipment for moxibustion of the present application may also include a dust removal device, which includes a motor and a brush, wherein the brush is connected to the rotating shaft of the motor, and the brush is driven to rotate by the motor, and the collaborative robot accurately places the moxa stick clamped by the moxibustion actuator on the rotating brush to remove the ashes covered by the burning point of the moxa stick. In another embodiment, the motor can also be fixed to the frame by a motor fixing frame, and the rotating shaft of the motor faces upward, so that the collaborative robot can accurately place the moxa stick clamped by the moxibustion actuator on the rotating brush to remove the ashes covered by the burning point of the moxa stick.

[0076] Specifically, please refer to Figure 5 The dust removal device 300 can be a dust removal box 300, which is fixedly mounted on the upper surface of the frame 100 and is within the movement coverage of the collaborative robot 500. The dust removal box body 301 is a box body, which is mainly used to clean the ashes covered at the burning point of the moxa stick and to hold the ashes formed by the burning of the moxa stick. One side of the box body is a door structure ( Figure 5 The door is used to facilitate maintenance of the components inside the dust removal box. Figure 5 The cube structure shown can also be other cubic structures, which are not specifically limited here. The inlet surface of the funnel structure 307 replaces the top surface of the dust removal box body 301 to extend the outlet of the funnel structure 307 toward the inside of the dust removal box body 301, and the fan surface of the funnel structure 307 has a motor through hole; the motor 304 is fixed to the inside of the dust removal box body 301 through the motor fixing frame 303, and the rotating shaft of the motor 304 is exposed to the fan surface of the funnel structure 307 through the motor through hole; the brush 306 is connected to the rotating shaft of the motor 304 through a detachable connection; the cup 302 is placed directly below the outlet of the funnel structure 307 in the dust removal box body 301.

[0077] Specifically, the dust box 300 is used to cooperate with the moxibustion actuator 600 to clean the ash from the burning point of the moxa stick held by the moxibustion actuator 600, so that the burning point of the burning moxa stick is kept exposed. At the same time, the dust box 300 is also used to collect the ash falling from the moxa stick, so that the ash flows into the cup inside the dust box along the fan surface of the funnel. During the moxibustion process, the physiotherapist only needs to regularly replace the cup that carries the ash.

[0078] It should be noted that the coordinate position of the dust box 300 on the frame 100 is fixed. More specifically, the position of the brush 306 is calibrated in the system of the collaborative robot. The brush 306 is detachably connected through a coupling. The detachable connection of the brush 306 facilitates the replacement of the brush 306. However, after each replacement of the brush 306, the coordinate position of the brush 306 needs to be recalibrated and the calibrated position is stored in the system of the collaborative robot. Secondly, considering that the brush 306 will have a certain loss as the use time increases, it is necessary to set the compensation value of the brush 306 after a certain period of time, so as to update the coordinate position of the brush 306 at regular intervals when the brush 306 is not replaced, so that the collaborative robot can accurately find the position of the brush 306. It is understandable that, when necessary, the coordinate position of the entire dust removal box 300 can also be input into the system of the collaborative robot 500, so that the collaborative robot can understand the existence and spatial position of the dust removal box 300, so that the collaborative robot 500 can respond quickly when carrying the moxibustion actuator 600 and working with the dust removal box.

[0079] The dust removal box 300 also includes a dust removal system, which is used to purify the air inside the dust removal box body 301. The dust removal system specifically includes: a dust removal air extraction hole 3011 that runs through the wall thickness of the dust removal box body, a plurality of dust removal air extraction pipes, a dust removal filter 308, and a dust removal air extraction pump; the dust removal air extraction pipe is sequentially connected to the dust removal air extraction hole 3011, the dust removal filter 308, and the dust removal air extraction pump to form a dust removal system. When the dust removal air extraction pump is running, the air inside the dust removal box body 301 can be extracted and filtered by the dust removal filter 308 and then discharged from the dust removal air extraction pump. The dust removal air extraction pump of the dust removal system is installed in the frame 100 like the air extraction pump in the air extraction system of the moxibustion actuator 600, and the dust removal air extraction pump and the air extraction pump can even be the same to save costs. Vacuuming the dust box body 301 can keep the dust box body 301 in a negative pressure state, making it difficult for the ash in the dust box body 301 to escape and pollute the environment. At the same time, the motor 304 can run in a cleaner environment, extending the service life of the motor 304.

[0080] See also Figure 6The machine equipment for moxibustion of the present application may also include a moxa stick recovery device 200, which is fixedly mounted on the upper surface of the frame 100 and is within the movement coverage of the collaborative robot 500. The moxa stick recovery device 200 is mainly used to recover the moxa sticks that have burned too short or the moxa sticks that have completed the moxibustion work, and to apply axial force to the moxa stick 900 in the moxa stick sleeve 606, so that the moxa stick 900 can achieve axial movement in the moxa stick sleeve 606, thereby achieving the correction of the working position of the moxa stick 900 that is gradually burned and shortened. The moxa stick recovery device includes a recovery box body 201, which is a box body. The top surface of the recovery box body 201 is provided with a moxa stick recovery through hole leading to the inside of the recovery box body 201, so that the moxibustion robot can command the moxibustion actuator to place the moxa stick just above the moxa stick recovery through hole, and then manually push it into the recovery box body. A door (not shown) is provided on the side of the recovery box body 201 , and the door is used to take out the moxa sticks that fall into the recovery box body 201 through the moxa stick recovery through hole.

[0081] One end of the rod bracket 203 is vertically fixedly installed on one side of the recycling box body 201, and the other end is suspended vertically upward. The rod linear moving module 205 is fixedly installed on the suspended vertically upward end of the rod bracket 203 and is located above the recycling box body 201. The rod linear moving module 205 in the embodiment of the present application is a screw linear module, specifically, the motor is installed at the top of the rod bracket 203, the screw is installed in the rod bracket 203, the slider is movably installed on the screw and exposed to the outer surface of the rod bracket, and the slider of the rod linear moving module can be driven by the motor to move up and down on the rod bracket. It can be understood that other devices that can realize linear movement functions can also be used, such as cylinders. For the principle and structure of the screw linear module, please refer to the above introduction of the cooperative linear module, which will not be repeated here.

[0082] The insertion rod 203 is fixedly mounted on the slider of the insertion rod linear moving module 205 and vertically downwardly faces the moxa stick recovery hole. When the insertion rod 203 is on the slider of the linear moving module 205 and is at the uppermost position of the insertion rod bracket 203 (the insertion rod origin position), the distance between the lowermost position of the insertion rod 203 and the upper surface of the recovery box body 201 should be greater than the height of the moxa actuator 600, so that the collaborative robot 500 can control the moxa actuator 600 to be placed on the upper surface of the recovery box body 201, so that the moxa stick placement port 6013 can face the bottom of the insertion rod 203, and the bottom of the moxa stick sleeve 605 faces the moxa stick recovery hole of the recovery box body 201. It should be noted that the insertion rod 203 is used to apply axial force to the moxa stick 900 in the moxa stick sleeve 606. The size of the insertion rod 203 should be smaller than the inner diameter of the moxa stick sleeve 606. The insertion rod 203 can achieve linear motion from top to bottom under the drive of the insertion rod linear motion module 205. At this time, the moxa stick can be automatically pushed into the recovery box body, reducing labor.

[0083] The plunger origin position sensor 202 is installed on one side of the plunger bracket 203, and is used to identify the origin position of the plunger 206 moving on the plunger linear motion module 205. Specifically, the plunger origin position sensor 202 is set on the path that the slider of the plunger linear motion module 205 must pass through, and the electric signal triggered by detecting the passage of the slider makes the motor of the plunger linear motion module 205 stop rotating, that is, the slider of the plunger linear motion module 205 stops moving upward, and the position of the plunger origin position sensor 202 is the highest point position that the slider of the plunger linear motion module 205 can move to, that is, the origin position of the plunger 206. The use of the position sensor can make the plunger have a fixed origin reference coordinate, which is conducive to improving the control accuracy of the system.

[0084] It is worth noting that the side of the moxibustion actuator protective cover 600 has a detection notch 6012 (see Figure 3), and the moxa stick working position sensor 202 is horizontally fixedly installed on the upper surface of the recovery box body 201 and aligned with the upper part of the moxa stick recovery through hole. The moxa stick working position sensor 202 detects the working position of the moxa stick in the moxa actuator protective cover 601 through the detection notch 6012. Specifically, from the above description of the pneumatic clamp 604 of the moxa actuator 600, it can be seen that the ignition point position of the moxa stick 900 is located below the clamp 6042 during normal operation. Although the moxa actuator protective cover 601 wraps all the components of the moxa actuator, the lower surface of the moxa actuator protective cover 601 is connected, and the ignition point of the moxa stick is closest to the lower surface plane. Therefore, the height of the detection notch 6012 in the moxa actuator protective cover 601 is preferably the height from the lower surface of the moxa actuator protective cover to the lower surface of the clamp, and the width of the detection notch 6012 in the moxa actuator protective cover 601 is preferably the diameter of the moxa stick. The moxa stick working position sensor 202 is a through-beam photoelectric sensor, which can detect whether the moxa stick clamped in the moxibustion actuator 600 is in the working position through the detection notch 6012.

[0085] It should be noted that in one embodiment, the coordinate position of the moxa stick recovery device 200 is determined, more specifically, at least the origin coordinates of the insertion rod 206 and the plane position of the upper surface of the moxa stick recovery device are calibrated in the system of the collaborative robot 500, and the length of the insertion rod 206 and the origin position coordinates and other data are stored in the system of the collaborative robot 500, which is used to guide the collaborative robot 500 to accurately place the moxa actuator 600 on the upper surface of the moxa stick recovery device 200 and below the insertion rod 206, so that the moxa stick placement port 6013 can be directly opposite to the bottom of the insertion rod 203, and the moxa stick sleeve 605 is directly below the moxa stick recovery through hole of the recovery box body 201. It is understandable that when necessary, the coordinate position of the moxa stick recovery device 200 can be fully input into the system of the collaborative robot 500, so that the collaborative robot can understand the existence and specific spatial position of the moxa stick recovery device 200, so that the collaborative robot 500 can quickly respond when carrying the moxa actuator 600 and working with the moxa stick recovery device 200.

[0086] The above describes the specific composition structure of the machine equipment for moxibustion. The following describes an embodiment of the machine equipment for moxibustion using the present application.

[0087] The first step is to start the equipment. When the machine equipment used for moxibustion is started, the machine equipment runs the self-test program, and moves the collaborative robot 500, the collaborative linear module 400, the rod linear moving module 205 of the moxa stick recovery device 200, etc. to their respective origin positions, and the pneumatic clamp 604 is in a loose state. For example: the collaborative robot 500 moves the moxibustion actuator 600 to a certain distance directly above the funnel structure 307 of the dust removal box 300, and makes the center of the moxa stick sleeve 606 correspond to the center of the brush 306 of the dust removal box 300. This position is the origin position of the collaborative robot 500. The collaborative linear module 400 moves the slider 404 to the position where the origin position sensor 407 is located, which is the origin position of the collaborative linear module 400. The rod linear moving module 205 of the moxa stick recovery device 200 moves the slider to the position where the rod origin position sensor 202 is located, which is its origin position.

[0088] The second step is to load the moxa stick. The physical therapist can light the moxa stick 900, and put the lighted end of the moxa stick 900 downward into the moxa stick sleeve 606 through the moxa stick placement port 6013 on the moxa actuator protective cover 601. The moxa stick 900 will stop falling in the moxa stick sleeve 606 due to the clamping of the spring steel sheet 6062. Since the length of the new moxa stick 900 is exactly the same as the height of the moxa actuator protective cover 601, the physical therapist can directly push the moxa stick 900 into the moxa stick sleeve 606 to make the moxa stick 900 flush with the moxa stick placement port 6013. At this time, the burning part of the moxa stick 900 just overcomes the clamping force of the spring steel sheet 6062 and passes through the release jaw 6042 of the pneumatic clamp 604 below the moxa stick sleeve 606 to reach the working position.

[0089] The third step is to detect the working position of the moxa stick. Regardless of whether the moxa stick 900 is a new moxa stick, the working position of the moxa stick should be detected after the above-mentioned moxa stick loading step. The collaborative robot 500 moves the moxa actuator 600 to the bottom of the insertion rod 203 of the moxa recovery device 200 according to the coordinates recorded in the system, specifically, the moxa placement port 6013 can be directly opposite to the bottom of the insertion rod 203, and the moxa sleeve 605 is directly below the moxa recovery through hole of the recovery box body 201, and the center of the moxa sleeve 606 is aligned with the central axis of the insertion rod 203. The moxa working position sensor 202 detects whether the moxa stick 900 is in the preset working position through the detection notch 6012 on the side of the moxa actuator protective cover 600. If not in the working position, the motor of the insertion rod linear movement module 205 is started to move the insertion rod 206 downward from the origin position, and the insertion rod 206 moves downward into the moxa placement port 6013 and enters the moxa sleeve 606 to apply axial force to the moxa stick 900, forcing it to overcome The moxa stick 900 moves downward under the clamping force of the spring steel sheet 6062 until the moxa stick working position sensor 202 detects the feedback signal that the moxa stick 900 is in the working position. At this time, the motor of the rod linear moving module 205 is started in reverse to make the rod 206 move upward back to the original position. At this time, the moxa stick working position sensor 202 can detect again through the detection notch 6012 on the side of the moxa actuator protective cover 601 whether the moxa stick 900 is in the preset working position. If so, it proves that the moxa stick 900 is indeed in the moxa stick sleeve 606 of the moxa actuator 600 and is being clamped by the spring steel sheet 6062. At this time, the pneumatic clamp 604 can be started to clamp the moxa stick 900; if not, it proves that there is no moxa stick in the moxa actuator 600, prompting that moxa stick needs to be added, and the collaborative robot 500 moves back to the original position. The purpose of the moxa stick working position sensor 202 to detect again is to eliminate the situation where the moxa stick is too short or no moxa stick is placed. For example, when the moxa stick working position sensor 202 adopts a through-type photoelectric sensor, the insertion rod 206 will be moved downward to enter the moxa stick placement port 6013, pass through the moxa stick sleeve 606, and pass through the clamp 6042 of the pneumatic clamp 604, which will also trigger the feedback signal of the fake moxa stick 900 in the working position. It can be seen that there is no moxa stick 900 at this time, and what is detected is actually the insertion rod 206. It can be seen that re-detection when the insertion rod 206 returns to the original position can avoid the occurrence of this problem; in addition, if the length of the moxa stick 900 is less than the absolute vertical length from the clamping point of the spring steel sheet 6062 to the detection point of the moxa stick working position sensor 202, the moxa stick is too short. A moxa stick that is too short may burn the clamp 604 that clamps the moxa stick and damage the clamp 604. This type of too short clamp 604 will be detected again by the moxa stick working position sensor 202 and eliminated.Of course, the coordinates of the origin of the plug rod 206, the length of the plug rod 206, and the corresponding trigger coordinate position of the moxa stick sleeve central axis when the feedback signal of the trigger working position is stored in the system of the collaborative robot 500 (i.e., the coordinate position of the burning point center when the moxa stick is in the working position), the coordinate position from the burning point center coordinate position to the center point of the bottom surface of the plug rod 206 when the moxa stick is in the working position is calculated to be the length of the moxa stick, and the length of the moxa stick is used to determine whether it is suitable for use. Of course, there are other ways to determine the length of the moxa stick, which will not be given one by one here.

[0090] The fourth step is to perform moxibustion. There are many different processes for performing moxibustion, and different actions can be completed according to different instructions received by the collaborative robot. Only a few embodiments are described below. After determining in the third step that the moxibustion actuator 600 is clamped with a moxa stick 900, the exhaust system can be started to ensure that the air in the protective cover of the moxibustion actuator is purified. There are many ways to perform moxibustion, one of which can be to only assist the physiotherapist in clamping the moxa stick, and not to care about the moxibustion site, moxibustion time, and moxibustion site execution order of the moxibustion person, and the whole process is guided by the on-site operation of the physiotherapist. Another is full automation, the collaborative robot 500 moves the moxibustion actuator 600 to the top of the bedding 800 according to the preset instructions, and uses the ranging sensor 605 and / or the visual component 603 in the moxibustion actuator 600 to detect and identify the bedding 800, and determine whether there is a moxibustion person 700 who needs moxibustion. If it exists, the visual component 603 takes a photo of the moxibustion practitioner 700 and identifies three of the preset acupoints in the photo. Through the positions of these three acupoints, a workpiece coordinate system can be established for the moxibustion practitioner 700. Through the relative position relationship between the above three acupoints, the system can obtain all the acupoint positions of the moxibustion practitioner 700, that is, all the working coordinate points on the workpiece coordinates, by referring to the acupoint structure relationship model of the human body. At this time, the collaborative robot 500 can be commanded to perform precise moxibustion on the whole body moxibustion part of the moxibustion practitioner 700 as needed. It should be noted that during the moxibustion process, the moxibustion practitioner 700 may move to a certain extent, so the visual component 603 should take a photo of the moxibustion practitioner at regular intervals, re-determine the positions of the three acupoints, and update the latest workpiece coordinate system, so that even if the moxibustion practitioner has a certain body movement, the system can obtain the current moxibustion position of the current moxibustion practitioner according to the latest working coordinates. The distance measuring sensor should also measure the distance of the moxibustion user every once in a while, so as to timely understand the distance between the moxibustion user and the moxibustion actuator, especially the distance between the moxibustion user and the burning point of the moxa stick. When the distance measuring sensor finds that the distance has changed, the system needs to make adjustments quickly, that is, control the collaborative robot to adjust the distance between the moxibustion actuator and the moxibustion user, so as to accurately control the moxibustion temperature and avoid the moxibustion user from being scalded by the moxibustion stick. It should be noted that the burning point of the moxa stick is known during the third step of the working position detection. In this step, the distance between the burning point and the moxibustion user can be known through the distance measuring sensor, and combined with the compensation value of the moxa stick burning speed, the distance between the burning point of the moxa stick and the moxibustion user during the combustion process can be known.

[0091] The process of establishing the workpiece coordinate system using three acupoints is relatively complicated. The general process is as follows: the system collects a certain number of acupoint distribution coordinates of people of different heights and weights in advance, and finds three of the acupoint coordinates as the three reference points for establishing the workpiece coordinate system. Since the three acupoints of people of different heights and weights will have a certain deviation, the height and weight can be divided into different intervals. The acupoints of people in the same height and weight interval are not much different. At this time, the acupoints of these three reference points can be considered to be the same. Then, according to the collected acupoint distribution of people of different heights and weights, the positions of the three unit acupoints in each interval can be obtained. In this way, the approximate positions of the three reference acupoints can be obtained for all people within the height and weight range, and databases are established for men and women respectively. When a moxibustion patient comes for moxibustion, the operator first measures his height and weight and enters them into the system. In this way, the positions of the three reference acupoints of the patient can be determined according to the gender of the moxibustion patient and the height and weight interval in which he is.

[0092] It is worth noting that during the moxibustion process, the collaborative robot can move the moxibustion actuator 600 to the top of the dust removal box 300 at preset intervals, and align the burning point of the moxa stick 900 with the brush 306, and drive the motor 304 to drive the brush 306 to remove the moxa stick 900, and the ashes fall into the cup 302 along the fan surface of the funnel structure, and the effect of starting the dust removal system is better. It is understandable that during the moxibustion process, the collaborative robot also needs to move the moxibustion actuator 600 to the bottom of the insertion rod 203 of the moxa stick recovery device 200 at regular intervals to correct the working position of the moxa stick or recover the moxa stick. Please refer to the previous step for the specific process, which will not be repeated here.

[0093] Step 5: End the moxibustion and recycle the moxa sticks. After the moxibustion process is completed, the collaborative robot 500 moves the moxibustion actuator 600 to the bottom of the insertion rod 203 of the moxa stick recovery device 200 to recycle the moxa sticks, and then returns the moxibustion actuator to the original position. At this time, the physiotherapist only needs to process the recycled moxa sticks in the moxa stick recovery box body 201.

[0094] The above contents are descriptions of the present application in combination with specific embodiments, and it cannot be considered that the specific implementation of the present application is limited to these embodiments. For ordinary technicians in the technical field to which the present application belongs, several changes and substitutions can be made without departing from the concept of the present application, which should be considered to belong to the protection scope of the present application.

Claims

1. A machine for moxibustion, characterized in that: include: Collaborative robots and moxibustion actuators; The moxibustion actuator is fixedly mounted on the free end of the collaborative robot and is used to clamp the moxa stick; The collaborative robot is used to command the moxibustion actuator to reach a designated position requiring moxibustion according to preset instructions; The moxibustion actuator further includes an adapter plate, a moxibustion actuator protective cover and a moxa stick sleeve, wherein the adapter plate is cooperatively connected with the free end interface of the collaborative robot to provide a vertical plate-type adapter interface; The moxibustion actuator protective cover is connected to the top surface of the adapter plate through the adapter interface; the moxibustion actuator protective cover is provided with a moxa stick placement port for conveniently placing moxa sticks, and one end of the moxa stick sleeve is fixedly connected to the moxibustion actuator protective cover and communicated with the moxa stick placement port; The moxibustion actuator also includes an exhaust system, which includes an exhaust hole opened on the protective cover of the moxibustion actuator, a plurality of exhaust pipes, an exhaust pump and a smoke filter. The exhaust hole and the air inlet hole of the exhaust pump are connected through the exhaust pipe to form an exhaust pipeline; the smoke filter is installed in the exhaust pipeline between the exhaust hole and the exhaust pump through the exhaust pipe.

2. The machine for moxibustion according to claim 1, characterized in that: The moxibustion actuator includes at least two clamping devices for clamping the moxa stick, one of which is a flexible clamping device for flexibly clamping the moxa stick, and the other is a rigid clamping device for rigidly clamping the moxa stick.

3. The machine for moxibustion according to claim 2, characterized in that: The flexible clamping device is a spring clamping steel sheet, and the rigid clamping device is a pneumatic clamping claw.

4. The machine for moxibustion according to claim 3, characterized in that: The pneumatic clamp is installed on one side of the adapter plate through the adapter interface; The spring clamping steel sheet is installed at different heights on the same surface of the adapter plate and the pneumatic clamping jaws through the adapter interface.

5. The machine for moxibustion according to claim 4, characterized in that: The moxibustion actuator also includes a visual component, which is installed on the other side of the adapter plate through the adapter interface.

6. The machine for moxibustion according to claim 5, characterized in that: The moxibustion actuator also includes a distance measuring sensor, which is installed on the side of the adapter plate through the adapter interface.

7. The machine for moxibustion according to claim 6, characterized in that: It also includes a collaborative linear module, and the collaborative robot is installed on a slide of the collaborative linear module.

8. The machine for moxibustion according to claim 7, characterized in that: The cooperative linear module is any one of a pneumatic slide, a screw linear module, and a gear rack linear module.

9. The machine for moxibustion according to claim 7, characterized in that: A position sensor is installed on the base of the collaborative linear module, and the position sensor is used to identify the position of the collaborative robot on the collaborative linear module.

10. The machine for moxibustion according to claim 9, characterized in that: There are three position sensors, and the three position sensors are used to identify the left limit position, the origin position, and the right limit position of the collaborative robot on the collaborative linear module, respectively.

11. The machine for moxibustion according to claim 7, characterized in that: It also includes a frame, and the cooperative linear module is fixedly installed on the frame.

12. The machine for moxibustion according to claim 11, characterized in that: Also includes: A dust removal device, the dust removal device comprising a motor and a brush; The brush is connected to the rotating shaft of the motor.

13. The machine for moxibustion according to claim 12, characterized in that: The dust removal device also includes a motor fixing frame, through which the motor is fixed on the frame, and the rotating shaft of the motor faces upward.

14. The machine for moxibustion according to claim 13, characterized in that: The dust removal device also includes a dust removal box body, and the dust removal box body is a box body.

15. The machine for moxibustion according to claim 14, characterized in that: The dust removal device further comprises a funnel structure, the inlet surface of the funnel structure replaces the top surface of the dust removal box body to extend the outlet of the funnel structure toward the inside of the dust removal box body, and the fan surface of the funnel structure is provided with a motor through hole; The motor is fixed inside the dust removal box body through the motor fixing frame, the dust removal box is fixed on the frame, and the rotating shaft of the motor is exposed to the fan surface of the funnel structure through the motor through hole; The brush is connected to the rotating shaft of the motor via a detachable connection.

16. The machine for moxibustion according to claim 15, characterized in that: The dust removal device also includes a cup, which is placed just below the outlet of the funnel structure in the dust removal box body.

17. The machine for moxibustion according to claim 14, characterized in that: The dust removal box also includes a dust removal system, which includes: a dust removal air extraction hole opened on the dust removal box body, a plurality of dust removal air extraction pipes, a dust removal filter, and a dust removal air extraction pump; The dust removal exhaust pipe is connected to the dust removal exhaust hole, the dust removal filter, and the dust removal exhaust pump in sequence.

18. The machine for moxibustion according to claim 12, characterized in that: The brush is connected to the rotating shaft of the motor through a coupling.

19. The machine for moxibustion according to claim 12, characterized in that: It also includes a moxa stick recovery device, which is fixedly installed on the frame. The moxa stick recovery device includes: a box-shaped recovery box body, and a moxa stick recovery through hole leading to the inside of the recovery box body is opened on the top surface of the recovery box body.

20. The machine for moxibustion according to claim 19, characterized in that: A door is provided on the side of the recovery box body.

21. The machine for moxibustion according to claim 19, characterized in that: The moxa stick recovery device also includes a rod support, a rod linear movement module, and a rod; One end of the rod bracket is vertically fixedly installed on one side of the recovery box body, and the other end is suspended vertically upward; The plunger linear movement module is fixedly mounted on the suspended vertically upward end of the plunger bracket and is located above the recovery box body; The insertion rod is fixedly mounted on a slider of the insertion rod linear movement module and is vertically downward facing the moxa stick recovery through hole.

22. The machine for moxibustion according to claim 21, characterized in that: The moxa stick recovery device also includes a rod insertion origin position sensor; The plunger origin position sensor is installed on one side of the plunger bracket and is used to identify the origin position of the plunger moving on the plunger linear motion module.

23. The machine for moxibustion according to claim 19, characterized in that: The moxa stick recovery device also includes a moxa stick working position sensor, and the side of the moxibustion actuator protective cover has a detection notch; The moxa stick working position sensor is horizontally fixedly mounted on the upper surface of the recovery box body and is aligned above the moxa stick recovery through hole. The moxa stick working position sensor detects the working position of the moxa stick in the moxibustion actuator protective cover through the detection notch.

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