A robotic moxibustion device

Abstract

The present invention discloses a robot moxibustion device, including a device ash suction and purification box, a robot support bolted to the upper end of the device ash suction and purification box, a collaborative robot movably mounted on the robot support, a mechanical arm movably connected to the collaborative robot, an adjustment head movably connected to the end of the mechanical arm, a moxibustion box positioned at the bottom of the adjustment head, a mechanism installation base plate positioned on the moxibustion box, and a camera system positioned on the outer side of the mechanism installation base plate. The robot moxibustion device described in the present invention automatically cleans smoke and protects the environment. According to the set distance and temperature, it automatically adjusts the distance between the moxibustion head and the human body to ensure the effect of moxibustion. The robot automatically finds moxibustion points and automatically removes the ash from the moxibustion head to ensure the heating effect. Based on infrared imaging, the effect of moxibustion can be monitored in real time.

Description

Technical Field

[0001] The present invention relates to the field of medical treatment and health care industry, and in particular to a robot moxibustion device. Background Art

[0002] Robotic moxibustion equipment is a supporting device for moxibustion operations. When moxibustion is used, moxa sticks or moxa cones made of moxa leaves are burned. The moxa heat generated stimulates the acupuncture points or specific parts of the human body, 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. With the increase in the number of times people stay up late, they choose to use moxibustion to treat their bodies. With the continuous development of science and technology, people's requirements for the manufacturing process of robotic moxibustion equipment are also getting higher and higher.

[0003] The existing robotic moxibustion equipment has certain drawbacks when used. First, it is not very convenient to adjust the moxibustion equipment, and it is troublesome to find the moxibustion position, which is not conducive to people's use. In addition, it is not very convenient and quick to clean the moxibustion smoke after burning, which is prone to environmental pollution and brings certain adverse effects to people's use process. For this reason, we propose a robotic moxibustion equipment. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the shortcomings of the prior art, the present invention provides a robot moxibustion device, which automatically cleans up smoke and protects the environment. According to the set distance and temperature, the robot automatically adjusts the distance between the moxibustion head and the human body to ensure the effect of moxibustion. The robot automatically finds moxibustion acupoints and automatically removes the ash from the moxibustion head to ensure the heating effect. Based on infrared imaging, the effect of moxibustion can be monitored in real time, which can effectively solve the problems in the background technology.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a robot moxibustion device, comprising an equipment ash suction and purification box, a robot support is bolted to the upper end of the equipment ash suction and purification box, a collaborative robot is movably installed on the robot support, a mechanical arm is movably connected to the collaborative robot, an adjustment head is movably connected to the end of the mechanical arm, a moxibustion box is positioned and installed at the bottom of the adjustment head, a mechanism mounting substrate is positioned and installed on the moxibustion box, a camera system is positioned and set on the outside of the mechanism mounting substrate, a lifting frame is positioned and installed on the moxibustion box, a displacement sensor is positioned and set in the middle of the upper end of the moxibustion box, and a moxa stick placement bucket is placed inside the displacement sensor.

[0008] As a preferred technical solution of the present application, the upper end of the moxibustion box is located on a lifting frame and a lifting cylinder is movably provided. A clamping cylinder is installed on the lifting cylinder. The clamping cylinder clamps the position of the moxa stick placement bucket, and a driving cylinder is movably provided at the rear end of the moxibustion box.

[0009] As a preferred technical solution of the present application, a combustion chamber and an ash accumulation chamber are provided inside the moxibustion box, a baffle is movably provided between the combustion chamber and the ash accumulation chamber, a spring scraping mechanism is movably provided on the inner side of the combustion chamber, an ash suction joint is connected to the outer side of the ash accumulation chamber, a moxibustion port is positioned at the bottom of the moxibustion box, and an infrared thermal imager, a displacement sensor and a temperature sensor are positioned on the outer side of the moxibustion port.

[0010] As a preferred technical solution of the present application, a cooling fan, an moxa smoke three-way catalytic unit and a radiator are installed inside the ash suction and purification box of the equipment. The cooling fan is located at the bottom of the radiator. The radiator is connected to the moxa smoke three-way catalytic unit. A Bluetooth speaker and an industrial computer are positioned and installed on the ash suction and purification box of the equipment.

[0011] As a preferred technical solution of the present application, the bottom of the collaborative robot rotates and moves at the upper end of the dust suction and purification box of the equipment through the robot support, the mechanical arm on the collaborative robot can rotate and move flexibly, the mechanical arm moves between the adjustment head, the adjustment head is positioned and installed between the moxibustion box and the mechanism mounting substrate, the mechanism mounting substrate is positioned and installed between the camera system, and the moxa stick placement bucket is inserted into the middle of the moxibustion box.

[0012] As a preferred technical solution of the present application, the lifting cylinder moves up and down on the lifting frame, the clamping cylinder locates the position of the moxa stick placement barrel, and the lifting cylinder drives the position of the moxa stick placement barrel to move up and down at the displacement sensor.

[0013] As a preferred technical solution of the present application, the baffle moves back and forth between the combustion chamber and the ash accumulation chamber, the baffle separates the combustion chamber and the ash accumulation chamber, the ash accumulation chamber and the ash suction joint are through-connected, the moxibustion box is positioned and installed between the moxibustion port, and the moxibustion port is installed between the displacement sensor, the temperature sensor, and the infrared thermal imager.

[0014] As a preferred technical solution of the present application, the ash suction and purification box of the equipment is positioned and installed between the moxa smoke three-way catalytic unit, the radiator, and the cooling fan, and is installed between the bottom of the radiator and the cooling fan, and the radiator and the moxa smoke three-way catalytic unit are through-connected.

[0015] (III) Beneficial effects

[0016] Compared with the prior art, the present invention provides a robot moxibustion device, which has the following beneficial effects: The robot moxibustion device automatically clears smoke, protects the environment, automatically adjusts the distance between the moxibustion head and the human body according to the set distance and temperature to ensure the moxibustion effect. The robot automatically locates the moxibustion acupoints and automatically clears the ash on the moxibustion head to ensure the heating effect. Based on infrared imaging, the moxibustion effect can be monitored in real time. The entire control system uses an industrial computer, a board card, and robot control, which can quickly set parameters and switch between different moxibustion modes, and has corresponding data recording and storage for later diagnosis and treatment analysis. The entire robot moxibustion device has a simple structure, is easy to operate, and has a better use effect than the traditional method. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 FIG. is a schematic diagram of the overall structure of a robot moxibustion device of the present invention.

[0018] Figure 2 FIG. is a schematic diagram of the structure of the other side of the overall of a robot moxibustion device of the present invention.

[0019] Figure 3 FIG. is a schematic diagram of the structure of one of the collaborative robots in a robot moxibustion device of the present invention.

[0020] Figure 4 FIG. is a schematic diagram of the structure of one of the collaborative robots in a robot moxibustion device of the present invention.

[0021] Figure 5 FIG. is a schematic diagram of the structure of one of the collaborative robots in a robot moxibustion device of the present invention.

[0022] Figure 6 FIG. is a schematic diagram of the structure of one of the collaborative robots in a robot moxibustion device of the present invention.

[0023] Figure 7 FIG. is a schematic diagram of the structure of the moxibustion box in a robot moxibustion device of the present invention.

[0024] Figure 8 FIG. is a schematic diagram of the structure of the equipment dust suction and purification box in a robot moxibustion device of the present invention.

[0025] In the figure: 1. Equipment dust suction and purification box; 2. Bluetooth speaker; 3. Collaborative robot; 4. Moxibustion box; 5. Camera system; 6. Mechanism installation substrate; 7. Adjusting head; 8. Robot arm; 9. Robot support; 10. Industrial control computer; 11. Moxa stick placement barrel; 12. Lifting frame; 13. Driving cylinder; 14. Lifting cylinder; 15. Clamping cylinder; 16. Spring dust scraping mechanism; 17. Dust accumulation chamber; 18. Baffle; 19. Moxibustion port; 20. Combustion chamber; 21. Dust suction joint; 22. Displacement sensor; 23. Temperature sensor; 24. Infrared thermal imager; 25. Moxa smoke three-way catalytic unit; 26. Radiator; 27. Cooling fan. Detailed implementation manners

[0026] The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and specific implementation manners. However, those skilled in the art will understand that the following described embodiments are some embodiments of the present invention, rather than all embodiments, and are only used to illustrate the present invention and should not be construed as limiting the scope of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present invention. For those conditions not specified in the embodiments, they shall be carried out according to conventional conditions or conditions recommended by the manufacturer. Those reagents or instruments not specified by the manufacturer can be obtained as conventional products through commercial purchase.

[0027] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0028] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0029] As Figure 1-8As shown, a robot moxibustion device comprises an equipment ash suction and purification box 1, a robot support 9 is bolted to the upper end of the equipment ash suction and purification box 1, a collaborative robot 3 is movably installed on the robot support 9, a mechanical arm 8 is movably connected to the collaborative robot 3, an adjusting head 7 is movably connected to the end of the mechanical arm 8, a moxibustion box 4 is positioned and installed at the bottom of the adjusting head 7, a mechanism mounting substrate 6 is positioned and installed on the moxibustion box 4, a camera system 5 is positioned and arranged on the outer side of the mechanism mounting substrate 6, a lifting frame 12 is positioned and installed on the moxibustion box 4, a displacement sensor 22 is positioned and arranged in the middle of the upper end of the moxibustion box 4, a moxa stick placement bucket 11 is placed inside the displacement sensor 22, and the moxa smoke is automatically heated to 300-500 degrees by a heating system. The harmful gas is converted into non-toxic gas after passing through the ternary catalyst, and then cooled to room temperature through the radiator 26. The moxa smoke is then absorbed by activated carbon, primary filter and high efficiency filter, and no smoke is discharged. According to the temperature and displacement sensor 22, the 6-axis robot and the control system can automatically adjust the moxibustion temperature and distance of the person being moxibustioned. The control system performs closed-loop control to better ensure the treatment. The equipment is equipped with an imaging system. During moxibustion, the moxibustion therapist marks the moxibustion points in advance. The robot will find the moxibustion position by itself through the imaging system, and can set multiple target acupoints at the same time. After the moxibustion is completed, the robot returns to the standby position. The imaging system can realize the follow-up movement of the acupoints. When the acupoints are moved, the robot will automatically follow and capture the acupoints.

[0030] Furthermore, the upper end of the moxibustion box 4 is located on the lifting frame 12 and a lifting cylinder 14 is movably provided. The lifting cylinder 14 is installed with a clamping cylinder 15. The clamping cylinder 15 clamps the position of the moxa stick placement barrel 11. The rear end of the moxibustion box 4 is movably provided with a driving cylinder 13. When the moxibustion is finished or an abnormality occurs, the lifting cylinder 14 automatically retracts, the opening and closing cylinder is closed, forming a closed space, and the moxa stick is extinguished.

[0031] Furthermore, a combustion chamber 20 and an ash accumulation chamber 17 are provided inside the moxa box 4, a baffle 18 is movably provided between the combustion chamber 20 and the ash accumulation chamber 17, a spring scraping mechanism 16 is movably provided on the inner side of the combustion chamber 20, an ash suction joint 21 is connected to the outer side of the ash accumulation chamber 17, a moxa port 19 is positioned and installed at the bottom of the moxa box 4, an infrared thermal imager 24, a displacement sensor 22 and a temperature sensor 23 are positioned on the outer side of the moxa port 19, the robot uses a collaborative robot 3, and when it senses external force during normal operation, the equipment stops automatically and sucks in natural air through the opening of the combustion chamber 20, so that the moxa stick can burn well and the heat of the moxibustion is ensured. Through the dust removal chamber, according to a specific program setting, the ash on the head of the moxa stick can be cleaned regularly to ensure that the moxa stick burns fully, the air blowing mechanism blows the scraped ash into the collection box, and then the dust is sucked into the dust bag through the vacuum suction mechanism.

[0032] Further, a heat dissipation fan 27, an AI smoke three-way catalytic unit 25, and a radiator 26 are installed inside the equipment dust suction and purification box 1. The heat dissipation fan 27 is located at the bottom of the radiator 26. The radiator 26 is connected to the AI smoke three-way catalytic unit 25. A Bluetooth speaker 2 and an industrial control computer 10 are fixedly installed on the equipment dust suction and purification box 1.

[0033] Further, the bottom of the collaborative robot 3 rotates and moves at the upper end of the equipment dust suction and purification box 1 through a robot support 9. The robotic arm 8 on the collaborative robot 3 can rotate and move flexibly. The robotic arm 8 is movable with the adjustment head 7. The adjustment head 7 is fixedly installed between the moxibustion box 4 and the mechanism installation substrate 6. The mechanism installation substrate 6 is fixedly installed with the camera system 5. An moxa stick placement barrel 11 is inserted into the middle of the moxibustion box 4.

[0034] Further, a lifting cylinder 14 moves up and down on the lifting frame 12. A clamping cylinder 15 positions the moxa stick placement barrel 11. The lifting cylinder 14 drives the position of the moxa stick placement barrel 11 to move up and down at the displacement sensor 22.

[0035] Further, a baffle 18 moves back and forth between the combustion chamber 20 and the ash accumulation chamber 17. The baffle 18 separates the positions of the combustion chamber 20 and the ash accumulation chamber 17. The ash accumulation chamber 17 is connected in a through manner with the dust suction joint 21. The moxibustion box 4 is fixedly installed with the moxibustion port 19. The moxibustion port 19 is installed with the displacement sensor 22, the temperature sensor 23, and the infrared thermal imager 24.

[0036] Further, the equipment dust suction and purification box 1 is fixedly installed with the AI smoke three-way catalytic unit 25, the radiator 26, and the heat dissipation fan 27. The bottom of the radiator 26 is installed with the heat dissipation fan 27. The radiator 26 is connected in a through manner with the AI smoke three-way catalytic unit 25.

[0037] Working principle: The present invention includes an equipment dust suction and purification box 1, a Bluetooth speaker 2, a collaborative robot 3, an moxibustion box 4, a camera system 5, a mechanism installation substrate 6, an adjustment head 7, a robotic arm 8, a robot support 9, an industrial control computer 10, an moxa stick placement barrel 11, a lifting frame 12, a driving cylinder 13, a lifting cylinder 14, a clamping cylinder 15, a spring dust scraping mechanism 16, a dust accumulation chamber 17, a baffle 18, an moxibustion port 19, a combustion chamber 20, a dust suction joint 21, a displacement sensor 22, a temperature sensor 23, an infrared thermal imager 24, an moxa smoke three-way catalytic unit 25, a radiator 26, a cooling fan 27. When in use, the moxa smoke is automatically heated to 300 - 500 degrees by the heating system. The harmful gases in the moxa smoke are converted into non-toxic gases after passing through the three-way catalytic converter, and then cooled to room temperature by the radiator 26. Then the moxa smoke is absorbed through activated carbon, a primary filter, and a high-efficiency filter, with no smoke discharged. According to the temperature and displacement sensors 22, a 6-axis robot, and the control system, the moxibustion temperature and distance of the person being moxibusted can be automatically adjusted. The control system performs closed-loop control to better ensure the treatment effect. The equipment is equipped with an imaging system. During moxibustion, the moxibustion therapist makes marks in advance on the moxibustion acupoints. The robot will automatically find the moxibustion positions through the imaging system and can set multiple target acupoints simultaneously. After moxibustion is completed, the robot retracts to the standby position. The imaging system can achieve the follow-up movement of the acupoints. When the acupoints are moved, the robot will automatically follow and capture the acupoints. The collaborative robot 3 is selected for the robot. During normal operation, when an external force is sensed, the equipment automatically stops. Natural air is inhaled through the openings in the combustion chamber 20, and the moxa stick can burn well to ensure the heat of moxibustion. Through the dust removal chamber, according to the specific program settings, the ash at the head of the moxa stick can be cleaned regularly to ensure sufficient combustion of the moxa stick. The blowing mechanism blows the scraped ash into the collection box, and then the dust is sucked into the dust collection bag through the vacuum dust suction mechanism. A small air compressor is equipped. Through the vacuum dust suction device, the soot can be automatically collected into the dust collection bag. The air compressor also serves as the driving force for the cylinder movement mechanism. An infrared imaging sensor is equipped in front of the moxibustion head to observe the thermal effect of the moxibustion range in real time. The silent casters with a self-locking mechanism can facilitate the movement of the equipment and lock it in a fixed position. Necessary limit switches and emergency stop devices are provided to ensure that in case of an abnormality during use, the equipment automatically stops and no harm is caused. The equipment is equipped with a Bluetooth speaker 2, which can play corresponding music during moxibustion. A laser aiming lamp is provided, which can also assist the operator in finding the correct acupoints during use. When moxibustion ends or an abnormality occurs, the lifting cylinder 14 automatically retracts, and the opening and closing cylinder closes to form a sealed space, and the moxa stick goes out. The machine is equipped with a small fire extinguisher, which can be used in case of an emergency.

[0038] It should be noted that in this text, relational terms such as first and second (No. 1, No. 2) are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

[0039] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and what is described in the above embodiments and the specification is only to illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements fall within the scope of the present invention claimed.

Claims

1. A robot moxibustion device, comprising an equipment dust suction and purification box (1), characterized in that: A robot support (9) is bolted to the upper end of the dust suction purification box (1) of the equipment, a collaborative robot (3) is movably mounted on the robot support (9), a mechanical arm (8) is movably connected to the collaborative robot (3), an adjusting head (7) is movably connected to the end of the mechanical arm (8), a moxibustion box (4) is positioned and mounted at the bottom of the adjusting head (7), a mechanism mounting base plate (6) is positioned and mounted on the moxibustion box (4), a camera system (5) is positioned and arranged on the outer side of the mechanism mounting base plate (6), a lifting frame (12) is positioned and mounted on the moxibustion box (4), a displacement sensor (22) is positioned and arranged in the middle of the upper end of the moxibustion box (4), and a moxa stick placement bucket (11) is placed inside the displacement sensor (22); The moxibustion box (4) is provided with a combustion chamber (20) and an ash accumulation chamber (17) inside, a baffle (18) is movably provided between the combustion chamber (20) and the ash accumulation chamber (17), a spring ash scraping mechanism (16) is movably provided inside the combustion chamber (20), an ash suction joint (21) is connected to the outside of the ash accumulation chamber (17), a moxibustion port (19) is positioned and installed at the bottom of the moxibustion box (4), and an infrared thermal imager (24), a displacement sensor (22) and a temperature sensor (23) are positioned outside the moxibustion port (19); A cooling fan (27), a moxa smoke three-way catalytic unit (25) and a radiator (26) are installed inside the ash suction and purification box (1) of the equipment. The cooling fan (27) is located at the bottom of the radiator (26). The radiator (26) and the moxa smoke three-way catalytic unit (25) are connected. A Bluetooth speaker (2) and an industrial computer (10) are positioned and installed on the ash suction and purification box (1) of the equipment. The baffle (18) moves back and forth between the combustion chamber (20) and the ash accumulation chamber (17); the baffle (18) separates the combustion chamber (20) from the ash accumulation chamber (17); the ash accumulation chamber (17) is connected to the ash suction joint (21); the moxibustion box (4) is positioned and installed between the moxibustion port (19); and the moxibustion port (19) is installed between the displacement sensor (22), the temperature sensor (23), and the infrared thermal imager (24); The equipment dust absorption and purification box (1) is positioned and installed between the moxa smoke three-way catalytic unit (25), the radiator (26), and the cooling fan (27); the bottom of the radiator (26) is installed between the cooling fan (27); and the radiator (26) and the moxa smoke three-way catalytic unit (25) are connected through.

2. The robotic moxibustion device according to claim 1, wherein: The upper end of the moxibustion box (4) is located on a lifting frame (12) and is movably provided with a lifting cylinder (14). A clamping cylinder (15) is installed on the lifting cylinder (14). The clamping cylinder (15) clamps the position of the moxa stick placement barrel (11). The rear end of the moxibustion box (4) is movably provided with a driving cylinder (13).

3. The robotic moxibustion device according to claim 1, wherein: The bottom of the collaborative robot (3) rotates and moves at the upper end of the equipment dust suction and purification box (1) through the robot support (9). The robotic arm (8) on the collaborative robot (3) can rotate and move flexibly. The robotic arm (8) moves relative to the adjustment head (7). The adjustment head (7) is positioned and installed between the moxibustion box (4) and the mechanism mounting substrate (6). The mechanism mounting substrate (6) is positioned and installed between the camera system (5). The moxa stick placement barrel (11) is inserted into the middle of the moxibustion box (4).

4. The robotic moxibustion device according to claim 2, wherein: The lifting cylinder (14) moves up and down on the lifting frame (12). The clamping cylinder (15) positions the moxa stick placement barrel (11). The lifting cylinder (14) drives the position of the moxa stick placement barrel (11) to move up and down at the displacement sensor (22).

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