A general moxa operation head assembly suitable for an intelligent moxa robot

Abstract

The application relates to a general moxa cautery work head assembly suitable for an intelligent moxa cautery robot, which comprises a connecting device, a shell and a shell cover, the connecting device is provided with a connecting hole for being connected with a mechanical arm, a moxa cautery cylinder is installed in the shell, the moxa cautery cylinder is filled with moxa sticks, the top end of the moxa cautery cylinder is provided with a smoke outlet, the lower side of the shell is provided with an annular sensing bin, and a laser ranging sensor, a camera, a temperature sensor and a laser indicator corresponding to the mounting holes are installed in the sensing bin; the connecting device can be conveniently connected with the mechanical arm of the moxa cautery equipment, and the general applicability is high; the distance between the moxa cautery work head and the human skin can be detected through the laser ranging sensor, so that the control module of the moxa cautery equipment can accurately control the position of the moxa cautery work head when the mechanical arm is controlled to move for moxa cautery work, the moxa cautery work head can be effectively prevented from touching the human skin to cause scalding, and the safety of the moxa cautery work can be effectively improved.

Description

Technical Field

[0001] This invention relates to medical moxibustion technology, and in particular to a universal moxibustion working head assembly suitable for intelligent moxibustion robots. Background Technology

[0002] Moxibustion, a non-drug therapy created by the ancient Chinese people in their long struggle against disease, is an important component of Traditional Chinese Medicine (TCM). As people's understanding of TCM deepens, moxibustion has gradually become one of the mainstream methods of modern health preservation, enjoying widespread social acceptance. Modern intelligent moxibustion robots can greatly improve the environment of traditional manual moxibustion, offering safety, cleanliness, and precision, and are increasingly being applied to people's daily health maintenance.

[0003] As an essential component of intelligent moxibustion robots, the moxibustion head is crucial for implementing moxibustion therapy and plays a decisive role in ensuring the effectiveness and safety of moxibustion. For example, the "Moxibustion Head for Moxibustion Instruments" disclosed in Chinese Patent Document CN204521552U, in addition to the function of clamping or loading moxa sticks, adds functions such as smoke extraction or manual temperature adjustment. However, this type of moxibustion head has poor versatility and safety, and is prone to contact with the skin during moxibustion, leading to burns, and urgently needs improvement. Summary of the Invention

[0004] The purpose of this invention is to provide a universal moxibustion working head assembly suitable for intelligent moxibustion robots, which solves the problems of poor versatility, poor safety, and easy burns in existing moxibustion working heads.

[0005] To address the aforementioned problems, this invention provides a universal moxibustion head assembly suitable for intelligent moxibustion robots, comprising a connecting device, a housing, and a moxibustion cylinder. The connecting device has a universal connection hole for connecting to an external robotic arm. The moxibustion cylinder is installed inside the housing and filled with moxa sticks. A smoke outlet is located at the top of the moxibustion cylinder, and a smoke exhaust connector corresponding to the smoke outlet is provided on the housing cover. An annular sensing chamber is located on the lower side of the housing, and the bottom end of the moxibustion cylinder passes through a central through-hole in the sensing chamber. Multiple mounting holes are provided on the annular bottom plate of the sensing chamber. A laser rangefinder, a camera, a temperature sensor, and a laser indicator light, each corresponding to a mounting hole, are installed inside the sensing chamber. The laser rangefinder measures the distance between the moxibustion head and the human skin. The binocular camera captures images of the human skin. The temperature sensor measures the temperature of the human skin during moxibustion. The laser indicator light indicates the projection position of the moxibustion head on the human skin.

[0006] The universal moxibustion working head assembly for intelligent moxibustion robots provided by this invention also has the following technical features:

[0007] Furthermore, the annular base plate is provided with eight evenly arranged mounting holes; four laser rangefinders are installed in the sensing chamber, and the four laser rangefinders are arranged in a cross-shaped symmetrical arrangement; two wide-angle cameras are installed in the sensing chamber in a symmetrical arrangement.

[0008] Furthermore, an electrical control compartment is provided at the connection between the housing and the connecting device. A control circuit board is installed inside the electrical control compartment. The laser rangefinder, the camera, the temperature sensor, and the laser indicator light are all electrically connected to the control circuit board. A system status indicator light electrically connected to the control circuit board is also provided on the side wall of the electrical control compartment.

[0009] Furthermore, one side of the cover is hinged to the housing, and the other side of the cover is snapped into the housing via a buckle. The housing is also provided with an elastic button corresponding to the buckle.

[0010] Furthermore, the moxibustion cylinder includes an outer cylinder with an opening at the bottom and an inner cylinder. The moxa stick is located in the inner cylinder. The top of the outer cylinder is provided with the smoke outlet. The top plate of the inner cylinder is connected to the top plate of the outer cylinder through a connecting column. An annular smoke exhaust channel communicating with the smoke outlet is formed between the outer cylinder and the inner cylinder.

[0011] Furthermore, the lower end of the outer cylinder is provided with a detachable protective cover, the bottom end of the protective cover is provided with a dust-proof net corresponding to the bottom end of the moxa stick, and the upper side of the dust-proof net is also provided with a moxa stick bracket to support the bottom end of the moxa stick.

[0012] Furthermore, the ash-proof mesh is installed at the lower end of the protective cover via an elastic rod, the elastic rod comprising a connecting rod and a spring.

[0013] Furthermore, an oil collection box is provided on the upper side of the outer cylinder, and a central cylinder corresponding to the smoke outlet is provided in the middle of the oil collection box. A smoke outlet pipe corresponding to the smoke exhaust connector is provided in the center of the top cover of the oil collection box. A cotton ball holder is provided inside the smoke outlet pipe, and filter cotton balls are filled on the upper side of the cotton ball holder.

[0014] Furthermore, the outer cylinder of the moxibustion tube includes an upper cylinder and a lower cylinder. The lower end of the upper cylinder is provided with a connecting cone, and the upper end of the lower cylinder is provided with a connecting ring plate. The lower cylinder is installed on the lower side of the connecting cone through the connecting ring plate. The inner wall of the shell is provided with a plurality of radial support plates corresponding to the connecting ring plate.

[0015] Furthermore, the connecting device includes a connecting horizontal plate and a connecting vertical plate. The connecting horizontal plate is provided with the universal connecting hole. The housing is provided with a mounting vertical plate corresponding to the connecting vertical plate. A vertical guide rail is fixed on the connecting vertical plate. A slider adapted to the vertical guide rail is provided on the mounting vertical plate, allowing the housing to slide up and down relative to the connecting vertical plate. The connecting vertical plate is also provided with a vertical groove. A supporting horizontal plate extending into the vertical groove is provided on the mounting vertical plate. A spring is also installed in the vertical groove. The upper end of the spring abuts against the lower side of the connecting horizontal plate, and the other end of the spring abuts against the upper side of the supporting horizontal plate, so that the housing and the connecting device are elastically connected.

[0016] Furthermore, the connecting vertical plate is also provided with a micro switch corresponding to the supporting horizontal plate, which can be triggered when the housing moves vertically a preset distance relative to the connecting device.

[0017] This invention offers the following advantages: It can be easily connected to the robotic arm of a moxibustion device via a connecting plate, offering high versatility; by incorporating a laser rangefinder, camera, temperature sensor, and laser indicator light within the sensor compartment at the bottom of the housing, the distance between the moxibustion head and the human skin can be detected by the laser rangefinder. This allows the control module of the moxibustion device to accurately control the position of the moxibustion head when controlling the robotic arm's movement for moxibustion, effectively preventing burns from contact with the skin and significantly improving the safety of moxibustion operations; the moxibustion cylinder can be quickly removed by opening the housing cover, facilitating cleaning and maintenance; the top smoke exhaust method and annular flue design ensure more even combustion of the moxa stick and higher smoke extraction efficiency; it provides a universal external connection interface and hardware protection functions, integrating the aforementioned sensors. This dual hardware and software safety protection greatly enhances the safety of moxibustion operations and facilitates the rapid development and application of moxibustion robot systems. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the universal moxibustion application head assembly according to an embodiment of the present invention;

[0019] Figure 2 for Figure 1 A schematic diagram of the Zhongtong moxibustion application head assembly after the cover is opened;

[0020] Figure 3 for Figure 1 Another structural diagram of the Zhongtong moxibustion application head assembly;

[0021] Figure 4 for Figure 3 A magnified view of a portion of point A in the middle;

[0022] Figure 5This is a cross-sectional view of the universal moxibustion application head assembly according to an embodiment of the present invention;

[0023] Figure 6 for Figure 5 A magnified view of a portion of point B in the middle;

[0024] Figure 7 This is a cross-sectional view of the universal moxibustion application head assembly according to an embodiment of the present invention;

[0025] Figure 8 This is a partial cross-sectional view of the universal moxibustion application head assembly according to an embodiment of the present invention;

[0026] Figure 9 for Figure 8 An enlarged view of the elastic connection structure in the image;

[0027] Figure 10 This is a schematic diagram of the structure of the moxibustion tube in an embodiment of the present invention;

[0028] Figure 11 for Figure 10 A magnified view of a portion of point C in the middle;

[0029] Figure 12 This is a cross-sectional view of the moxibustion tube in an embodiment of the present invention;

[0030] Figure 13 for Figure 12 A magnified view of a portion of point D. Detailed Implementation

[0031] The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the present invention can be combined with each other.

[0032] like Figures 1 to 13In the embodiment of the universal moxibustion working head assembly for intelligent moxibustion robots shown in the present invention, the universal moxibustion working head assembly for intelligent moxibustion robots includes a connecting device 10, a housing 20, and a cover 30. The connecting device 10 is provided with a universal connecting hole 101 for connecting with a robotic arm. The housing 20 is mounted on the connecting device 10, and a moxibustion cylinder 40 is installed inside the housing 20. The moxibustion cylinder 40 is filled with moxa sticks 401. The top of the moxibustion cylinder 40 is provided with a smoke outlet 402. The cover 30 is provided with a smoke exhaust connector 31 corresponding to the smoke outlet 402. The lower side of the housing 20 is provided with an annular transmission... The bottom end of the moxibustion cylinder 40 passes through the central through hole of the sensing chamber 50. The annular bottom plate 51 of the sensing chamber 50 is provided with multiple mounting holes. The sensing chamber 50 is equipped with a laser rangefinder 52, a camera 53, a temperature sensor 54, and a laser indicator light 55, which are respectively corresponding to the mounting holes. The laser rangefinder 52 is used to detect the distance between the moxibustion head and the human skin. The camera 53 is used to collect images of the human skin. The temperature sensor 54 is used to collect the temperature of the human skin during the moxibustion process. The laser indicator light 55 is used to indicate the projection position of the moxibustion head on the human skin.

[0033] This application discloses a universal moxibustion head assembly suitable for intelligent moxibustion robots. It can be easily connected to the robotic arm of a moxibustion device via a connecting plate, offering high versatility. By incorporating a laser rangefinder, camera, temperature sensor, and laser indicator light within the sensor compartment at the bottom of the housing, the distance between the moxibustion head and the human skin can be detected by the laser rangefinder. This allows the control module of the moxibustion device to accurately control the position of the moxibustion head when controlling the robotic arm's movement for moxibustion operations, effectively preventing burns from contact with the skin and significantly improving the safety of moxibustion operations. The assembly can be easily connected to the robotic arm of the moxibustion device via a connecting device, further enhancing its versatility. The moxibustion cylinder can be quickly removed by opening the housing cover, facilitating cleaning and maintenance. The top smoke exhaust method and annular flue design ensure more even combustion of the moxa stick and higher smoke extraction efficiency. Providing a universal external connection interface and hardware protection functions, and integrating the aforementioned sensors, the assembly significantly improves the safety of moxibustion operations through dual hardware and software safety protection, and also facilitates the rapid development and application of moxibustion robot systems.

[0034] In one embodiment of this application, preferably, the bottom end of the moxibustion cylinder 40 is not lower than the bottom end of the annular base plate 51, so that when the moxibustion head accidentally touches human skin, the bottom end of the moxibustion cylinder 40 will not directly contact human skin, effectively preventing accidental burns. Preferably, a rubber pad is also provided on the lower side of the annular base plate 51 to protect the sensors and reduce the impact force of accidental collisions.

[0035] In one embodiment of this application, preferably, the annular base plate 51 is provided with eight evenly arranged mounting holes, which are arranged in an octagonal shape. Four laser rangefinders 52 are installed in the sensing chamber 50, which are arranged in a cross-shaped symmetrical arrangement. The data processing unit can accurately calculate the distance between the moxibustion head and the human skin based on the detection data of the four laser rangefinders 52. Preferably, two symmetrically arranged cameras 53 are installed in the sensing chamber 50. Both cameras 53 are wide-angle cameras to ensure that enough effective human skin images can be clearly captured during moxibustion. The two cameras are connected to the camera driver board in the control circuit board through FPC flexible flat cables. They form a binocular system through hardware frame-synchronous processing, and then more visual information can be obtained by using visual algorithms in the upper controller. The data processing unit can also adjust the distance between the moxibustion head and the human body to improve the moxibustion effect based on the human skin temperature data collected by the temperature sensor 54; the laser indicator light 55 is used to indicate the projection position of the moxibustion head on the human skin, which makes it easier for staff to intuitively observe the moxibustion position during the moxibustion operation. The data processing unit can also analyze and adjust the moxibustion position based on the image information collected by the camera.

[0036] In one embodiment of this application, preferably, an electrical control compartment 201 is provided at the connection between the housing 20 and the connecting device 10. A control circuit board 202 is installed inside the electrical control compartment 201. The laser rangefinder, the camera, the temperature sensor, and the laser indicator light are all electrically connected to the control circuit board. An indicator light 203, electrically connected to the control circuit board, is also provided on the side wall of the electrical control compartment 201. An electrical connector 204 is also provided on the upper side of the electrical control compartment 201 to facilitate electrical connection between the moxibustion head and the control module of the moxibustion device. In one embodiment of this application, preferably, the electrical control system of the moxibustion head uses a microcontroller with a Cortex-M4 core to collect and process sensor information, including temperature, distance, and collision status, and then encodes and sends the data. The visual image is processed by the driver boards of the two cameras and transmitted separately via a USB interface. Preferably, the moxibustion head uses an 8-pin aviation connector as the power and signal interface, powered externally and communicating externally. The communication method follows the 485 standard communication protocol, which has strong versatility. The indicator lights on the moxibustion device head can be used to display the system's operating and fault status. Different status information can be queried through coding, such as distance measurement signal loss, temperature measurement signal loss, collision abnormality, etc.

[0037] In one embodiment of this application, preferably, one side of the cover 30 is hinged and fixed to the housing 20, and the other side of the cover 30 is snapped to the housing 20 by a buckle 32. The housing 20 is also provided with an elastic button 21 corresponding to the buckle 32, thereby making it easy to open the cover and facilitate the installation and removal of the moxibustion tube.

[0038] In one embodiment of this application, preferably, the moxibustion cylinder 40 includes an outer cylinder 41 with a bottom opening and an inner cylinder 42, both of which are made of metal. The moxa stick 401 is located in the inner cylinder 42. The top of the outer cylinder 41 is provided with a smoke outlet 402. The top plate of the inner cylinder 42 is connected to the top plate of the outer cylinder 41 through a connecting column 43. An annular smoke exhaust channel communicating with the smoke outlet 402 is formed between the outer cylinder 41 and the inner cylinder 42. Specifically, after the lower end of the moxa stick 401 is lit, it can be used for moxibustion when it is brought close to the human skin by the moxibustion head. The smoke generated after the lower end of the moxa stick 401 is lit can flow upward through the annular smoke exhaust channel between the outer cylinder 41 and the inner cylinder 42 and be discharged through the smoke outlet 402. The upward flow of smoke helps the moxa stick to burn more fully and evenly.

[0039] In one embodiment of this application, preferably, the lower end of the outer cylinder 41 is provided with a detachable protective cover 44, the bottom end of the protective cover 44 is provided with a dust-proof net 45 corresponding to the bottom end of the moxa stick 401, and the upper side of the dust-proof net 45 is also provided with a moxa stick bracket 46 supporting the bottom end of the moxa stick 401. Preferably, as Figure 10 As shown, the lower end of the outer cylinder 41 is provided with a locking block, and the protective cover 44 is provided with an L-shaped opening slot. The protective cover 44 can be easily installed and removed by rotating it. In another embodiment, the protective cover is connected to the lower end of the outer cylinder 41 by a threaded connection for easy disassembly. When installing the moxa stick 401, first remove the protective cover 44, then insert the moxa stick 401 into the inner cylinder 42 from bottom to top, and then install the protective cover 44. The moxa stick bracket 46 on the upper side of the ash-separating net 45 supports the bottom end of the moxa stick 401, thereby facilitating the installation of the moxa stick. After the bottom end of the moxa stick is lit, the generated moxa ash can fall onto the upper side of the ash-separating net 45. As shown in the figure, the three moxa stick brackets 46 are symmetrically arranged and the top of the moxa stick brackets 46 protrudes upward, so that a gap for storing moxa ash is formed on the upper side of the ash-separating net.

[0040] In one embodiment of this application, preferably, the dust-proof mesh 45 is installed at the lower end of the protective cover 44 via an elastic rod 47, the elastic rod 47 including a connecting rod 471 and a spring 472; as Figure 3As shown, the lower side of the ash-separating mesh 45 is provided with four elastic pull rods 47, which make the ash-separating mesh 45 elastically connected to the protective cover 44. The bottom end of the moxa stick 401 abuts against the moxa stick support 46 on the upper side of the ash-separating mesh 45. The ash-separating mesh vibrates through an external vibrating device with brush bristles, which can knock away the moxa ash produced by the burning of the moxa stick. Specifically, when the ash-separating mesh vibrates under the contact of the brush bristles, the blocky moxa ash will vibrate and disperse. The small particles formed after the moxa ash is vibrated and dispersed can fall through the mesh holes of the ash-separating mesh. The remaining small amount of moxa ash can also be brushed off by the brush bristles. Thus, the moxa ash on the upper side of the ash-separating mesh can be removed as needed to prevent the accumulation of too much moxa ash from affecting the moxibustion effect.

[0041] In one embodiment of this application, preferably, as shown below, Figure 5 , Figure 12 As shown, an oil collection box 48 is provided on the upper side of the outer cylinder 41. The middle part of the oil collection box 48 is provided with a central cylinder 481 corresponding to the smoke outlet 402. The center of the top cover 482 of the oil collection box 48 is provided with a smoke outlet pipe 483 corresponding to the smoke exhaust connector 31. A cotton ball holder 484 is provided in the smoke outlet pipe 483. The upper side of the cotton ball holder 484 is filled with filter cotton balls (not shown in the figure). The filter cotton balls in the smoke outlet pipe 483 can perform preliminary filtration of the moxa smoke. The moxa oil in the smoke can be collected by the oil collection box 48 to collect the moxa oil dripping due to filtration and cooling. Preferably, the oil collection box 48 is made of transparent material so as to facilitate observation of the amount of moxa oil in the oil collection box. When there is too much moxa oil, the top cover 482 can be opened to clean the oil stains.

[0042] In one embodiment of this application, preferably, as shown below, Figure 10 As shown, the outer cylinder 41 of the moxibustion cylinder 40 includes an upper cylinder 411 and a lower cylinder 412. The lower end of the upper cylinder 411 is provided with a connecting cone 413, and the upper end of the lower cylinder 412 is provided with a connecting ring plate 414. The lower cylinder 412 is installed on the lower side of the connecting cone 413 through the connecting ring plate 414. The connecting ring plate 414 is fixedly connected to the connecting cone 413 by screws. The inner wall of the housing 20 is provided with a plurality of radial support plates 22 corresponding to the connecting ring plate 414. When the moxibustion cylinder 40 is placed into the housing 20, the lower side of the connecting ring plate 414 is supported by the plurality of radial support plates 22 on the inner wall of the housing 20, thereby enabling convenient, quick and accurate installation and positioning of the moxibustion cylinder.

[0043] In one embodiment of this application, preferably, as shown below, Figure 8 , Figure 9As shown, the connecting device 10 includes a connecting horizontal plate 11 and a connecting vertical plate 12. The connecting horizontal plate 11 is provided with a connecting hole 101. The housing 20 is provided with a mounting vertical plate 23 corresponding to the connecting vertical plate 12. A vertical guide rail 13 is fixed on the connecting vertical plate 12. A slider 24 adapted to the vertical guide rail 14 is provided on the mounting vertical plate 23 so that the housing 20 can slide up and down relative to the connecting device 10. The connecting vertical plate 12 is also provided with a vertical groove 14. A supporting horizontal plate 25 extending into the vertical groove 14 is provided on the mounting vertical plate 23. A spring 15 is also installed in the vertical groove 14. The upper end of the spring 15 abuts against the lower side of the connecting horizontal plate 12, and the lower end of the spring 15 abuts against the upper side of the supporting horizontal plate 25, so that the housing 20 and the connecting device 10 are elastically connected. The elastic buffer is intended to provide reaction time for the robotic arm to avoid collisions in emergency situations, and can avoid accidental injury caused by the human body suddenly standing up under the moxibustion head and the robotic arm during moxibustion.

[0044] In one embodiment of this application, preferably, as shown below, Figure 8 , Figure 9 As shown, the connecting vertical plate 12 or mounting vertical plate 23 is also provided with a micro switch 26 corresponding to the supporting horizontal plate 25. When the housing 20 moves vertically upwards relative to the connecting device 10 by a preset distance, the micro switch 26 can be triggered. Specifically, after the moxibustion working head is connected and fixed to the mechanical arm of the moxibustion device through the connecting hole 101 on the connecting horizontal plate 11, when the moxibustion working head moves with the mechanical arm to perform moxibustion, when the moxibustion working head moves downwards and the bottom end of the sensing chamber 50 on the lower side of the housing 20 touches the human skin, the housing 20 moves upwards relative to the connecting device 10. When the distance that the housing 20 moves upwards relative to the connecting device 10 is greater than the preset distance, the micro switch 26 generates a trigger signal. The control module of the moxibustion device can enter the emergency mode according to the trigger signal generated by the micro switch 26 and control the mechanical arm to drive the moxibustion working head upwards at the maximum speed away from the human skin to avoid the burning moxa stick from contacting the human skin and causing burns. In one embodiment of this application, as Figure 9 As shown, the micro switch 26 is installed at the bottom of the vertical slot 14 and located on the lower side of the support plate 25. Under normal circumstances, the spring 15 is kept in a compressed pre-tight state so that the connecting device 10 is elastically connected to the housing 20. At this time, the lower side of the support plate 25 presses the spring of the micro switch 26. When the support plate 25 moves upward relative to the connecting device 10 with the housing 20 and the moving distance is greater than the preset distance, the support plate 25 moves upward and disengages from the spring of the micro switch 26. The micro switch 26 generates a collision signal to trigger the emergency mode.

[0045] The universal moxibustion head assembly for intelligent moxibustion robots disclosed in this application can trigger a software protection alarm based on the distance detected by the laser rangefinder 52 when the housing moves downwards and gets too close to human skin or obstacles, thus preventing the burning moxa stick from contacting human skin and causing burns. When the moxibustion head moves too fast with the robotic arm of the moxibustion device, or when a human body suddenly moves close to the moxibustion head and causes an accidental collision, the elastic connection structure between the connecting device 10 and the housing 20 can trigger the micro switch 26 to generate a collision signal, triggering a hardware protection alarm. This allows the robotic arm to be controlled to quickly reset the moxibustion head, preventing the burning moxa stick from contacting human skin and causing burns. Through dual protection of software and hardware, burns caused by the burning moxa stick contacting human skin can be effectively prevented.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A general moxa operation head assembly suitable for an intelligent moxa robot, comprising a connecting device, a shell, a shell cover and a moxa cylinder, characterized in that, The connecting device is provided with a universal connecting hole for connecting with an external mechanical arm, the shell is mounted on the connecting device, a moxibustion cylinder is mounted in the shell, the moxibustion cylinder is filled with moxa sticks, the top end of the moxibustion cylinder is provided with a smoke outlet, and the shell cover is provided with a smoke exhaust joint corresponding to the smoke outlet; the lower side of the shell is provided with an annular sensing bin, the bottom end of the moxibustion cylinder is arranged in the central through hole of the sensing bin; a plurality of mounting holes are arranged on the annular bottom plate of the sensing bin, and a laser ranging sensor, a camera, a temperature sensor and a laser indicator corresponding to the mounting holes are mounted in the sensing bin; eight mounting holes are uniformly arranged on the annular bottom plate; four laser ranging sensors are mounted in the sensing bin, and the four laser ranging sensors are arranged in cross symmetry; two cameras are symmetrically arranged in the sensing bin; the connection part of the shell and the connecting device is further provided with an electric control bin, a control circuit board is mounted in the electric control bin, the laser ranging sensor, the camera, the temperature sensor and the laser indicator are electrically connected with the control circuit board, and a system state indicator lamp electrically connected with the control circuit board is further arranged on the side wall of the electric control bin; the laser ranging sensor is used for measuring the distance between the moxibustion operation head and the human skin, the two cameras are connected to a camera driving board in the control circuit board through FPC flexible flat cables, constitute a binocular system through hardware frame synchronization processing, and are used for collecting human skin images; the temperature sensor is used for measuring the human skin temperature in the moxibustion process; and the laser indicator is used for indicating the projection position of the moxibustion operation head on the human skin; the connecting device comprises a connecting horizontal plate and a connecting vertical plate, the universal connecting hole is arranged on the connecting horizontal plate, the shell is provided with a mounting vertical plate corresponding to the connecting vertical plate, a vertical guide rail is fixed on the connecting vertical plate, a sliding block matched with the vertical guide rail is arranged on the mounting vertical plate, so that the shell can slide up and down relative to the connecting vertical plate; a vertical groove is further arranged on the connecting vertical plate, a supporting horizontal plate extending into the vertical groove is arranged on the mounting vertical plate, a spring is further mounted in the vertical groove, the upper end of the spring abuts against the lower side of the connecting horizontal plate, the other end of the spring abuts against the upper side of the supporting horizontal plate, so that the shell is elastically connected with the connecting device; a micro switch corresponding to the supporting horizontal plate is further arranged on the connecting vertical plate, and the micro switch can be triggered when the shell moves vertically relative to the connecting device by a preset distance.

2. The universal moxa working head assembly according to claim 1, characterized in that: The moxibustion cylinder comprises an outer cylinder with an open bottom and an inner cylinder, the moxa stick is located in the inner cylinder, the top end of the outer cylinder is provided with the smoke outlet, and the top plate of the inner cylinder is connected with the top plate of the outer cylinder through a connecting column; an annular smoke exhaust channel communicated with the smoke outlet is formed between the outer cylinder and the inner cylinder.

3. The universal moxa working head assembly of claim 2, wherein: The lower end of the outer cylinder is provided with a detachable protective cover, the bottom end of the protective cover is provided with a dust separation net corresponding to the bottom end of the moxa stick, and the upper side of the dust separation net is further provided with a moxa stick support supporting the bottom end of the moxa stick.

4. The universal moxa working head assembly of claim 3, wherein: The ash separating net is installed at the lower end of the protective cover through elastic pull rods, and the elastic pull rods include connecting rods and springs.

5. The universal moxa working head assembly of claim 2, wherein: The upper side of the outer cylinder is also provided with an oil collecting box, the middle part of the oil collecting box is provided with a center cylinder corresponding to the smoke outlet, the center of the top cover of the oil collecting box is provided with a smoke outlet pipe corresponding to the smoke exhaust joint, a cotton ball bracket is arranged in the smoke outlet pipe, and filter cotton balls are filled on the upper side of the cotton ball bracket.

6. The universal moxa working head assembly of claim 2, wherein: The outer cylinder of the moxa stick includes an upper cylinder body and a lower cylinder body, the lower end of the upper cylinder body is provided with a connecting cone, the upper end of the lower cylinder body is provided with a connecting ring plate, the lower cylinder body is installed at the lower side of the connecting cone through the connecting ring plate, and the inner wall of the shell is provided with a plurality of radial support plates corresponding to the connecting ring plate.

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