Moxibustion device suitable for multi-degree-of-freedom mechanical arm and intelligent moxibustion system

Abstract

The invention discloses a moxibustion device suitable for a multi-degree-of-freedom mechanical arm and an intelligent moxibustion system. The moxibustion device comprises a moxibustion head and an ignition device matched with the moxibustion head. The moxibustion head comprises a pushing device and an overturning plate; the turnover plate is kept closed when not subjected to external force and can be ejected open when subjected to vertically upward acting force; the ignition device comprises a top column and an ignition head arranged at the upper end of the top column, and during ignition, the top column is driven to eject the turnover plate upwards, and the ignition head makes contact with the moxa cone so as to ignite the moxa cone. According to the moxibustion device, the automatic ash removal function can be achieved, generated ash can be removed without intervention of a user, the operation burden of the user is greatly relieved, and the safety and convenience of moxibustion are improved. According to the scheme, the moxibustion device has the characteristics of automation and intellectualization, the moxibustion experience of a user is greatly improved, development of the moxibustion industry is promoted, and the requirement of the user for health maintenance is met.

Description

Technical Field

[0001] The present invention relates to the field of moxibustion equipment, and in particular to a moxibustion device suitable for a multi-degree-of-freedom robotic arm and an intelligent moxibustion system. Background Art

[0002] Moxibustion, also known as moxa leaf moxibustion or moxa stick moxibustion, is a therapy originated from traditional Chinese medicine and has a history of thousands of years. It uses moxa leaves or herbs compressed into moxa sticks to burn on specific acupuncture points or parts, and stimulates the acupuncture points and skin through heat and the components volatilized by the herbs to achieve the purpose of conditioning the body and preventing and treating diseases. Moxibustion is often used in the treatment and health care of traditional Chinese medicine. It can be performed alone or in combination with other therapies such as acupuncture and massage. In China and many other Asian countries, moxibustion is widely used in the treatment of common diseases, chronic diseases, as well as conditioning the body and enhancing immunity.

[0003] Traditional moxibustion devices usually burn moxa leaves or compressed moxa sticks, which are placed on a specific moxibustion box or moxibustion stove for burning. The operation method is relatively simple, but there are the following shortcomings:

[0004] 1. Manual ignition: Traditional moxibustion devices usually require users to manually ignite the device, which increases the complexity and difficulty of use, especially for the elderly or people with special needs, there may be difficulties in use.

[0005] 2. Lack of automatic ash removal function: During use, moxa leaves or compressed moxa sticks will produce ashes. Traditional devices require users to clean the ashes regularly, which is not only cumbersome but may also pose safety hazards, such as accidental burns during cleaning.

[0006] 3. Inaccurate temperature control: The temperature control of traditional devices usually relies on the user's subjective judgment or simple temperature control devices, which cannot accurately control the temperature during the moxibustion process, which may cause the temperature to be too high or too low, affecting the moxibustion effect or causing safety hazards.

[0007] 4. Lack of intelligent functions: Traditional moxibustion devices usually lack intelligent functions and cannot automatically adjust according to user needs, such as measuring temperature and distance, automatically adjusting temperature, etc., which limits the user experience.

[0008] With the advancement of technology, some modern moxibustion devices have gradually emerged, attempting to address the shortcomings of traditional devices, but there are still technical defects such as insufficient automation functions and high operational complexity.

[0009] In general, traditional moxibustion devices have many shortcomings, such as complex operation, imprecise temperature control, and lack of automation functions. Although modern moxibustion devices have improved these problems to a certain extent, they still have some technical defects and inconveniences in use. Therefore, developing a moxibustion device with intelligent functions such as automatic ash removal, automatic ignition, temperature measurement and distance measurement is expected to enhance the user experience, improve the efficacy, and meet the market demand for intelligent and convenient moxibustion products. Summary of the invention

[0010] The technical problem to be solved by the present invention is to provide a moxibustion device and an intelligent moxibustion system suitable for a multi-degree-of-freedom robotic arm in view of the deficiencies in the above-mentioned prior art.

[0011] In order to solve the above technical problems, the technical solution adopted by the present invention is as follows: In a first aspect of the present invention, a moxibustion device suitable for a multi-degree-of-freedom robotic arm is provided, comprising a moxibustion head and an ignition device matched with the moxibustion head;

[0012] The moxibustion head comprises a shell, a pushing device arranged inside the shell, and a flip plate arranged at the bottom of the shell;

[0013] The pushing device is used to push the moxa stick to the top of the flip plate, and the flip plate remains closed when not subjected to external force, and can be pushed open when subjected to a vertical upward force;

[0014] The ignition device comprises a top column and an ignition head arranged at the upper end of the top column. During ignition, the top column is driven to push the flip plate upward, and the ignition head contacts the moxa stick, thereby igniting the moxa stick.

[0015] Preferably, the housing comprises an upper shell and a lower shell connected to each other, and an upper portion of the lower shell is connected to the upper shell via a tapered portion.

[0016] Preferably, a mounting frame is provided in the upper shell, and the pushing device comprises a mounting seat fixed on the mounting frame, a fixing sleeve detachably connected to the mounting seat, and a spring provided in the fixing sleeve, and the inner diameter of the fixing sleeve is larger than the diameter of the moxa stick;

[0017] The bottom of the fixing sleeve is provided with an opening, and the opening is provided with a limiting ring whose inner hole diameter is smaller than the diameter of the moxa stick, so that the moxa stick will be restricted between the spring and the limiting ring after being installed in the fixing sleeve.

[0018] Preferably, in the moxibustion device suitable for a multi-degree-of-freedom robotic arm, a filter is provided at the bottom of the lower shell, and the flip plate is provided in the middle of the filter.

[0019] Preferably, the moxibustion device suitable for a multi-degree-of-freedom robotic arm further comprises at least one ranging sensor arranged inside the lower shell, and a first opening is formed at the bottom of the lower shell below the ranging sensor.

[0020] Preferably, the moxibustion device suitable for a multi-degree-of-freedom robotic arm further comprises a temperature sensor arranged inside the lower shell, and a second opening is formed at the bottom of the lower shell below the temperature sensor.

[0021] Preferably, the moxibustion device suitable for a multi-degree-of-freedom robotic arm further includes a single-chip microcomputer arranged inside the lower shell.

[0022] Preferably, the ignition device further comprises a vibration module arranged at the bottom of the top column.

[0023] A second aspect of the present invention provides an intelligent moxibustion system, comprising the moxibustion device as described above and a multi-degree-of-freedom robotic arm.

[0024] Preferably, the moxibustion head is arranged at the end of the multi-degree-of-freedom mechanical arm, and the moxibustion device is driven to move in a spatial position by the multi-degree-of-freedom mechanical arm;

[0025] The ignition device is fixedly arranged on the body of the multi-degree-of-freedom robotic arm, and the multi-degree-of-freedom robotic arm can drive the moxibustion head to move directly above the ignition device, and further move the moxibustion device downward, so that the flip plate on the moxibustion head is pushed open by the top column of the ignition device.

[0026] The beneficial effects of the present invention are:

[0027] The present invention provides a moxibustion device and an intelligent moxibustion system suitable for a multi-degree-of-freedom robotic arm. The moxibustion device proposed in the present invention can realize an automatic ash removal function, and can clean up the generated ash without user intervention, which greatly reduces the user's operating burden and improves the safety and convenience of moxibustion; in addition, the automatic ash removal function also helps to keep the moxibustion device clean and hygienic, and prolong its service life.

[0028] The present invention has an automatic ignition function, and the moxibustion device can automatically ignite the moxa stick when started, without the need for manual operation by the user, thereby greatly improving the convenience and safety of use; this function allows the user to simply set relevant parameters to start the moxibustion treatment, without having to pay attention to the ignition operation, saving time and energy.

[0029] In the present invention, the temperature and distance measurement functions enable the moxibustion device to monitor the temperature and distance of the moxibustion area in real time, ensuring that the temperature control and distance adjustment during the moxibustion process meet safety standards and user needs; this not only helps to improve the efficacy of moxibustion, but also avoids problems such as skin burns that may be caused by excessive temperature or too close distance, thereby improving the safety and effectiveness of moxibustion.

[0030] In general, the solution of the present invention enables the moxibustion device to have automated and intelligent characteristics, greatly improving the user's moxibustion experience, which will help promote the development of the moxibustion industry and meet the user's needs for health and wellness. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the internal structure of the moxibustion device suitable for a multi-degree-of-freedom robotic arm according to Example 1;

[0032] Figure 2 This is a schematic diagram of the structure of the moxibustion head of Example 1 from the bottom perspective;

[0033] Figure 3 This is a schematic diagram of the external structure of the moxibustion device suitable for a multi-degree-of-freedom robotic arm according to Example 1;

[0034] Description of reference numerals:

[0035] 1—moxibustion head; 11—upper shell; 12—lower shell; 13—conical part; 14—pushing device; 15—flip plate; 16—mounting frame; 17—filter; 141—mounting seat; 142—fixing sleeve; 143—spring; 144—limiting ring;

[0036] 2—ignition device; 21—top column; 22—ignition head; 23—vibration module;

[0037] 3—distance measuring sensor; 4—temperature measuring sensor; 5—first opening; 6—second opening; 7—single chip microcomputer; 8—moxa stick. DETAILED DESCRIPTION

[0038] The present invention is further described in detail below in conjunction with embodiments so that those skilled in the art can implement the invention with reference to the description.

[0039] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0040] Example 1

[0041] A moxibustion device suitable for a multi-degree-of-freedom robotic arm, comprising a moxibustion head 1 and an ignition device 2 matched with the moxibustion head 1;

[0042] The moxibustion head 1 comprises a shell, a pushing device 14 arranged inside the shell, and a flip plate 15 arranged at the bottom of the shell;

[0043] The pushing device 14 is used to push the moxa stick 8 to the top of the flip plate 15. The flip plate 15 remains closed when no external force is applied, and can be pushed open when a vertical upward force is applied.

[0044] The ignition device 2 includes a top column 21 and an ignition head 22 disposed at the upper end of the top column 21. During ignition, the top column 21 is driven to push the flip plate 15 upward, and the ignition head 22 contacts the moxa stick 8 to ignite the moxa stick 8. In this embodiment, the ignition head 22 is a tungsten wire, which is heated by electricity and used to ignite the moxa stick 8.

[0045] In this embodiment, the housing includes an upper shell 11 and a lower shell 12 connected to each other, and the upper portion of the lower shell 12 is connected to the upper shell 11 via a tapered portion 13. The diameter of the upper shell 11 is smaller than that of the lower shell 12.

[0046] In this embodiment, a mounting frame 16 is disposed in the upper housing 11, and the pushing device 14 includes a mounting seat 141 fixed on the mounting frame 16, a fixing sleeve 142 detachably connected to the mounting seat 141, and a spring 143 disposed in the fixing sleeve 142, wherein the inner diameter of the fixing sleeve 142 is greater than the diameter of the moxa column 8;

[0047] The bottom of the fixing sleeve 142 has an opening, and a limiting ring 144 with an inner hole diameter smaller than the diameter of the moxa stick 8 is provided on the opening, so that the moxa stick 8 will be restricted between the spring 143 and the limiting ring 144 after being installed in the fixing sleeve 142.

[0048] In this embodiment, the fixing sleeve 142 is threadedly connected to the mounting seat 141. When in use, the spring 143 and the moxa stick 8 are arranged in the fixing sleeve 142, the spring 143 is at the top, the moxa stick 8 is supported by the limiting ring 144, and then the fixing sleeve 142 is threadedly connected and fixed to the mounting seat 141. The upper end of the spring 143 is squeezed by the mounting seat 141, thereby exerting a downward pressure on the moxa stick 8, so that the lower end of the moxa stick 8 is close to the limiting ring 144. Since the inner diameter of the limiting ring 144 is smaller than the moxa stick 8, the moxa stick 8 will not extend out of the limiting ring 144 when it is not burned; when the lower end of the moxa stick 8 burns and turns into moxa ash, the downward pressing effect of the spring 143 causes the moxa stick 8 to squeeze the moxa ash downward until it falls off, and causes the moxa stick 8 to gradually move downward as the burning continues, so that the burning position of the moxa stick 8 is always maintained at the inner hole of the limiting ring 144, and the moxa ash on the moxa stick 8 can be removed at the same time.

[0049] In this embodiment, a filter screen 17 is disposed at the bottom of the lower housing 12, and the flip plate 15 is disposed in the middle of the filter screen 17. The filter screen 17 has an opening in the middle, and the flip plate 15 is connected to the opening through a torsion spring. When no external force is applied, the flip plate 15 remains closed, and when an external force is applied, the flip plate 15 can be pushed open from bottom to top. When the external force is removed, the flip plate 15 can be closed again under the action of the torsion spring.

[0050] The moxibustion device suitable for a multi-degree-of-freedom robotic arm also includes at least one distance measuring sensor 3 disposed inside the lower housing 12, and a first opening 5 is provided at the bottom of the lower housing 12 below the distance measuring sensor 3. Specifically, in this embodiment, six distance measuring sensors 3 are provided, and the average value measured by the six distance measuring sensors 3 is used as the output result, thereby improving accuracy. The distance measuring sensor 3 can detect the distance between the moxibustion device and the moxibustion area.

[0051] In this embodiment, the moxibustion device suitable for a multi-degree-of-freedom robotic arm further includes a temperature sensor 4 disposed inside the lower housing 12, and a second opening 6 is provided at the bottom of the lower housing 12 below the temperature sensor 4. The temperature sensor 4 can monitor the temperature of the moxibustion area.

[0052] In this embodiment, the moxibustion device suitable for a multi-degree-of-freedom robotic arm further includes a single chip microcomputer 7 disposed inside the lower housing 12. The single chip microcomputer 7 collects detection data of the distance sensor 3 and the temperature sensor 4.

[0053] In this embodiment, the ignition device 2 further includes a vibration module 23 disposed at the bottom of the top column. By providing the vibration module 23, a better dust removal effect can be achieved, which will be further described in the following embodiments.

[0054] The shape of the holes on the filter screen 17 can be a regular geometric shape or an irregular geometric shape.

[0055] The number of distance measuring sensors 3 may be appropriately increased or decreased.

[0056] Example 2

[0057] An intelligent moxibustion system comprises the moxibustion device of embodiment 1 and a multi-degree-of-freedom robotic arm.

[0058] In this embodiment, the multi-degree-of-freedom robotic arm can be a conventional existing product, which can drive the moxibustion device to move arbitrarily in space.

[0059] In this embodiment, the moxibustion head 1 is arranged at the end of a multi-degree-of-freedom robotic arm, and the moxibustion device is driven to move in a spatial position by the multi-degree-of-freedom robotic arm;

[0060] The ignition device 2 is fixedly arranged on the body of the multi-degree-of-freedom robotic arm, which can drive the moxibustion head 1 to move directly above the ignition device 2 and further move the moxibustion device downward, so that the flip plate 15 on the moxibustion device is pushed open by the top column 21 of the ignition device 2.

[0061] The intelligent moxibustion system can automatically ignite and clean the ash, and the working process is as follows:

[0062] Automatic ignition: control the multi-degree-of-freedom robotic arm to drive the moxibustion head 1 to move, so that the flip plate 15 reaches the top of the top column 21 of the ignition device 2, and then the moxibustion device moves vertically downward, and the flip plate 15 is pushed open by the top column 21 until the tungsten wire on the top column 21 contacts the lower end of the moxa stick 8, igniting the moxa stick 8; then the multi-degree-of-freedom robotic arm drives the moxibustion head 1 to move upward, the ignition device 2 withdraws from the moxibustion head 1, the flip plate is reset, and the automatic ignition is completed.

[0063] Automatic dust cleaning:

[0064] Considering that the elastic force of the spring 143 is difficult to control, if the elastic force is too small, the moxa ash cannot be cleaned in time, resulting in moxa ash accumulation and affecting the treatment effect; if the elastic force is too large, the spring 143 will over-compress the moxa stick 8 and cause it to fail to burn normally. Therefore, a vibration module is installed inside the ignition device 2, and automatic ash cleaning is performed at intervals through the following steps:

[0065] The multi-degree-of-freedom robotic arm drives the moxibustion head 1 to move, so that the flip plate 15 reaches directly above the top column 21 of the ignition device 2, and the vibration module starts working, so that the moxibustion head 1 moves vertically downward, and the flip plate 15 is pushed open by the top column 21. In the process of pushing open the flip plate, the vibration module transmits vibration to the moxibustion head 1, which can, on the one hand, promote the moxa ash at the lower end of the moxa column 8 to fall onto the filter 17, and on the other hand, can make the moxa ash accumulated on the folding plate fall onto the filter 17. Since the filter 17 is surrounded by holes, the moxa ash will fall along the holes into the moxa ash collection slot of the moxibustion robotic arm body, thereby realizing automatic cleaning.

[0066] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to specific details.

Claims

1. A moxibustion device suitable for a multi-degree-of-freedom robotic arm, characterized in that: It includes a moxibustion head and an ignition device matched with the moxibustion head; The moxibustion head comprises a shell, a pushing device arranged inside the shell, and a flip plate arranged at the bottom of the shell; The pushing device is used to push the moxa stick to the top of the flip plate, and the flip plate remains closed when not subjected to external force, and can be pushed open when subjected to a vertical upward force; The ignition device comprises a top column and an ignition head arranged at the upper end of the top column. During ignition, the top column is driven to push the flip plate upward, and the ignition head contacts the moxa stick, thereby igniting the moxa stick.

2. The moxibustion device suitable for a multi-degree-of-freedom robotic arm according to claim 1, characterized in that: The housing comprises an upper shell and a lower shell which are connected to each other, and an upper portion of the lower shell is connected to the upper shell via a tapered portion.

3. The moxibustion device suitable for a multi-degree-of-freedom robotic arm according to claim 2, characterized in that: A mounting frame is provided in the upper shell, and the pushing device includes a mounting seat fixed on the mounting frame, a fixing sleeve detachably connected to the mounting seat, and a spring provided in the fixing sleeve, wherein the inner diameter of the fixing sleeve is greater than the diameter of the moxa stick; The bottom of the fixing sleeve is provided with an opening, and the opening is provided with a limiting ring whose inner hole diameter is smaller than the diameter of the moxa stick, so that the moxa stick will be restricted between the spring and the limiting ring after being installed in the fixing sleeve.

4. The moxibustion device suitable for a multi-degree-of-freedom robotic arm according to claim 3, characterized in that: A filter screen is arranged at the bottom of the lower shell, and the flip plate is arranged in the middle of the filter screen.

5. The moxibustion device suitable for a multi-degree-of-freedom robotic arm according to claim 4, characterized in that: It also includes at least one distance measuring sensor arranged inside the lower shell, and a first opening is opened at the bottom of the lower shell below the distance measuring sensor.

6. The moxibustion device suitable for a multi-degree-of-freedom robotic arm according to claim 2, characterized in that: It also includes a temperature measuring sensor arranged inside the lower shell, and a second opening is opened at the bottom of the lower shell below the temperature measuring sensor.

7. The moxibustion device suitable for a multi-degree-of-freedom robotic arm according to claim 2, characterized in that: It also includes a single chip microcomputer arranged inside the lower shell.

8. The moxibustion device suitable for a multi-degree-of-freedom robotic arm according to claim 1, characterized in that: The ignition device also includes a vibration module arranged at the bottom of the top column.

9. An intelligent moxibustion system, characterized in that: It comprises the moxibustion device as described in any one of claims 1 to 8 and a multi-degree-of-freedom robotic arm.

10. The intelligent moxibustion system according to claim 9, characterized in that: The moxibustion head is arranged at the end of the multi-degree-of-freedom mechanical arm, and the moxibustion device is driven to move in a spatial position by the multi-degree-of-freedom mechanical arm; The ignition device is fixedly arranged on the body of the multi-degree-of-freedom robotic arm, and the multi-degree-of-freedom robotic arm can drive the moxibustion head to move directly above the ignition device, and further move the moxibustion device downward, so that the flip plate on the moxibustion head is pushed open by the top column of the ignition device.

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