Intelligent moxibustion physiotherapy robot

Abstract

The invention discloses an intelligent moxibustion physiotherapy robot, and aims to provide a solution capable of performing moxibustion physiotherapy in a full-automatic manner. The robot comprises a machine body, and a multi-axis mechanical arm is arranged on the machine body and used for accurately controlling moxa sticks; a material storage table is arranged in the machine body, a slidable material storage pipe is arranged on the material storage table and is controlled by a driving motor through transmission of a gear belt, and automatic taking and placing of moxa sticks are achieved; the moxa stick is ignited through an electric heating wire on the machine body. The robot is further provided with a smoke suction cover, an outlet pipe, a laser distance sensor, an infrared temperature sensor and an intelligent camera and is used for accurately positioning acupuncture points and monitoring safety indexes in the treatment process. Particularly, a breathable anti-ash-falling net and an ash scraping mechanism are further designed, it is guaranteed that scalding caused by ash falling in the moxibustion process is avoided, and ash heads can be cleared away in time. The whole design is combined with an AI algorithm, the functions of automatic taking, ignition, ash scraping and the like of moxa sticks are achieved, and the intelligent level and safety of moxibustion physiotherapy are greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automated physiotherapy, and in particular to an intelligent moxibustion therapy robot. Background Art

[0002] In the field of traditional Chinese medicine, moxibustion, as a long-standing therapy, has provided effective treatment for countless patients. It mainly uses the medicinal effects of mugwort to generate heat from burning moxa to act on specific acupuncture points of the human body to achieve the purpose of warming the meridians and dispelling cold, promoting blood circulation and removing blood stasis. In recent years, with the development of science and technology and the growing demand for health management, traditional moxibustion therapy has also been constantly innovating, striving to serve patients more accurately and efficiently. Especially today with the rapid development of artificial intelligence (AI) and robotics technology, a new type of moxibustion therapy equipment - moxibustion therapy robot is gradually coming into people's view.

[0003] The moxibustion therapy robot integrates modern sensor technology, robotic arm design and complex algorithm models. It can automatically adjust moxibustion parameters such as temperature control, duration and intensity according to individual differences without direct intervention from doctors, thereby ensuring the best experience for each patient. Such robots are usually equipped with advanced image recognition systems that can accurately identify acupuncture point locations to ensure the accuracy of moxibustion operations; at the same time, they may also have user interaction interfaces to facilitate patients or operators to set personalized treatment plans. In addition, through the application of Internet of Things (IoT) technology, moxibustion therapy robots can also achieve remote monitoring and data sharing, making communication between doctors and patients more convenient and accumulating valuable data resources for clinical research.

[0004] However, although moxibustion therapy robots have made significant progress in improving treatment accuracy and convenience, most products on the market still have certain limitations. Specifically, although these robots can perform well in locating acupuncture points and controlling temperature, in actual operation, key steps such as the placement and lighting of moxa sticks still require manual assistance. This situation not only limits the ability of moxibustion therapy robots to be fully automated, but also poses certain obstacles to their promotion and application in a wider range of scenarios. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent moxibustion therapy robot, which, with the cooperation of AI intelligent algorithms, can truly realize fully automatic moxibustion therapy without the need for human assistance.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions:

[0007] The lifting of the ...

[0008] The end of the multi-axis mechanical arm is equipped with a horizontal rotation motor, the power output shaft of the horizontal rotation motor is rotatably connected to a horizontal platform, the free end of the horizontal platform is connected to a smoke hood arranged in the same direction as the horizontal rotation motor, the upper end of the smoke hood is communicated with a mounting cover, and the lower end of the smoke hood is communicated with an outlet pipe, a telescopic driving motor is installed in the mounting cover, the telescopic shaft of the telescopic driving motor is installed with a rotating motor towards the outlet pipe direction, and the rotating motor is provided with a connecting disk towards the outlet pipe direction, the power output shaft of the rotating motor passes through the connecting disk downwardly and is connected to a driving disk, and a limiting disk connected to the connecting disk is provided below the driving disk, and a plurality of limiting slide grooves arranged toward the center of the outer circumference of the limiting disk are provided, each limiting slide groove is slidably connected with a slide bar, and each slide bar is provided with a clamping strip towards the outlet pipe direction, the driving disk is provided with a vortex wire groove on one side of the limiting disk, and each slide bar is provided with a sliding shaft slidably connected with the vortex wire groove;

[0009] A smoke purifier is installed in the body, one side of the smoking hood is connected with a smoking pipe that passes through the body and is connected to the smoke purifier, an ignition groove is arranged at the upper end of the body, an electric heating wire is arranged in the ignition groove, an ash removal groove is arranged at the upper end of the body, a pressure sensor is arranged at the bottom of the ash removal groove, an ash storage cup is movably arranged above the pressure sensor in the ash removal groove, an ash scraping mesh groove is movably arranged in the ash storage cup, and a support spring is arranged between the bottom of the ash scraping mesh groove and the bottom of the ash storage cup.

[0010] By adopting the above technical scheme, when performing moxibustion therapy for patients, first the patient lies on the therapy bed, the driving motor rotates the driving gear belt to drive the storage tube to rotate, so that a storage tube with moxa sticks is opposite to the discharge port, the telescopic push motor extends to push one end of the moxa stick in the storage tube upward out of the discharge port through the push plate, the multi-axis mechanical arm drives the outlet tube to move to a position close to the discharge port, the telescopic drive motor extends to drive the clamping strip to extend out of the outlet tube to cover the moxa stick, and then the rotating motor drives the driving disk to rotate, through the connection between the sliding shaft and the vortex wire groove, the slider is driven to slide inward at the same time, the driving clamping strip is clamped inward, the multi-axis mechanical arm drives the moxa stick to extend into the ignition slot and contact the electric heating wire, the electric heating wire is energized to heat up and ignite the moxa stick, and then the telescopic drive motor is shortened to retract the clamping strip together with the moxa stick into the outlet tube;

[0011] Afterwards, moxibustion therapy can be performed on the patient according to the therapy techniques. After a certain period of time, the ash head at the burning end of the moxa stick needs to be removed. The burning end of the moxa stick is inserted into the ash scraping net groove and rotated back and forth, so that the ash head can be hung in the ash storage cup. During the process, the pressure detected by the pressure sensor determines whether the ash head has been scraped clean.

[0012] The present invention is further configured as follows: a laser distance sensor and an infrared temperature sensor are arranged downwardly at the edge of the outlet pipe.

[0013] The present invention is further configured as follows: a side wall of the smoking hood is connected to a smart camera arranged downward.

[0014] The present invention is further configured as follows: a magnetic attraction ring is provided at the edge of the open end of the outlet pipe, and also includes an iron ring that matches the magnetic attraction ring, a breathable dust-proof net is provided inside the iron ring, a placement groove is provided at the upper end of the body, an annular electromagnet that matches the iron ring is provided inside the placement groove, and the magnetism generated by the annular electromagnet is greater than the magnetism generated by the magnetic attraction ring.

[0015] The present invention is further configured as follows: a blocking shaft is disposed upwardly from the bottom of the ash storage cup, and the supporting spring sleeve is disposed around the blocking shaft.

[0016] The present invention is further configured as follows: the side wall of the connecting plate is connected to the side wall of the limiting plate by a plurality of connecting strips.

[0017] The present invention is further configured as follows: a plurality of connecting clips corresponding to the material storage tubes and having a T-shaped cross section are arranged on the outer side of the gear belt, and a connecting slot matching with the corresponding connecting clip is arranged on one side of each material storage tube.

[0018] In summary, the present invention has the following beneficial effects:

[0019] First, the moxibustion therapy robot combines advanced AI algorithms with mechanical design to achieve fully automated management from the removal and ignition of moxa sticks to the entire moxibustion process, greatly facilitating patient use and reducing the workload of medical staff.

[0020] Secondly, through the collaborative operation of the ignition device on the body and the manipulator, the robot can automatically complete the ignition process of the moxa stick without human intervention. At the same time, the ash heads after the burning moxa stick can be easily removed by a specially designed scraping mechanism, ensuring the cleanliness of the treatment environment.

[0021] Third, during the moxibustion process, the integrated laser distance sensor and infrared temperature sensor can monitor the human body surface temperature and the distance between the treatment area and the moxa stick in real time, effectively avoiding skin damage caused by excessive temperature and improving the safety of treatment.

[0022] Fourthly, the design of the breathable anti-ash net can not only prevent the ashes produced by the burning moxa stick from falling onto the skin and causing burns, but also keep the treatment area clean and hygienic, further ensuring the safety of the user.

[0023] Fifth, with the help of smart cameras and AI algorithms, the robot can accurately identify and locate acupuncture points on the human body, ensure the accuracy and effectiveness of moxibustion treatment, and provide users with personalized treatment plans.

[0024] Sixth, the built-in smoke purification device can effectively absorb and purify the smoke generated during the moxibustion process, improve the treatment environment, reduce the adverse effects of smoke on patients, and enhance the comfort of moxibustion treatment. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 It is a partial cross-sectional view used to show the internal structure of the body;

[0027] Figure 3 For displaying the storage tubes on the storage table;

[0028] Figure 4 Used to show the bottom structure of the outlet pipe and its connection with the breathable dust-proof net;

[0029] Figure 5 It is a partial cross-sectional view used to show the internal structure of the smoke hood, installation hood and outlet pipe;

[0030] Figure 6 Used to show the connection between the slider, the drive plate and the limit plate;

[0031] Figure 7 An exploded view showing the internal structure of the plastering mesh slot.

[0032] In the figure: 1. Machine body; 11. Extraction outlet; 12. Slide rail; 13. Discharge outlet; 14. Smoke purifier; 15. Smoke pipe; 16. Ignition slot; 17. Electric heating wire; 2. Multi-axis robot arm; 3. Storage table; 31. Sealing cover; 32. Gear shaft; 34. Driving motor; 35. Gear belt; 36. Storage pipe; 37. Connecting card strip; 38. Connecting card slot; 39. Push hole; 310. Telescopic push motor; 311. Push plate; 4. Horizontal rotation motor; 41. Horizontal platform; 42. Smoke hood; 43. Mounting hood; 44. Outlet pipe; 5. Extension Retractable drive motor; 51. Rotating motor; 52. Connecting disk; 53. Driving disk; 54. Limiting disk; 55. Connecting strip; 56. Limiting slide groove; 57. Slide strip; 58. Clamping strip; 59. Vortex wire groove; 510. Sliding shaft; 61. Laser distance sensor; 62. Infrared temperature sensor; 63. Smart camera; 7. Magnetic ring; 71. Iron ring; 72. Breathable anti-ash net; 8. Placement slot; 81. Ring electromagnet; 9. Ash removal slot; 91. Pressure sensor; 92. Ash storage cup; 93. Ash scraping net slot; 94. Blocking shaft; 95. Support spring. DETAILED DESCRIPTION

[0033] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0034] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front”, “back”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0035] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0036] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" 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, a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] Example, see Figure 1-7A smart moxibustion therapy robot comprises a body 1, a multi-axis mechanical arm 2 is arranged at the upper end of the body 1, a withdrawal port 11 is opened on one side of the body 1, two slide rails 12 are arranged inwardly at the withdrawal port 11 in the body 1, a storage platform 3 is slidably connected with the slide rail 12, a sealing cover 31 matched with the withdrawal port 11 is arranged at the outer end of the storage platform 3, both ends of the storage platform 3 are rotatably connected with a vertically arranged gear shaft 32, a driving motor 34 for driving the gear shaft 32 to rotate is installed at the lower end of the storage platform 3, and a gear belt 35 with two gear shafts 32 as the outer cover is movably arranged at the upper end of the storage platform 3.

[0038] The outer side of the gear belt 35 is provided with multiple vertically arranged storage tubes 36 at both ends. The storage tubes 36 are used to store moxa sticks. The outer side of the gear belt 35 is provided with multiple connecting clips 37 corresponding to the storage tubes 36 one by one and with a T-shaped cross-section. One side of each storage tube 36 is provided with a connecting slot 38 matched with the corresponding connecting clip 37. The storage table 3 is provided with a push hole 39 matched with the storage tube 36. A telescopic push motor 310 is installed at the lower end of the storage table 3 at the position of the push hole 39. The telescopic shaft of the telescopic push motor 310 is upwardly provided with a push plate 311 that can extend into the storage tube 36. The body 1 is provided with a discharge port 13 opposite to the push hole 39. When the telescopic push motor 310 is extended, the moxa stick in a storage tube 36 can be pushed out from the discharge port 13.

[0039] A horizontal rotating motor 4 is installed at the end of the multi-axis robot arm 2, and the power output shaft of the horizontal rotating motor 4 is rotatably connected to a horizontal platform 41. The free end of the horizontal platform 41 is connected to a smoke hood 42 arranged in the same direction as the horizontal rotating motor 4. The upper end of the smoke hood 42 is connected to a mounting hood 43, and the lower end of the smoke hood 42 is connected to an outlet pipe 44. A telescopic drive motor 5 is installed in the mounting hood 43. A rotating motor 51 is installed on the telescopic shaft of the telescopic drive motor 5 toward the outlet pipe 44. A connecting disk 52 is arranged on the rotating motor 51 toward the outlet pipe 44. The power output shaft of the rotating motor 51 passes downward through the connecting disk 52 and is connected to a driving disk 53. A The limit plate 54 is connected to the block and the connecting plate 52, and the side wall of the connecting plate 52 is connected to the side wall of the limit plate 54 by a plurality of connecting strips 55. Six limit slide grooves 56 arranged on the outer circumference toward the center of the circle are provided through the limit plate 54, and each limit slide groove 56 is slidably connected to a slide bar 57, and each slide bar 57 is provided with a clamping strip 58 toward the outlet pipe 44. A vortex groove 59 is provided on the side of the driving plate 53 facing the limit plate 54, and each slide bar 57 is provided with two sliding shafts 510 slidably connected to the vortex groove 59. When the rotating motor 51 drives the driving plate 53 to rotate, the connection between the sliding shaft 510 and the vortex groove 59 drives the slider to slide inward or outward at the same time, and the driving clamping strip 58 is clamped inward or released outward.

[0040] Two laser distance sensors 61 and an infrared temperature sensor 62 are arranged downward on the edge of the outlet pipe 44. The laser distance sensor 61 is used to detect the distance between the outlet pipe 44 and the human body. The infrared temperature sensor 62 is used to monitor the temperature of human skin in real time to avoid burns caused by excessive temperature. The side wall of the smoking hood 42 is connected to a downwardly arranged smart camera 63. The smart camera 63 shoots video in real time and uses AI algorithms to intelligently judge the acupuncture points of the human body, the position of moxa sticks, the burning condition of moxa sticks, etc. A circle of magnetic attraction ring 7 is arranged on the edge of the open end of the outlet pipe 44, and also includes a circle of iron ring 71 matched with the magnetic attraction ring 7. A breathable anti-ash falling net 72 is arranged in the iron ring 71. The breathable anti-ash falling net 72 is made of high temperature resistant material and is used to isolate the high-temperature ash heads falling from the moxa stick to prevent them from falling on the skin and causing burns. A placement groove 8 is arranged on the upper end of the body 1. A circle of annular electromagnets 81 matched with the iron ring 71 is arranged in the placement groove 8. The magnetism generated by the annular electromagnet 81 is greater than the magnetism generated by the magnetic attraction ring 7. When the annular electromagnet 81 is not energized, the iron ring 71 can be sucked on the magnetic attraction ring 7, so that the breathable anti-ash falling net 72 covers the lower end of the outlet pipe 44. When the annular electromagnet 81 is energized, it generates greater magnetism, and the iron ring 71 together with the breathable anti-ash falling net 72 can be removed from the magnetic attraction ring 7.

[0041] A smoke purifier 14 is installed in the machine body 1, and a smoking pipe 15 that passes through the machine body 1 and is connected to the smoke purifier 14 is connected to one side of the smoking hood 42. The smoke generated by the burning of the moxa stick is sucked and purified by the smoke purifier 14, so that there will be no pungent smoke smell affecting the experience during the moxibustion therapy. An ignition groove 16 is provided at the upper end of the machine body 1, and a circle of electric heating wire 17 is provided in the ignition groove 16. When the moxa stick contacts the electric heating wire 17, the moxa stick can be ignited. A ash removal groove 9 is provided at the upper end of the body 1, and a pressure sensor 91 is provided at the bottom of the ash removal groove 9. An ash storage cup 92 is movably provided above the pressure sensor 91 in the ash removal groove 9, and an ash scraping mesh groove 93 is movably provided in the ash storage cup 92. A blocking shaft 94 is provided upward at the bottom of the ash storage cup 92, and a supporting spring 95 of a jacket blocking shaft 94 is provided between the bottom of the ash scraping mesh groove 93 and the bottom of the ash storage cup 92. After a certain period of time, it is necessary to remove the ash head at the burning end of the moxa stick. The burning end of the moxa stick is extended into the ash scraping mesh groove 93 and rotated back and forth, so that the ash head can be hung in the ash storage cup 92. During the process, it is judged whether the ash head has been scraped clean according to the pressing force detected by the pressure sensor 91. If the moxa stick needs to be extinguished, the pressing force is increased to press the ash scraping mesh groove 93 down to contact with the blocking shaft 94, so that the moxa stick can be extinguished by repeatedly rolling back and forth.

[0042] Working principle: When performing moxibustion therapy for a patient, first the patient lies on the therapy bed, the driving motor 34 rotates the driving gear belt 35 to drive the storage tube 36 to rotate, so that a storage tube 36 with moxa sticks is facing the discharge port 13, the telescopic push motor 310 extends to push one end of the moxa stick in the storage tube 36 upward out of the discharge port 13 through the push plate 311, the multi-axis robot arm 2 drives the outlet tube 44 to move to a position close to the discharge port 13, the telescopic drive motor 5 extends to drive the clamping strip 58 to extend out of the outlet tube 44 to cover the moxa stick, and then the rotating motor 51 drives the driving disk 53 to rotate, through the connection between the sliding shaft 510 and the vortex wire groove 59, the slider is driven to slide inward at the same time, and the driving clamping strip 58 is driven to clamp the moxa stick inward;

[0043] The multi-axis robot arm 2 drives the moxa stick to extend into the ignition groove 16 and contact the electric heating wire 17. The electric heating wire 17 is energized to heat and ignite the moxa stick. Then the telescopic drive motor 5 is shortened to retract the clamping strip 58 together with the moxa stick into the outlet pipe 44. The multi-axis robot arm 2 drives the outlet pipe 44 to move into the placement groove 8, so that the magnetic attraction ring 7 attracts the iron ring 71, and the air-permeable anti-ash net 72 covers the lower end of the outlet pipe 44;

[0044] Afterwards, moxibustion therapy can be performed on the patient according to the therapy techniques. During the therapy, the laser distance sensor 61 is used to detect the distance between the outlet pipe 44 and the human body, and the infrared temperature sensor 62 is used to monitor the temperature of the human skin in real time to avoid burns caused by excessive temperature. After a certain period of time, it is necessary to remove the ash head at the burning end of the moxa stick. First, align the iron ring 71 with the annular electromagnet 81 and put it into the placement slot 8. After the annular electromagnet 81 is energized, the iron ring 71 and the breathable anti-ash falling net 72 are removed, and the burning end of the moxa stick is extended into the scraping net slot 93 and rotated back and forth, so that the ash head can be hung in the ash storage cup 92. After the scraping is completed, it is moved to the placement slot 8 to cover the outlet pipe 44 with the breathable anti-ash falling net 72. If it is necessary to extinguish the moxa stick, increase the pressing force so that the scraping net slot 93 is pressed down to contact with the blocking shaft 94, and the moxa stick can be extinguished by repeatedly rolling back and forth.

[0045] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. An intelligent moxibustion therapy robot, comprising a body (1), wherein a multi-axis mechanical arm (2) is disposed at the upper end of the body (1), and characterized in that: A withdrawal port (11) is provided on one side of the machine body (1), a slide rail (12) is provided inwardly at the withdrawal port (11) in the machine body (1), the slide rail (12) is slidably connected to a material storage platform (3), a sealing cover (31) matching the withdrawal port (11) is provided at the outer end of the material storage platform (3), both ends of the material storage platform (3) are rotatably connected to a vertically arranged gear shaft (32), a driving motor (34) for driving the gear shaft (32) to rotate is installed at the lower end of the material storage platform (3), and two outer sleeves are movably provided at the upper end of the material storage platform (3). A gear belt (35) of the gear shaft (32), the outer side of the gear belt (35) is provided with a plurality of vertically arranged material storage tubes (36) at both ends, the material storage platform (3) is provided with a push hole (39) matched with the material storage tube (36), a telescopic push motor (310) is installed at the lower end of the material storage platform (3) at the position of the push hole (39), the telescopic shaft of the telescopic push motor (310) is upwardly provided with a push plate (311) capable of extending into the material storage tube (36), and the machine body (1) is provided with a discharge port (13) facing the push hole (39); A horizontal rotating motor (4) is installed at the end of the multi-axis mechanical arm (2), and the power output shaft of the horizontal rotating motor (4) is rotatably connected to a horizontal platform (41). The free end of the horizontal platform (41) is connected to a smoke extraction hood (42) arranged in the same direction as the horizontal rotating motor (4). The upper end of the smoke extraction hood (42) is connected to a mounting hood (43), and the lower end of the smoke extraction hood (42) is connected to an outlet pipe (44). A telescopic driving motor (5) is installed in the mounting hood (43), and a rotating motor (51) is installed on the telescopic shaft of the telescopic driving motor (5) toward the outlet pipe (44). The rotating motor (51) is provided with a connecting plate (51) toward the outlet pipe (44). 2), the power output shaft of the rotating motor (51) passes downward through the connecting disk (52) and is connected to a driving disk (53), a limiting disk (54) connected to the connecting disk (52) is arranged below the driving disk (53), a plurality of limiting sliding grooves (56) arranged on the outer circumference toward the center of the circle are arranged through the limiting disk (54), each limiting sliding groove (56) is slidably connected to a sliding bar (57), each sliding bar (57) is provided with a clamping bar (58) in the direction of the outlet pipe (44), a vortex line groove (59) is arranged on one side of the driving disk (53) facing the limiting disk (54), and each sliding bar (57) is provided with a sliding shaft (510) slidably connected to the vortex line groove (59); A smoke purifier (14) is installed in the machine body (1), and one side of the smoking hood (42) is connected to a smoking pipe (15) that passes through the machine body (1) and is connected to the smoke purifier (14). An ignition groove (16) is provided at the upper end of the machine body (1), and an electric heating wire (17) is provided in the ignition groove (16). An ash removal groove (9) is provided at the upper end of the machine body (1), and a pressure sensor (91) is provided at the bottom of the ash removal groove (9). An ash storage cup (92) is movably provided above the pressure sensor (91) in the ash removal groove (9), and an ash scraping mesh groove (93) is movably provided in the ash storage cup (92), and a support spring (95) is provided between the bottom of the ash scraping mesh groove (93) and the bottom of the ash storage cup (92).

2. The intelligent moxibustion therapy robot according to claim 1, characterized in that: A laser distance sensor (61) and an infrared temperature sensor (62) are arranged downwardly on the edge of the outlet pipe (44).

3. The intelligent moxibustion therapy robot according to claim 1, characterized in that: A smart camera (63) arranged downward is connected to the side wall of the smoking hood (42).

4. The intelligent moxibustion therapy robot according to claim 1, characterized in that: The edge of the open end of the outlet pipe (44) is provided with a magnetic attraction ring (7), and also includes an iron ring (71) matched with the magnetic attraction ring (7), and a breathable dust-proof net (72) is arranged in the iron ring (71). The upper end of the body (1) is provided with a placement groove (8), and a ring-shaped electromagnet (81) matched with the iron ring (71) is arranged in the placement groove (8), and the magnetism generated by the ring-shaped electromagnet (81) is greater than the magnetism generated by the magnetic attraction ring (7).

5. The intelligent moxibustion therapy robot according to claim 1, characterized in that: A blocking shaft (94) is disposed upward at the bottom of the ash storage cup (92), and the support spring (95) is sheathed around the blocking shaft (94).

6. The intelligent moxibustion therapy robot according to claim 1, characterized in that: The side wall of the connecting plate (52) and the side wall of the limiting plate (54) are connected via a plurality of connecting strips (55).

7. The intelligent moxibustion therapy robot according to claim 1, characterized in that: The outer side of the gear belt (35) is provided with a plurality of connecting clips (37) corresponding to the material storage tubes (36) one by one and having a T-shaped cross section, and one side of each material storage tube (36) is provided with a connecting clip groove (38) matched with the corresponding connecting clip (37).

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