Automatic moxibustion physiotherapy robot

Abstract

The automatic moxibustion physiotherapy robot comprises a mechanical part and an electric control part connected with the mechanical part, the mechanical part comprises a large arm structure and a small arm structure which are connected with each other, a rotatable moxibustion head is installed at the tail end of the small arm structure, the moxibustion head is connected with the electric control part, and the large arm structure and the small arm structure are connected through a steel cable transmission mechanism. The electric control part is used for controlling the working state of the steel cable transmission mechanism so as to correspondingly adjust the included angle between the large arm structure and the small arm structure, the large arm structure is connected with a lead screw transmission mechanism, the lead screw transmission mechanism is connected with the synchronous transmission mechanism, and the electric control part is used for controlling the working state of the synchronous transmission mechanism and the working state of the lead screw transmission mechanism. And the large arm structure is correspondingly adjusted to horizontally rotate and vertically lift. Compared with the prior art, the resistance moment of the mechanical arm can be reduced, the movement stability is improved, and meanwhile the real-time individuation requirement of a user can be met.

Description

Technical Field

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

[0002] Traditional Chinese medicine moxibustion therapy continues to be favored by modern people for its unique efficacy and profound cultural heritage. However, traditional moxibustion is complex to operate, has limited efficiency and potential safety hazards, making it difficult to meet large-scale applications and personalized needs. With the development of artificial intelligence, existing research has proposed moxibustion robots to replace professional doctors in moxibustion of acupoints, so as to achieve moxibustion techniques such as fixed, pecking, rotating, and moving, and improve the efficiency of moxibustion operations.

[0003] The existing moxibustion robot usually includes a multi-joint robotic arm and a moxibustion device arranged at the end of the multi-joint robotic arm. Before moxibustion is performed on the acupoints, the moxibustion device is moved to the acupoints that need moxibustion through the movement of the multi-joint robotic arm.

[0004] However, most of the existing moxibustion robots have the motor installed at the rotating shaft, which results in large resistance torque, insufficient operational safety and limited efficiency, which restricts the movement of the robotic arm, making the movement of the robotic arm unstable and posing a risk of overturning. In addition, the control mode of the existing moxibustion robot mainly adopts a preset method, and its motion path is fixed, which makes it difficult to meet the user's personalized real-time control needs. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide an automated moxibustion therapy robot that can reduce the resistance torque of the robotic arm, improve the movement stability, and meet the real-time personalized needs of users.

[0006] The objective of the present invention can be achieved through the following technical solutions: an automated moxibustion therapy robot, comprising a mechanical part and an electronic control part connected thereto, the mechanical part comprising an upper arm structure and a lower arm structure connected to each other, a rotatable moxibustion head being installed at the end of the lower arm structure, the moxibustion head being connected to the electronic control part, the upper arm structure and the lower arm structure being connected through a cable transmission mechanism, the electronic control part being used to control the working state of the cable transmission mechanism to correspondingly adjust the angle between the upper arm structure and the lower arm structure, the upper arm structure being connected to a lead screw transmission mechanism, the lead screw transmission mechanism being connected to a synchronous transmission mechanism, the electronic control part being used to respectively control the working states of the synchronous transmission mechanism and the lead screw transmission mechanism to correspondingly adjust the upper arm structure to undergo horizontal rotation and vertical lifting.

[0007] Furthermore, the synchronous transmission mechanism is installed between the lower plate of the base and the upper plate of the base, and the synchronous transmission mechanism includes a first drive motor, a synchronous belt and a first joint connected in sequence, the first drive motor is connected to the electronic control unit, the first drive motor is arranged on a side symmetrical to the upper arm structure and the lower arm structure, and the first joint is connected to the screw transmission mechanism.

[0008] Furthermore, the screw transmission mechanism includes a ball screw and a plurality of cylindrical guide rails around it, the bottom ends of the ball screw and the cylindrical guide rails are connected to the first joint, the top ends of the ball screw and the cylindrical guide rails are equipped with a second drive motor, the second drive motor is connected to the electronic control unit, and a second joint is provided in the middle of the ball screw, and the second joint is connected to the upper arm structure.

[0009] Furthermore, the boom structure includes a boom upper plate and a boom lower plate that are relatively arranged, a boom side plate is connected between the boom upper plate and the boom lower plate, a boom guide wheel fixing plate is connected between the end of the boom upper plate and the end of the boom lower plate, and the boom guide wheel fixing plate is connected to the cable transmission mechanism.

[0010] Furthermore, the forearm structure includes an forearm upper plate and a forearm lower plate that are relatively arranged, and an forearm guide wheel fixing plate is connected between the starting ends of the forearm upper plate and the starting ends of the forearm lower plate, and the forearm guide wheel fixing plate is connected to the cable transmission mechanism.

[0011] Furthermore, the cable transmission mechanism includes a third drive motor installed at the starting end of the boom structure, the third drive motor is arranged on a side symmetrical to the boom structure and the arm structure, the third drive motor is connected to a winding shaft, the third drive motor is connected to the electronic control unit, an upper steel cable and a lower steel cable are wound on the winding shaft, the winding directions of the upper steel cable and the lower steel cable are opposite, the upper steel cable is connected to the third joint through a tensioning wheel and a transverse guide wheel arranged on the upper plate of the boom, the lower steel cable is connected to the third joint through a tensioning wheel and a transverse guide wheel arranged on the lower plate of the boom, and the third joint is arranged at the connection between the boom structure and the arm structure.

[0012] Further, the third joint comprises a boom longitudinal guide wheel and an arm longitudinal guide wheel, the boom longitudinal guide wheel is mounted on the boom guide wheel fixing plate, the arm longitudinal guide wheel is mounted on the arm guide wheel fixing plate, and between the boom longitudinal guide wheel and the arm longitudinal guide wheel are arranged the first joint wheel to the sixth joint wheel stacked in sequence from top to bottom, and the upper steel cable passes through the first joint wheel, the arm longitudinal guide wheel, the third joint wheel, the boom longitudinal guide wheel, the fifth joint wheel and is connected to the arm guide wheel fixing plate after passing through the transverse guide wheel;

[0013] The lower steel cable passes through the transverse guide wheel and passes through the sixth joint wheel, the forearm longitudinal guide wheel, the fourth joint wheel, the boom longitudinal guide wheel, the second joint wheel in sequence and is connected to the forearm guide wheel fixing plate.

[0014] Furthermore, the moxibustion head is connected to the forearm structure through a fourth joint, the fourth joint is installed between the end of the forearm upper plate and the end of the forearm lower plate, a servo is installed in the fourth joint, and the servo is connected to the electronic control unit.

[0015] Furthermore, a camera module and a temperature measurement module are installed on the moxibustion head to collect current environmental information of the robot and transmit it to the electronic control unit.

[0016] Furthermore, the electronic control unit includes a host computer and a main control board connected via socket communication. The host computer is used to receive user instructions and current environmental information of the robot, execute preset visual algorithms and robotic arm motion control algorithms, and send control signals to the synchronous transmission mechanism, the screw transmission mechanism, the cable transmission mechanism, and the moxibustion head through the main control board to complete the moxibustion therapy operation.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] The present invention designs a mechanical part and an electronic control part connected thereto, wherein the mechanical part includes a boom structure and a forearm structure connected to each other, a rotatable moxibustion head is installed at the end of the forearm structure, the boom structure and the forearm structure are designed to be connected through a cable transmission mechanism, and the boom structure is connected to a screw transmission mechanism, and the screw transmission mechanism is connected to a synchronous transmission mechanism, the electronic control part is used to control the working state of the cable transmission mechanism to correspondingly adjust the angle between the boom structure and the forearm structure, the electronic control part is used to control the working states of the synchronous transmission mechanism and the screw transmission mechanism respectively to correspondingly adjust the horizontal rotation and vertical lifting of the boom structure, and the electronic control part is also used to control the movement of the moxibustion head, thereby realizing 4 degrees of freedom, and through the design of the forearm rotating shaft driven by the steel cable, the motor controlling its rotation is placed in front of the starting end of the boom, which can greatly reduce the resistance torque and reduce the risk of overturning during operation, while improving the stability and making the overall structure more concise and beautiful, and the vertical lifting movement adopts the screw transmission mechanism, this design has significant advantages in tensioning the cantilever and reducing the load on the cantilever.

[0019] The cable transmission mechanism designed in the present invention includes a third drive motor installed at the beginning of the boom structure, the third drive motor is connected to a winding shaft, an upper cable and a lower cable are wound on the winding shaft, and the winding directions of the upper cable and the lower cable are opposite, the upper cable is connected to the third joint through a tensioning wheel and a transverse guide wheel arranged on the upper plate of the boom, and the lower cable is connected to the third joint through a tensioning wheel and a transverse guide wheel arranged on the lower plate of the boom, and the third joint is arranged at the connection between the boom structure and the forearm structure. In this way, the cable transmission joint design is realized, the third drive motor is placed at the beginning of the boom, close to the main shaft, and the tensioning torque is applied respectively through the upper and lower cables to control the opening and closing angle of the third joint, which can realize the lightweight of the rotating joint, greatly increase the working space of the robot arm, and effectively improve the operation efficiency and stability.

[0020] The present invention arranges the third drive motor of the cable transmission mechanism and the first drive motor of the synchronous transmission mechanism on a side symmetrical to the boom structure and the arm structure, and adopts an installation method symmetrical to the cantilever, which can increase the length of the cantilever as much as possible while ensuring the stability of the center of gravity and increase the working range.

[0021] The electronic control unit designed in the present invention includes a host computer and a main control board connected through socket communication. The host computer receives user instructions and the current environmental information of the robot, and determines the acupuncture point positions and the working path of the robot by executing preset visual algorithms and robotic arm motion control algorithms. The control signal is then sent to the synchronous transmission mechanism, the screw transmission mechanism, the cable transmission mechanism, and the moxibustion head through the main control board to complete the moxibustion therapy operation, which can accurately meet the user's personalized real-time control needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of the robot;

[0023] Figure 2 It is a schematic diagram of the connection between the big arm structure and the small arm structure;

[0024] Figure 3 This is a schematic diagram of the electronic control unit architecture constructed in the embodiment;

[0025] Figure 4 Schematic diagram of the working process of the electronic control unit in the embodiment;

[0026] Markings in the figure: 1. Base lower plate, 2. Base upper plate, 3. First drive motor, 4. Synchronous transmission mechanism, 5. Cylindrical guide rail, 6. First joint, 7. Ball screw, 8. Winding shaft, 9. Third drive motor, 10. Second joint, 11. Second drive motor, 12. Upper plate of the upper arm, 13. Side plate of the upper arm, 14. Fixing plate of the guide wheel of the upper arm, 15. Lower plate of the upper arm, 16. Fixing plate of the guide wheel of the forearm, 17. Upper plate of the forearm , 18. The third joint, 19. The servo, 20. The fourth joint, 21. The heat insulation net, 22. The moxa stick clamp, 23. The lower plate of the forearm, 24. The upper steel cable, 25. The tensioning wheel, 26. The lower steel cable, 27. The longitudinal guide wheel of the forearm, 28. The longitudinal guide wheel of the upper arm, 29. The first joint wheel, 30. The second joint wheel, 31. The third joint wheel, 32. The fourth joint wheel, 33. The fifth joint wheel, 34. The sixth joint wheel, 35. The horizontal guide wheel. DETAILED DESCRIPTION

[0027] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] Example

[0029] like Figure 1 As shown, an automated moxibustion therapy robot includes a mechanical part and an electronic control part connected thereto, wherein the mechanical part includes an upper arm structure and a lower arm structure connected to each other, a rotatable moxibustion head is installed at the end of the lower arm structure, the moxibustion head is connected to the electronic control part, the upper arm structure and the lower arm structure are connected by a steel cable transmission mechanism, the electronic control part is used to control the working state of the steel cable transmission mechanism, so as to correspondingly adjust the angle between the upper arm structure and the lower arm structure, the upper arm structure is connected to a lead screw transmission mechanism, the lead screw transmission mechanism is connected to a synchronous transmission mechanism, the electronic control part is used to respectively control the working states of the synchronous transmission mechanism and the lead screw transmission mechanism, so as to correspondingly adjust the upper arm structure to rotate horizontally and lift vertically.

[0030] Specifically, the synchronous transmission mechanism is installed between the base lower plate 1 and the base upper plate 2, and the synchronous transmission mechanism includes a first drive motor 3, a synchronous belt and a first joint 6 connected in sequence. The first drive motor 3 is connected to the electronic control unit, and the first joint 6 is connected to the screw transmission mechanism.

[0031] The screw transmission mechanism includes a ball screw 7 and multiple cylindrical guide rails 5 around it (three are provided in this embodiment). The bottom ends of the ball screw 7 and the cylindrical guide rails 5 are connected to the first joint 6. The top ends of the ball screw 7 and the cylindrical guide rails 5 are installed with a second drive motor 11, and the second drive motor 11 is connected to the electronic control unit. A second joint 10 is provided in the middle of the ball screw 7, and the second joint 10 is connected to the upper arm structure.

[0032] The boom structure includes a boom upper plate 12 and a boom lower plate 15 which are arranged opposite to each other, a boom side plate 13 is connected between the boom upper plate 12 and the boom lower plate 15, a boom guide wheel fixing plate 14 is connected between the end of the boom upper plate 12 and the end of the boom lower plate 15, and the boom guide wheel fixing plate 14 is connected to the cable transmission mechanism.

[0033] The forearm structure includes an forearm upper plate 17 and a forearm lower plate 23 which are arranged opposite to each other. An forearm guide wheel fixing plate 16 is connected between the starting ends of the forearm upper plate 17 and the starting ends of the forearm lower plate 23, and the forearm guide wheel fixing plate 16 is connected to the cable transmission mechanism.

[0034] like Figure 2 As shown, the cable transmission mechanism includes a third drive motor 9 installed at the starting end of the boom structure, the third drive motor 9 is connected to a winding shaft 8, the third drive motor 9 is connected to the electronic control unit, an upper steel cable 24 and a lower steel cable 26 are wound on the winding shaft 8, the winding directions of the upper steel cable 24 and the lower steel cable 26 are opposite, the upper steel cable 24 is connected to the third joint 18 through a tensioning wheel 25 and a transverse guide wheel 35 arranged on the upper plate 12 of the boom, the lower steel cable 26 is connected to the third joint 18 through a tensioning wheel 25 and a transverse guide wheel 35 arranged on the lower plate 15 of the boom, and the third joint 18 is arranged at the connection between the boom structure and the forearm structure.

[0035] The third joint 18 includes a boom longitudinal guide wheel 28 and an arm longitudinal guide wheel 27, the boom longitudinal guide wheel 28 is mounted on the boom guide wheel fixing plate 14, and the arm longitudinal guide wheel 27 is mounted on the arm guide wheel fixing plate 16, and the first to sixth joint wheels (i.e., the first joint wheel 29, the second joint wheel 30, the third joint wheel 31, the fourth joint wheel 32, the fifth joint wheel 33, and the sixth joint wheel 34) stacked in sequence from top to bottom are arranged between the boom longitudinal guide wheel 28 and the arm longitudinal guide wheel 27, and the upper steel cable 24 passes through the first joint wheel 29, the arm longitudinal guide wheel 27, the third joint wheel 31, the boom longitudinal guide wheel 28, and the fifth joint wheel 33 after passing through the transverse guide wheel 35 to be connected to the arm guide wheel fixing plate 16;

[0036] After being transmitted from the transverse guide wheel 35 , the lower steel cable passes through the sixth joint wheel 34 , the forearm longitudinal guide wheel 27 , the fourth joint wheel 32 , the boom longitudinal guide wheel 28 , and the second joint wheel 30 in sequence and is connected to the forearm guide wheel fixing plate 16 .

[0037] In addition, the moxibustion head is connected to the forearm structure through the fourth joint 20, which is installed between the end of the forearm upper plate 17 and the end of the forearm lower plate 23. A steering gear 19 is installed in the fourth joint 20, and the steering gear 19 is connected to the electronic control unit. A camera module and a temperature measurement module are also installed on the moxibustion head to collect the current environmental information of the robot and transmit it to the electronic control unit.

[0038] The electronic control part includes a host computer and a main control board connected through socket communication. The host computer is used to receive user instructions and the current environmental information of the robot, execute the preset visual algorithm and robotic arm motion control algorithm, and send the control signal to the synchronous transmission mechanism, screw transmission mechanism, cable transmission mechanism, and moxibustion head through the main control board to complete the moxibustion therapy operation.

[0039] In summary, the robot proposed in this scheme includes a translational joint and three rotational joints arranged in sequence from the center to the outside (the overall structural degree of freedom is 4), among which the second joint 10 is a translational joint, which is driven by a threaded transmission mechanism, and is surrounded by three cylindrical guide rails to support the vertical structure of the machine and realize the limitation of the second joint 10; the first joint 6 is a rotational joint, which is connected to the mechanical base support structure through a cross roller bearing and is driven by a synchronous belt below it; the third joint 18 is a rotational joint, which is driven by a steel cable, and the rotation of the forearm structure is realized by its rotation; the fourth joint 20 is a rotational joint (i.e., a pan-tilt joint), and its end is connected to the moxibustion head fixing mechanism.

[0040] In this solution, the drive motor of the forearm structure is placed at the beginning of the upper arm, close to the second joint 10, and the tensioning torque is applied respectively through the upper and lower cables of the cable transmission mechanism to control the opening and closing angle of the third joint 18. The steel cables are divided into two upper and lower parts and are respectively installed at the upper and lower parts of the inner side of the boom. One end of the steel cables is fixed on the winding shaft 8 at the end of the boom and fixedly passed through the opening on the side of the winding shaft 8; the other end passes through the small hole on the guide wheel fixing plate 16 of the forearm and is tensioned and fixed. The two steel cables are tightly wound on the winding shaft 8 in clockwise and counterclockwise directions respectively, and are positioned and tensioned by the guide wheel system. The guide wheel system is respectively fixed to the boom, the forearm and the third joint 18. Among them, the transverse guide wheel 35 and the steel cable tensioning wheel 25 are fixed on the fixing holes of the upper and lower plates of the boom, and the two pairs of longitudinal guide wheels are respectively fixed on the boom guide wheel fixing plate 14 and the forearm guide wheel fixing plate 16. The 6 joint wheels are stacked in sequence at the third joint 18, with the joint shaft passing through the middle, and are successively fixed on the fixing holes of the boom lower plate 15, the forearm lower plate 23, the boom upper plate 12, and the forearm upper plate 17. A steel cable passing groove is left on the boom guide wheel fixing plate 14. In the cable transmission mechanism, a stepper motor can be used as the third drive motor 9, the output shaft of the third drive motor 9 is inserted into one end of the winding shaft 8, and the other end of the winding shaft 8 is fixedly connected to the bearing fixedly connected to the lower plate 15 of the upper arm.

[0041] In the overall robot structure, the base is horizontally placed at the bottom of the robot arm, and a synchronous transmission mechanism 4 is fixed between the base lower plate 1 and the base upper plate 2; the screw transmission mechanism is fixed to the base upper plate 2 through a cross roller bearing at the first joint 6, and the screw transmission mechanism is vertically placed on the base, with a ball screw 7 in the middle and supported by three cylindrical guide rails 5 on all sides; the upper arm and the screw transmission mechanism are connected through a second joint 10 composed of a ball screw 7 and a cylindrical guide rail 5, which is horizontally placed in the middle of the ball screw 7, and a steel cable is fixed between the upper arm plate 12 and the lower arm plate 15 Transmission mechanism, the two plates are connected and fixed by a hollow upper arm side plate 13 and the upper arm guide wheel fixing plate 14 at the end; the forearm and the upper arm are coaxially connected through the third joint 18, and the forearm and the upper arm are kept in the same horizontal plane during movement, and the upper forearm plate 17 and the lower forearm plate 23 are connected by the forearm guide wheel fixing plate 16; the moxibustion head is connected to the forearm through the fourth joint 20, and the fourth joint 20 is installed between the upper forearm plate 17 and the lower forearm plate 23, and the moxibustion head hangs down below the horizontal plane of the forearm, and is composed of a moxa stick clamp 22 and a heat insulation net 21.

[0042] The basic motion mode of the overall robot is as follows: the first drive motor 3 is connected to the first joint 6 through the synchronous transmission mechanism 4, and the first joint 6 is started to rotate with the ball screw 7 as the axis. The second drive motor 11 is installed at the upper end of the screw transmission mechanism to drive the ball screw 7 to rotate, thereby controlling the second joint 10 to move up and down, and controlling the lifting and lowering of the upper arm. The third drive motor 9 is installed at the proximal end of the upper arm, connected to the cable transmission mechanism through the winding shaft 8, and then drives the third joint 18 to rotate. The servo 19 is installed on the inner ring of the fourth joint 20, which is used to drive the moxibustion head to rotate. Among them, the basic motion mode of the cable transmission mechanism is as follows (the rotation direction in the motion mode is determined by the top view): the third drive motor 9 that controls the rotation of the forearm is placed at the beginning of the upper arm, and the tensioning torque is applied respectively through the upper and lower cables 24 and 26 of the cable transmission mechanism to control the opening and closing angle of the third joint 18. There are two steel cables installed at the upper and lower parts of the inner side of the upper arm respectively. The two steel cables are tightly wound on the winding shaft 8 in clockwise and counterclockwise directions respectively. The upper steel cable 24 and the lower steel cable 26 are of equal length and are always kept in a tensioned state during the movement; when the third drive motor 9 drives the winding shaft 8 to rotate clockwise, the upper steel cable 24 is tightened on the winding wheel and the free length becomes shorter, while the lower steel cable 26 is loosened on the winding wheel and the free length increases, and the forearm rotates clockwise around the upper arm with the third joint 18 as the axis; similarly, if the winding shaft 8 rotates counterclockwise, the free length of the upper steel cable 24 increases and the free length of the lower steel cable 26 shortens, thereby realizing the counterclockwise rotation of the forearm.

[0043] This embodiment applies the above solution to build Figure 3The control framework shown in the figure includes a user layer, a control layer and a hardware layer. The top layer is the user layer, where users perform user management and practical interface operations and set parameters through Python and PySide6; the second control layer includes the Linux operating system, ROS (Robot Operating System), keyboard input module, digital signal module, motion control module, and communication module. The above systems and operation modules are organically integrated to form the core control logic of the system; the bottom layer is the hardware layer, which covers components such as temperature measurement module, power module, communication module, camera module, servo drive and STM32 microcontroller. The communication module is based on the TCP / IP protocol, and the lower computer system as a whole is set as the client as the information receiver, and the parsed string signal is set to control the steering and movement angle of the corresponding motor.

[0044] The overall architecture is connected via TCP wireless communication, enabling efficient interaction and control between users and hardware.

[0045] The specific working process is as follows Figure 4 As shown, including:

[0046] 1. Initialize the control system, activate and prepare the various components of the robot control system, put them into standby state, and prepare for the processing of subsequent instructions.

[0047] 2. The system enters the main loop stage and responds to and processes the user's operation instructions in real time. In the main loop, the system captures the user's instructions at any time by monitoring the external keyboard input, and directly reflects them to the system through the keyboard input. Once the user input is received, the system starts the processing mechanism. The system is equipped with a function mapping dictionary, which acts as a bridge to link user instructions with the system preset functions. Joint control allows users to directly manipulate the positions of each joint of the robot arm to achieve the desired posture or action. In addition, the system also supports recording and playback functions. Users can record the entire sequence of operation tasks and accurately replay and repeat them when necessary. This feature is suitable for scenarios where the same operation needs to be performed multiple times. Moxibustion therapy operation modes include spiral moxibustion, sparrow pecking moxibustion, and reciprocating moxibustion. These operations can be accurately located and recorded through specific movement sequences, helping users to easily reproduce complex operation processes.

[0048] In practical applications, the existing kinematics and dynamics control algorithms of the robot arm can be directly used to establish the mapping relationship between the joint angle and the motor rotation angle, and the corresponding pulse signals can be sent to the driver through the main control board to achieve precise control of the motor angle and steering. A virtual simulation platform can be built based on the Robot Operating System (ROS) to achieve synchronous advancement of physical assembly. In addition, through the visual module installed above the gimbal, the human body acupuncture points can be assisted in positioning through the depth camera and visual algorithm. The two existing visual methods can be used to identify the acupuncture points:

[0049] ① Obtain the x,y values ​​of each point relative to the camera by clicking in the UI interface, and convert them into world coordinates through the camera to robot support conversion matrix to obtain the acupuncture point location;

[0050] ② Use the point recognition method to identify the x, y values ​​of the acupoint black point relative to the camera, and convert it into the world coordinate system coordinates through the camera to the robotic arm support transformation matrix to obtain the acupoint position.

[0051] 3. The system issues control instructions, converts the above processing results into specific control signals, and sends them to the robotic arm in a timely and accurate manner.

[0052] On the one hand, the solution proposed in the present invention uses a steel cable to drive the small arm rotating shaft, so that the motor that controls its rotation is placed in front of the starting end of the big arm. Compared with the prior art, the resistance torque is greatly reduced, the risk of overturning during operation is reduced, the stability is improved, and the overall structure is simpler and more beautiful. Among them, the horizontal movement of the cantilever (that is, the interconnected large arm structure and small arm structure) is realized by a steel cable transmission system and driven by a motor, and the vertical movement adopts a screw transmission mechanism. This design has significant advantages in tensioning the cantilever and reducing the load on the cantilever. The first drive motor and the third drive motor are both installed symmetrically with the cantilever, so that the length of the cantilever can be increased as much as possible while ensuring the stability of the center of gravity, thereby increasing the working range.

[0053] On the other hand, through socket communication, the motion algorithm developed based on the existing robot operating system (ROS) includes multiple functional modules such as motor servo motion, wireless communication, temperature sensing, etc., which are organically combined to realize the communication between the upper and lower computers. Compared with the existing technology, it can realize the user's real-time control function and the mechanical structure simulation of three traditional moxibustion techniques (pecking moxibustion, reciprocating moxibustion, and spiral moxibustion), which can greatly improve the user experience and meet the user's real-time personalized needs.

Claims

1. An automated moxibustion therapy robot, characterized in that: It includes a mechanical part and an electric control part connected to it, the mechanical part includes an upper arm structure and a lower arm structure connected to each other, a rotatable moxibustion head is installed at the end of the lower arm structure, the moxibustion head is connected to the electric control part, the upper arm structure and the lower arm structure are connected by a steel cable transmission mechanism, the electric control part is used to control the working state of the steel cable transmission mechanism, so as to correspondingly adjust the angle between the upper arm structure and the lower arm structure, the upper arm structure is connected with a screw transmission mechanism, the screw transmission mechanism is connected to a synchronous transmission mechanism, the electric control part is used to respectively control the working states of the synchronous transmission mechanism and the screw transmission mechanism, so as to correspondingly adjust the upper arm structure to rotate horizontally and lift vertically.

2. An automated moxibustion therapy robot according to claim 1, characterized in that: The synchronous transmission mechanism is installed between the base lower plate (1) and the base upper plate (2), and comprises a first drive motor (3), a synchronous belt and a first joint (6) which are connected in sequence, the first drive motor (3) is connected to an electric control unit, the first drive motor (3) is arranged on a side symmetrical to the upper arm structure and the lower arm structure, and the first joint (6) is connected to a screw transmission mechanism.

3. An automated moxibustion therapy robot according to claim 2, characterized in that: The screw transmission mechanism comprises a ball screw (7) and a plurality of cylindrical guide rails (5) around the ball screw (7), the bottom ends of the ball screw (7) and the cylindrical guide rails (5) are connected to a first joint (6), the top ends of the ball screw (7) and the cylindrical guide rails (5) are provided with a second drive motor (11), the second drive motor (11) is connected to an electric control unit, and a second joint (10) is provided in the middle of the ball screw (7), and the second joint (10) is connected to a large arm structure.

4. The automated moxibustion therapy robot according to claim 1, characterized in that: The boom structure comprises a boom upper plate (12) and a boom lower plate (15) which are arranged opposite to each other, a boom side plate (13) is connected between the boom upper plate (12) and the boom lower plate (15), a boom guide wheel fixing plate (14) is connected between the end of the boom upper plate (12) and the end of the boom lower plate (15), and the boom guide wheel fixing plate (14) is connected to a steel cable transmission mechanism.

5. The automated moxibustion therapy robot according to claim 4, characterized in that: The forearm structure comprises an forearm upper plate (17) and a forearm lower plate (23) which are arranged opposite to each other, an forearm guide wheel fixing plate (16) is connected between the starting ends of the forearm upper plate (17) and the starting ends of the forearm lower plate (23), and the forearm guide wheel fixing plate (16) is connected to a steel cable transmission mechanism.

6. The automated moxibustion therapy robot according to claim 5, characterized in that: The steel cable transmission mechanism comprises a third drive motor (9) installed at the starting end of the boom structure, the third drive motor (9) being arranged on a side symmetrical to the boom structure and the forearm structure, the third drive motor (9) being connected to a winding shaft (8), the third drive motor (9) being connected to an electric control unit, an upper steel cable (24) and a lower steel cable (26) being wound on the winding shaft (8), the winding directions of the upper steel cable (24) and the lower steel cable (26) being opposite, the upper steel cable (24) being connected to a third joint (18) via a tensioning wheel (25) and a transverse guide wheel arranged on an upper plate (12) of the boom, the lower steel cable (26) being connected to the third joint (18) via a tensioning wheel (25) and a transverse guide wheel arranged on a lower plate (15) of the boom, and the third joint (18) being arranged at the connection between the boom structure and the forearm structure.

7. The automated moxibustion therapy robot according to claim 6, characterized in that: The third joint (18) comprises a boom longitudinal guide wheel (28) and an arm longitudinal guide wheel (27), wherein the boom longitudinal guide wheel (28) is mounted on a boom guide wheel fixing plate (14), and the arm longitudinal guide wheel (27) is mounted on an arm guide wheel fixing plate (16), and between the boom longitudinal guide wheel (28) and the arm longitudinal guide wheel (27) are arranged a first joint wheel (29) to a sixth joint wheel (34) stacked in sequence from top to bottom, and the upper steel cable (24) passes through the transverse guide wheel and passes through the first joint wheel (29), the arm longitudinal guide wheel (27), the third joint wheel (31), the boom longitudinal guide wheel (28), and the fifth joint wheel (33) in sequence to be connected to the arm guide wheel fixing plate (16); The lower steel cable (26) passes through the transverse guide wheel and sequentially passes through the sixth joint wheel (34), the forearm longitudinal guide wheel (27), the fourth joint wheel (32), the upper arm longitudinal guide wheel (28), and the second joint wheel (30) to be connected to the forearm guide wheel fixing plate (16).

8. The automated moxibustion therapy robot according to claim 7, characterized in that: The moxibustion head is connected to the forearm structure via a fourth joint (20), and the fourth joint (20) is installed between the end of the forearm upper plate (17) and the end of the forearm lower plate (23). A steering gear (19) is installed in the fourth joint (20), and the steering gear (19) is connected to the electronic control unit.

9. The automated moxibustion therapy robot according to claim 1, characterized in that: The moxibustion head is equipped with a camera module and a temperature measurement module for collecting the current environmental information of the robot and transmitting it to the electronic control unit.

10. The automated moxibustion therapy robot according to claim 9, characterized in that: The electronic control unit includes a host computer and a main control board connected via socket communication. The host computer is used to receive user instructions and current environmental information of the robot, execute preset visual algorithms and robotic arm motion control algorithms, and send control signals to the synchronous transmission mechanism, the screw transmission mechanism, the cable transmission mechanism, and the moxibustion head through the main control board to complete the moxibustion therapy operation.

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