Intelligent moxibustion robot

Abstract

The invention discloses an intelligent moxibustion robot which comprises a moxa stick clamping and moxibustion applying system, a moxa stick pushing and igniting system, a moxa smoke and moxa ash layered filtering system and a cushioning differential moving system. The moxa stick clamping and moxibustion applying system comprises a tail end fixing device, a moxa stick clamping and pushing module, an ash cutting module and an ash storage module; the moxa stick pushing and igniting system comprises a moxa stick cabin, a moxa stick transverse pushing device, a moxa stick longitudinal jacking module and an electric arc igniting module; the moxa smoke and moxa ash layered filtering system comprises a smoke and ash removal device, a ventilation pipeline and a smoke removal fan; the differential moving system comprises a frame-shaped frame, a hub motor and a spring universal wheel. The intelligent moxibustion robot has the functions of differential autonomous movement, automatic moxa stick ignition and replacement, moxa ash removal, moxa smoke filtration and moxibustion application distance and temperature feedback, and can implement autonomous and efficient moxibustion operation.

Description

Technical Field

[0001] The present invention relates to the field of robot technology development and application, in particular to an intelligent moxibustion robot. Background Art

[0002] Moxibustion is a traditional Chinese medicine that promotes blood circulation by burning moxa sticks to generate heat radiation. It is increasingly favored by modern people due to its unique efficacy and low side effects. In traditional moxibustion treatment, Chinese medicine practitioners manually apply moxibustion based on experience. The positioning of specific acupoints on the human body, the appearance and disappearance of moxibustion sensations, the detection of meridian conduction pathways, and the control of moxibustion time all rely heavily on the physician's experience and judgment, and lack operational technical specifications and quantitative evaluation standards. In addition, a single moxibustion treatment takes a long time, has low moxibustion efficiency, and high labor intensity, which can lead to problems such as low continuous accuracy, difficult to control moxibustion temperature, and easy mistakes due to fatigue. Autonomous intelligent moxibustion is of great significance for improving the effect of moxibustion and ensuring its safety.

[0003] There are two ways to apply moxibustion: manual and instrumental. The former requires professional doctors to apply moxibustion manually based on experience, which takes a long time and is labor-intensive. The latter uses instruments that can hold moxa sticks, which requires high temperature control capabilities. Compared with manual moxibustion, moxibustion robots can use photoelectric devices to sense temperature information and control the position of moxa sticks, which can significantly reduce the occurrence of accidents such as burns while ensuring the treatment effect.

[0004] At present, the moxibustion robot requires manual intervention for the replacement and lighting of moxa sticks. The common moxibustion robots currently require manual lighting of moxa sticks and placing them in the moxibustion device at the end of the robotic arm, and cannot achieve fully automatic operation.

[0005] At present, the movement modes of moxibustion robots can be divided into two modes: manual push and autonomous movement. At present, common moxibustion robots need to be manually pushed to the designated position for moxibustion. For moxibustion of multiple parts, the position of the robot needs to be manually adjusted to ensure that the robot can moxibustion multiple points. Compared with the manual push mode, the autonomous mobile moxibustion robot can automatically move to a suitable position for moxibustion according to the requirements of moxibustion of different parts, but too many drive motors will increase the difficulty of controlling the robot chassis. Summary of the invention

[0006] In view of this, the present invention proposes a new intelligent moxibustion robot design to address the problems that traditional moxibustion operations require professionals to perform, the moxibustion treatment time is long, the moxibustion efficiency is low, the labor intensity is high, and sanitary conditions are difficult to ensure, as well as the shortcomings of existing moxibustion robots such as single function, low scalability, and excessive human intervention.

[0007] To achieve the above-mentioned purpose, the technical solution of the present invention is as follows: an intelligent moxibustion robot, at least comprising a moxa stick clamping and moxibustion system and a moxa stick pushing and igniting system; the moxa stick clamping and moxibustion system comprises an end fixing device and a moxa stick clamping and pushing module, an ash cutting module, and an ash storage module fixedly arranged on the end fixing device; the end fixing device is provided with an interface fixedly connected to the end of the robotic arm; the moxa stick clamping and pushing module is used to clamp the moxa stick and move along a straight line; the ash cutting module is used to cut the moxa ash from the moxa stick; the ash storage module is used to store the moxa ash cut by the ash cutting module; the moxa stick pushing and igniting system comprises an open moxa stick cabin, a moxa stick horizontal pushing device, a moxa stick longitudinal lifting module and an arc ignition module; the open moxa stick cabin is used to store moxa sticks; the moxa stick is pushed out of the open moxa stick cabin through the moxa stick horizontal pushing device, ignited by the arc ignition module, and then lifted upward by the moxa stick longitudinal lifting module to a set position for clamping by the moxa stick clamping and moxibustion system.

[0008] The intelligent moxibustion robot of the present invention also includes a moxa smoke and moxa ash layered filtration system, which includes a smoke and ash removal device, a ventilation duct connecting the smoke and ash removal device and the ash storage module, and a smoke removal fan; the smoke and ash removal device is provided with a multi-layer filtering structure, and the smoke removal fan is used to transport moxa ash through the multi-layer filtering structure of the smoke and ash removal device.

[0009] Furthermore, a shock-absorbing differential movement system is provided at the bottom of the robot; the shock-absorbing differential movement system includes a frame-shaped frame and a differential hub motor and a spring universal wheel installed at the bottom of the frame; the differential hub motor is used to drive the robot to move and turn; the spring universal wheel is used to bear the vertical load of the robot and to mitigate and suppress the impact caused by uneven roads.

[0010] Furthermore, the moxa stick clamping and propulsion module includes a moxa stick propulsion module and a clamping module; the clamping module includes a connecting frame, an elastic clamp, a support plate and a compression spring; the connecting frame is fixed on the linear motion platform of the moxa stick propulsion module, the support plate is nested inside the elastic clamp, the support plate is connected to the bottom of the connecting frame through a connecting column, and the compression spring is sheathed on the connecting column and placed above the support plate.

[0011] Furthermore, the ash cutting module includes a top end cover, a bottom end cover, a servo, a pinion, a large gear, a metal ash cutting piece and a thin-walled bearing; the top end cover and the bottom end cover cooperate to form a shell with a through hole; the large gear is installed at the through hole of the shell through a thin-walled bearing, and multiple metal ash cutting pieces are evenly distributed along the circumferential direction of the through hole, and one end of the metal ash cutting piece is hinged to the large gear, and the other end slides radially on the bottom end cover; the servo drives the large gear to rotate by driving the pinion gear, so that the metal ash cutting pieces rotate relative to each other toward the center of the moxa stick and change the size of the aperture formed by the metal ash cutting pieces to cut off the moxa ash.

[0012] Furthermore, the ash storage module includes an ash box, an ash baffle and a steering gear; the ash box is located below the ash cutting module and has an opening at its bottom; the steering gear drives the ash baffle to move through a gear rack mechanism to block or open the opening of the ash box.

[0013] Furthermore, the moxa stick longitudinal lifting module includes a linear screw module and a lifting module, and the lifting module is a rod-shaped structure fixedly connected to the linear motion platform of the linear screw module; the arc ignition module includes a ceramic support head and an arc generator; the ceramic support head is connected to the lifting module through a groove structure underneath it, and the arc generator includes a boosting module arranged on the ceramic support head and a pair of arc generating metal wires.

[0014] Furthermore, the moxa stick lateral pushing device includes a moxa stick box, a moxa stick push rod, a spring top cover and a compression spring; a guide groove is provided inside the moxa stick box for guiding the moxa stick push rod to slide horizontally, and the two ends of the compression spring are respectively connected to the moxa stick push rod and the spring top cover to apply a thrust to the moxa stick push rod so that the moxa stick automatically moves horizontally to the exit side of the moxa stick box.

[0015] Furthermore, the linear screw module is provided with a travel limit module, and the travel limit module includes a plurality of diffuse reflection type photoelectric limit switches, and the diffuse reflection type photoelectric limit switch triggers the photoelectric limit switch by detecting an object to limit the travel of the linear motion platform.

[0016] Furthermore, the smoke and ash removal device includes a multi-layer gap box, an ash storage tank, an wormwood ash barrier net, replaceable filter cotton and an activated carbon filter layer; the multi-layer gap box is provided with a multi-layer cavity inside, and through holes are respectively opened at the front and back for connecting ventilation ducts; the ash storage tank, the wormwood ash barrier net, the replaceable filter cotton and the activated carbon filter layer are sequentially arranged in the cavity inside the multi-layer gap box from the inlet end to the outlet end; the ash storage tank is a rectangular groove structure, which is used to store wormwood ash from the ash storage module; the wormwood ash barrier net is a metal mesh structure, which is used to block wormwood ash; the replaceable filter cotton includes oil-absorbing cotton that can absorb wormwood oil, a HEPA material layer that can intercept dust, and a water-washable filter cotton layer; the activated carbon filter layer is a porous mesh structure. Beneficial effects of the present invention:

[0017] (1) The chassis system of the intelligent moxibustion robot of the present invention adopts a cross layout of dual hub motors and dual spring universal wheels. The hub motors are fixed on the left and right sides of the bottom of the frame, which can enable the robot to move straight and turn on the spot; the spring universal wheels are auxiliary mobile wheel groups for balancing the center of gravity of the robot, which are fixed on the front and rear ends of the bottom of the frame, and can alleviate and suppress the impact caused by uneven roads. Moreover, the springs inside them can ensure that all four wheels of the robot touch the ground at the same time when walking on the ground with different small slopes, thereby improving the stability of the robot.

[0018] (2) The moxa stick longitudinal lifting module and the moxa stick transverse pushing device of the present invention can be used together to realize the automatic supply of moxa sticks. The moxa stick longitudinal lifting module can lift the moxa stick and cooperate with the arc ignition module to realize the automatic ignition of the moxa stick; after the previous moxa stick is taken away, the next moxa stick is pushed to the top of the moxa stick longitudinal lifting module under the action of the compression spring and the moxa stick push rod, so as to facilitate the next supply of moxa sticks.

[0019] (3) The clamping module of the present invention is composed of a connecting frame, a stainless steel elastic clamp, a support plate and a compression spring. The support plate, the compression spring and the elastic clamp are coaxially fixed on the connecting frame. The clamping module moves toward the bottom under the action of the moxa stick advancing module. The elastic clamp stops moving after contacting the upper end cover. The support plate continues to move downward, causing the elastic clamp to deform and open toward the outside of the circumference. Finally, the encircling diameter of the elastic clamp is larger than the diameter of the moxa stick, and the moxa stick can smoothly enter the elastic clamp. When the moxa stick enters the elastic clamp, the clamping module moves toward the top under the action of the moxa stick advancing module, and the support plate moves upward with the clamping module. At the same time, the elastic clamp remains in position under the action of the compression spring. Under the action of the restoring force, the encircling diameter of the elastic clamp gradually decreases until it contacts the moxa stick. The moxa stick is fixed on the clamping module under the action of the elastic clamp. Finally, the moxa stick will follow the clamping module to move upward and enter the moxa stick clamping and moxibustion system.

[0020] (4) The ash cutting module of the present invention is composed of a servo, a small gear, a large gear, a metal ash cutting sheet, a top end cover, a bottom end cover and a thin-walled bearing. The large gear is fixed on the gear end cover through a thin-walled bearing. The ash cutting structure is formed by stacking a plurality of metal ash cutting sheets on the large gear. One end of 10 metal ash cutting sheets is hinged to the large gear, and the other end slides radially on the bottom end cover. The servo drives the small gear to drive the large gear to rotate, and the metal ash cutting sheets rotate relative to each other toward the center of the moxa stick to change the size of the aperture to cut off the moxa ash.

[0021] (5) The ash storage module of the present invention is composed of a steering gear, a gear, a rack, an ash baffle and an ash collecting box. The ash baffle is fixed on the rack. The steering gear drives the rack to move. The ash baffle covers the opening of the ash collecting box, and the ash falls into the ash storage module.

[0022] (6) The wormwood smoke and ash filtering system of the present invention adopts a multi-layer filtering structure. The ash storage tank and the wormwood ash barrier net are respectively arranged on the first layer and the second layer inside the multi-layer gap box. The wormwood ash barrier net blocks the wormwood ash and large-volume particles in the ash storage tank of the first layer of the box, thereby avoiding blockage of subsequent filtering layers. The replaceable filter cotton is arranged on the third layer inside the multi-layer gap box, which can absorb tar and dust in the wormwood smoke. The activated carbon filter layer is arranged on the fourth layer inside the multi-layer gap box, and a honeycomb composite carbon core is used to purify formaldehyde, thereby achieving the effect of refreshing the wormwood smoke. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0024] Figure 1 It is an axonometric view of the overall structure of the present invention.

[0025] Figure 2 It is an axonometric view of the main box structure of the present invention.

[0026] Figure 3 It is an axonometric diagram of the moxa stick holding and moxibustion system of the present invention.

[0027] Figure 4 It is an axonometric view of the clamping module of the present invention.

[0028] Figure 5 It is an axonometric view of the ash cutting module of the present invention.

[0029] Figure 6 It is an axonometric view of the ash storage module of the present invention.

[0030] Figure 7 It is a front view of the moxa stick pushing and igniting system of the present invention.

[0031] Figure 8 It is a cross-sectional view of the moxa stick transverse pushing device of the present invention.

[0032] Fig. 9 This is an axonometric diagram of the layered filtration system for moxa smoke and moxa ash of the present invention.

[0033] Fig.10 It is a front view of the smoke and ash removal device of the present invention.

[0034] Fig.11 It is an axonometric diagram of the shock-absorbing differential movement system of the present invention. DETAILED DESCRIPTION

[0035] like Figure 1 As shown, an intelligent moxibustion robot of this embodiment includes a moxa stick clamping and moxibustion system 1, a moxa stick pushing and ignition system 2, a moxa smoke and ash layered filtering system 3 and a shock-absorbing differential movement system 4.

[0036] like Figure 1 , 2 As shown, the intelligent moxibustion robot of this embodiment is provided with a main box and a mechanical arm installed on the top of the main box, the moxa stick clamping and moxibustion application system 1 of the intelligent moxibustion robot is fixed at the end of the mechanical arm, the moxa stick pushing and igniting system 2 is fixedly installed in the main box, and its moxa stick outlet is opened at the top of the main box and located on one side of the mechanical arm. The moxa smoke and moxa ash layered filtering system 3 is fixedly installed in the main box, and the shock-absorbing differential moving system 4 is fixed at the bottom of the main box.

[0037] like Figure 3As shown, the moxa stick clamping and moxibustion system 1 includes an end fixing device and a moxa stick clamping and propulsion module fixedly arranged on the end fixing device, an ash cutting module 19, and an ash storage module 17. The end fixing device includes an upper end cover 16 and a lower end cover 18, wherein the upper end cover 16 is provided with a chip fixing frame 15 for fixing the microcontroller, and the lower end cover 18 is provided with an interface fixedly connected to the end of the robotic arm, and the two are connected to each other through fasteners after docking. The moxa stick clamping and propulsion module is used to clamp the moxa stick and move along a straight line, and it includes a moxa stick propulsion module 12 and a clamping module 14. The moxa stick propulsion module 12 adopts a linear screw module, and the linear screw module is fixed to the end fixing device through a guide rail bracket 13. A camera is fixed to the back of the moxa stick propulsion module 12 through a camera bracket 11 for collecting images of the moxibustion position.

[0038] like Figure 4 As shown, the clamping module 14 includes a connecting frame 141, an elastic clamp 143, a support plate 144 and a compression spring 142; the connecting frame 141 is fixed on the linear motion platform of the moxa stick propulsion module 12, the support plate 144 is nested inside the elastic clamp 143, the support plate 144 is connected to the bottom of the connecting frame 141 through a connecting column, and the compression spring 142 is sheathed on the connecting column and placed above the support plate 144. The clamping module 14 moves toward the bottom under the action of the moxa stick advancing module 12, and the elastic clamping claw 143 stops moving after contacting the upper end cover 16. The support plate 144 continues to move downward, causing the elastic clamping claw 143 to deform and open toward the outside of the circumference. Finally, the encircling diameter of the elastic clamping claw 143 is larger than the diameter of the moxa stick, and the moxa stick can smoothly enter the elastic clamping claw 143; when the moxa stick enters the elastic clamping claw 143, the clamping module 14 moves toward the top under the action of the moxa stick advancing module 12, and the support plate 144 follows the clamping module 14 to move upward. At the same time, the elastic clamping claw 143 remains in position under the action of the compression spring 142. The encircling diameter of the elastic clamping claw 143 gradually decreases to contact with the moxa stick under the action of the restoring force. The moxa stick is fixed on the clamping module 14 under the action of the elastic clamping claw 143, and finally the moxa stick will follow the clamping module 14 to move upward and enter the moxa stick clamping and moxibustion system 1. The moxa stick propulsion module 12 is provided with a travel limit module, which includes a plurality of diffuse reflection photoelectric limit switches. The diffuse reflection photoelectric limit switches are fixed on the guide rails of the linear screw module. The detected object triggers the photoelectric limit switch to limit the travel of the screw motion platform.

[0039] like Figure 5As shown, the ash cutting module 19 is used to cut moxa ash from moxa sticks, which includes a top end cover, a bottom end cover 194, a steering gear, a small gear 195, a large gear 192, a metal ash cutting piece 191 and a thin-walled bearing 193; the top end cover and the bottom end cover 194 cooperate to form a shell with a through hole; the large gear 192 is installed at the through hole of the shell through the thin-walled bearing 193. The large gear 192 cooperates with the outer ring of the thin-walled bearing 193, and the inner ring of the thin-walled bearing 193 cooperates with the top end cover. 10 metal ash cutting pieces 191 are evenly distributed and stacked on the bottom end cover 194 along the circumferential direction of the through hole, and one end of the metal ash cutting piece 191 is hinged to the large gear 192, and the other end slides radially on the bottom end cover 194. When the moxa ash at the end of the moxa stick reaches a certain length and excess moxa ash needs to be cut off, the servo drives the small gear to drive the large gear to rotate, so that the metal cutting pieces rotate relative to each other toward the center of the moxa stick and change the size of the aperture formed by the metal cutting pieces to cut off the moxa ash.

[0040] like Figure 6 As shown, the ash storage module 17 is used to store the moxa ash cut by the moxa cutting module 19. The ash storage module 17 includes an ash collection box 171, an ash blocking sheet 174 and a steering gear 175; the ash collection box 171 is located below the moxa cutting module and fixed inside the lower end cover 18, and an opening is provided at the bottom thereof; the steering gear 175 is fixed to one side of the ash collection box 171 through a steering gear fixing frame 176, and drives the ash blocking sheet 174 to move through a gear rack mechanism to block or open the opening of the ash collection box 171. The ash blocking sheet 174 is fixed above the rack 173; when the moxa ash needs to be temporarily stored, the steering gear 175 in the ash storage module 17 drives the gear 172 to rotate, thereby driving the rack 173 to move, and the ash blocking sheet 174 follows the movement of the rack 173 to cover the opening of the ash collection box 171, and the cut moxa ash will fall into the ash storage module 17.

[0041] like Figure 7As shown, the moxa stick pushing and ignition system 2 of the intelligent moxibustion robot includes an open moxa stick cabin 22, a moxa stick lateral pushing device 21, a moxa stick longitudinal lifting module 26 and an arc ignition module 23. The open moxa stick cabin 22 is fixed to the side of the robot for storing moxa sticks, and a through hole is opened on the bottom surface for connecting with the frame frame. The moxa stick is pushed out from the open moxa stick cabin 22 through the moxa stick lateral pushing device 21, ignited by the arc ignition module 23, and then lifted upward to a set position by the moxa stick longitudinal lifting module 26 for the moxa stick clamping and moxibustion system 1 to clamp. The moxa stick longitudinal lifting module 26 includes a linear screw module and a lifting module. The connecting block 25 is used to connect the lifting bracket 24 and the linear motion platform of the linear screw module. The lifting module is a rod-shaped structure fixedly connected to the linear motion platform of the linear screw module. The arc ignition module 23 is fixed above the lifting bracket 24. The arc ignition module 23 includes a ceramic support head and an arc generator; the ceramic support head is connected to the lifting module through a groove structure below it, and the arc generator includes a booster module and a pair of arc generating wires arranged on the ceramic support head. The moxa stick lateral pushing device 21 is placed inside the moxa stick cabin 22, and the top surface of the moxa stick cabin 22 is designed to be open, so that the moxa stick lateral pushing device 21 corresponding to different moxa stick sizes can be easily replaced.

[0042] like Figure 8 As shown, the moxa stick lateral pushing device 21 comprises a moxa stick box 211, a moxa stick push rod 214, a spring top cover 215 and a compression spring 213. A guide groove for guiding the moxa stick push rod 214 to slide horizontally is provided inside the moxa stick box 212, the spring top cover 215 is fixed to the groove at the tail of the moxa stick box 212, and the two ends of the compression spring 213 are respectively connected to the moxa stick push rod 214 and the spring top cover 215, so as to apply a thrust to the moxa stick push rod 214 so that the moxa stick 211 automatically moves horizontally to the outlet side of the moxa stick box.

[0043] In this embodiment, when the moxa stick pushing and igniting system 2 needs to push out the moxa stick, the lifting bracket 24 moves toward the moxa stick 211 under the action of the moxa stick longitudinal lifting module 26, and the moxa stick 211 will be pushed out of the moxa stick box 212 by the lifting bracket 24; when the lifting bracket 24 moves to the upper limit position, the high-temperature arc generated by the arc generator inside the arc igniting module 23 can ignite the moxa stick in a short time; when the moxa stick is clamped by the moxa stick and taken out by the moxibustion system 1, the lifting bracket 24 will reset to the lower limit position, and the moxa stick inside the moxa stick box 212 will be pushed forward under the action of the compression spring 213 and the moxa stick push rod 214, so as to realize the automatic supply of moxa stick. The lifting bracket 24 is a columnar structure with a rectangular cross section fixedly connected to the moxa stick longitudinal lifting module 26. The top surface of the lifting bracket 24 is higher than the screw rod motion platform, which avoids the heat conduction to the screw rod motion platform when the arc igniting module 23 is working and affects the accuracy of the motion platform.

[0044] like Fig. 9 As shown, the intelligent moxibustion robot of this embodiment also includes a moxa smoke and moxa ash layered filtering system 3, which includes a smoke and ash removal device 31, a ventilation duct and a smoke removal fan connecting the smoke and ash removal device 31 and the ash storage module 17. The smoke and ash removal device 31 is provided with a multi-layer filtering structure, and the opening of the external box body is connected to a sealing end cover 32 through a hinge. The spring pressing buckle 33 on the box body can fasten the sealing end cover 32 to the housing of the smoke and ash removal device 31 to ensure the sealing effect of the smoke and ash removal device 31.

[0045] like Fig.10 As shown, the smoke and ash removal device 31 includes a multi-layer gap box 311, an ash storage tank 312, an wormwood ash blocking net 313, a replaceable filter cotton 314 and an activated carbon filter layer 315-317. The multi-layer gap box 311 is provided with a multi-layer cavity inside, and through holes are respectively opened at the front and back for connecting the ventilation duct. The ash storage tank 312, the wormwood ash blocking net 313, the replaceable filter cotton 314 and the activated carbon filter layer 315-317 are sequentially arranged in the cavity inside the multi-layer gap box 311 from the inlet end to the outlet end. The ash storage tank 312 is a rectangular groove structure, which is arranged on the first layer of the multi-layer gap box 311 and is used to store wormwood ash from the ash storage module 17. The wormwood ash blocking net 313 is a metal mesh structure, which is arranged on the second layer of the multi-layer gap box 311 and is used to block wormwood ash. The replaceable filter cotton 314 includes oil-absorbing cotton that can absorb wormwood oil, a HEPA material layer that can intercept dust, and a washable filter cotton layer, which is arranged on the third layer of the multi-layer gap box 311. The activated carbon filter layers 315-317 are porous mesh structures and are arranged at the tail of the multi-layer gap box 311.

[0046] like Fig.11 As shown, the shock-absorbing differential moving system 4 of the intelligent moxibustion robot includes a frame 41, a supporting base plate 42, a hub motor fixture 43, a hub motor 44 and a spring universal wheel 45. In this embodiment, the frame 41 is a frame-type design built with aluminum profiles, the hub motor fixture 43 is fixed to the frame 41, and the hub motor 44 is fixed to the left and right sides of the bottom of the frame through the hub motor fixture 43. The spring universal wheel 44 is an auxiliary moving wheel group for balancing the center of gravity of the robot, which can mitigate and suppress the impact caused by uneven roads. The hub motor 43 and the spring universal wheel 44 constitute the differential moving system of the robot. The hub motor 43 and the spring universal wheel 44 are arranged in a cross, which can realize the robot's straight travel and in-situ turning.

[0047] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention are included in the protection scope of the present invention.

Claims

1. An intelligent moxibustion robot, characterized in that: At least includes a moxa stick holding and moxibustion system and a moxa stick pushing and igniting system; The moxa stick clamping and moxibustion system comprises an end fixing device and a moxa stick clamping and pushing module, an ash cutting module and an ash storage module fixedly arranged on the end fixing device; the end fixing device is provided with an interface fixedly connected to the end of the mechanical arm; the moxa stick clamping and pushing module is used to clamp the moxa stick and move along a straight line; the ash cutting module is used to cut the moxa ash from the moxa stick; the ash storage module is used to store the moxa ash cut by the ash cutting module; The moxa stick pushing and ignition system includes an open moxa stick cabin, a moxa stick lateral pushing device, a moxa stick longitudinal lifting module and an arc ignition module; the open moxa stick cabin is used to store moxa sticks; the moxa stick is pushed out of the open moxa stick cabin through the moxa stick lateral pushing device, ignited by the arc ignition module, and then lifted upward by the moxa stick longitudinal lifting module to a set position for the moxa stick clamping and moxibustion system to clamp.

2. The intelligent moxibustion robot according to claim 1, characterized in that: It also includes a layered filtration system for moxa smoke and moxa ash, which includes a smoke and ash removal device, a ventilation duct connecting the smoke and ash removal device and an ash storage module, and a smoke removal fan; the smoke and ash removal device is provided with a multi-layer filtration structure, and the smoke removal fan is used to transport the moxa ash through the multi-layer filtration structure of the smoke and ash removal device.

3. The intelligent moxibustion robot according to claim 1, characterized in that: A shock-absorbing differential movement system is provided at the bottom of the robot; the shock-absorbing differential movement system includes a frame-shaped frame and a differential hub motor and a spring universal wheel installed at the bottom of the frame; the differential hub motor is used to drive the robot to move and turn; the spring universal wheel is used to bear the vertical load of the robot and to mitigate and suppress the impact caused by uneven roads.

4. The intelligent moxibustion robot according to claim 1, characterized in that: The moxa stick clamping and propulsion module includes a moxa stick propulsion module and a clamping module; the clamping module includes a connecting frame, an elastic clamp, a support plate and a compression spring; the connecting frame is fixed on the linear motion platform of the moxa stick propulsion module, the support plate is nested inside the elastic clamp, the support plate is connected to the bottom of the connecting frame through a connecting column, and the compression spring is sheathed on the connecting column and placed above the support plate.

5. The intelligent moxibustion robot according to claim 1, characterized in that: The ash cutting module includes a top end cover, a bottom end cover, a servo, a small gear, a large gear, a metal ash cutting piece and a thin-walled bearing; the top end cover and the bottom end cover cooperate to form a shell with a through hole; the large gear is installed at the through hole of the shell through a thin-walled bearing, and a plurality of metal ash cutting pieces are evenly distributed along the circumferential direction of the through hole, and one end of the metal ash cutting piece is hinged to the large gear, and the other end slides radially on the bottom end cover; the servo drives the large gear to rotate by driving the small gear, so that the metal ash cutting pieces rotate relative to each other toward the center of the moxa stick and change the size of the aperture formed by the metal ash cutting pieces, thereby cutting off the moxa ash.

6. The intelligent moxibustion robot according to claim 1, characterized in that: The ash storage module includes an ash collection box, an ash blocking sheet and a steering gear; the ash collection box is located below the ash cutting module, and an opening is provided at the bottom thereof; The steering engine drives the dust blocking plate to move through the gear rack mechanism so as to block or open the opening of the dust collecting box.

7. The intelligent moxibustion robot according to claim 1, characterized in that: The moxa stick longitudinal lifting module includes a linear screw module and a lifting module, and the lifting module is a rod-shaped structure fixedly connected to the linear motion platform of the linear screw module; the arc ignition module includes a ceramic support head and an arc generator; the ceramic support head is connected to the lifting module through a groove structure below it, and the arc generator includes a boosting module arranged on the ceramic support head and a pair of arc generating metal wires.

8. The intelligent moxibustion robot according to claim 1, characterized in that: The moxa stick lateral pushing device includes a moxa stick box, a moxa stick push rod, a spring top cover and a compression spring; a guide groove is provided inside the moxa stick box for guiding the moxa stick push rod to slide horizontally, and the two ends of the compression spring are respectively connected to the moxa stick push rod and the spring top cover to apply a thrust to the moxa stick push rod so that the moxa stick automatically moves horizontally to the outlet side of the moxa stick box.

9. The intelligent moxibustion robot according to claim 7, characterized in that: The linear screw module is provided with a travel limit module, and the travel limit module includes a plurality of diffuse reflection type photoelectric limit switches. The diffuse reflection type photoelectric limit switch triggers the photoelectric limit switch by detecting an object to limit the travel of the linear motion platform.

10. The intelligent moxibustion robot according to claim 2, characterized in that: The smoke and ash removal device comprises a multi-layer gap box, an ash storage tank, an wormwood ash barrier net, replaceable filter cotton and an activated carbon filter layer; the multi-layer gap box is provided with a multi-layer cavity inside, and through holes are respectively opened at the front and back for connecting the ventilation duct; the ash storage tank, the wormwood ash barrier net, the replaceable filter cotton and the activated carbon filter layer are sequentially arranged in the cavity inside the multi-layer gap box from the inlet end to the outlet end; the ash storage tank is a rectangular groove structure, used for storing the wormwood ash from the ash storage module; the wormwood ash barrier net is a metal mesh structure, used for blocking the wormwood ash; The replaceable filter cotton includes oil-absorbing cotton that can absorb wormwood oil, a HEPA material layer that can intercept dust, and a washable filter cotton layer; the activated carbon filter layer is a porous mesh structure.

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