Double-arm synergistic moxibustion instrument

Abstract

The invention provides a double-arm cooperative moxibustion instrument which comprises an equipment body, a double-arm cooperative assembly and a lifting assembly, the double-arm cooperative assembly comprises a multi-axis mechanical arm and a moxibustion head structure movably arranged at the end of the multi-axis mechanical arm, and the lifting assembly comprises an electric push rod, a sliding rod connected with the electric push rod and a universal joint connecting the sliding rod and the electric push rod. The sliding rod is connected with the multi-axis mechanical arm, and the electric push rod pushes the sliding rod, so that the multi-axis mechanical arm drives the moxibustion head structure to move in different phases or in the same phase, and the moxibustion applying and gas obtaining effects of the moxibustion head structure in different phases are achieved. Through cooperation of the electric push rod, the sliding rod and the universal joint in the lifting assembly, the multi-axis mechanical arm drives the moxibustion head structure to move in different phases or in the same phase, so that diathermanous heating in the body of a patient can be stimulated in the moxibustion therapy process, and the moxibustion applying and gas obtaining effects of the moxibustion head structure in different phases are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of moxibustion therapy equipment, and in particular to a double-arm coordinated moxibustion instrument. Background Art

[0002] With the improvement of people's living standards, moxibustion has been favored by more and more people. Moxibustion is a treatment method that uses the heat generated by the burning of moxibustion materials to stimulate acupuncture points or specific parts of the body surface, open up the meridians, and adjust the disordered physiological and biochemical functions of the human body, thereby achieving the purpose of preventing and curing diseases.

[0003] The core of moxibustion is to get Qi, and the manifestation of getting Qi is the sensation of heat penetration, heat expansion, heat transfer, non-thermal sensation, extremity heat, body heat, heat preference, face flushing, gastrointestinal motility, diffused skin flushing, etc. The moxibustion instruments currently on the market usually use a single moxibustion head fixed on the acupuncture points on the surface of the human body to perform moxibustion treatment in a static manner. Each moxibustion process can only target one acupuncture point. However, this method cannot effectively coordinate moxibustion on multiple acupuncture points, and cannot efficiently stimulate moxibustion Qi, which affects the full effect of moxibustion. Summary of the invention

[0004] Based on this, the purpose of the present invention is to provide a double-arm coordinated moxibustion instrument to solve the problems existing in the prior art.

[0005] The present invention provides a double-arm coordinated moxibustion instrument, comprising: Equipment body; A dual-arm coordination component, wherein the dual-arm coordination component is movably mounted on the device body; A lifting assembly, which is disposed in the main body of the device and is used to drive the dual-arm cooperative assembly to achieve movement in different phases or in the same phase; Among them, the dual-arm collaborative component includes a multi-axis robotic arm and a moxibustion head structure movably arranged at the end of the multi-axis robotic arm, the lifting component includes an electric push rod, a sliding rod connected to the electric push rod, and a universal joint connecting the sliding rod and the electric push rod, the sliding rod is connected to the multi-axis robotic arm, and the electric push rod pushes the sliding rod so that the multi-axis robotic arm drives the moxibustion head structure to move in different phases or in the same phase, so as to achieve the moxibustion and qi-generating effect of the moxibustion head structure in different phases.

[0006] Furthermore, the multi-axis robotic arm includes a first robotic arm, a second robotic arm, and a rotating core connecting the first robotic arm and the sliding rod, the first robotic arm is rotationally connected to the second robotic arm, and the first robotic arm is rotationally connected to the sliding rod through the rotating core.

[0007] Furthermore, the moxibustion head structure includes an insulating tube movably connected to the first mechanical arm and an ash blocking cover arranged on the insulating tube, and the insulating tube and the ash blocking cover enclose a heating chamber for burning the moxa stick.

[0008] Furthermore, a moxibustion material placement tube and a clamping claw provided on one end of the moxibustion material placement tube facing the ash blocking cover are provided in the heat-insulating tube, and the clamping claw is used for installing the moxa stick.

[0009] Furthermore, a gap is provided between the heat-insulating cylinder and the moxibustion material placement cylinder, a smoke exhaust structure is provided on the top of the moxibustion material placement cylinder, and a top sealing cover is provided on the top cover of the heat-insulating cylinder.

[0010] Furthermore, the device body includes a base and an outer box arranged on the base, the lifting assembly is arranged in the outer box, and a smoke purification structure is arranged in the base, and the smoke purification structure is used to purify the smoke generated after the moxa stick is burned and eliminate the odor generated after the moxa stick is burned.

[0011] Furthermore, a plurality of heat dissipation holes are provided on the base and the side walls of the outer box, and a control panel is provided on the device body, and the control panel is used to control the lifting and movement of the dual-arm cooperative assembly.

[0012] Furthermore, a heat insulating sleeve is sleeved on the bottom of the heat insulating cylinder, and a universal wheel is provided on the bottom of the equipment body.

[0013] Furthermore, during the moxibustion process of the double-arm coordinated moxibustion instrument, the rising and falling strokes of the moxibustion head structure are both 3-9 cm, and the time is both 1-2 seconds. When the moxibustion head structure rises to the highest point, it stays for 1-3 seconds and then descends, and stays at the acupuncture points of the human body for 3-6 seconds for moxibustion, and repeats this process in sequence, so that the moxa stick in the moxibustion head structure intermittently moxibustions the patient to achieve the best therapeutic effect.

[0014] Compared with the prior art, the beneficial effects of the present invention are: by arranging a double-arm cooperative component and a lifting component on the main body of the equipment, and utilizing the cooperation of the electric push rod, sliding rod and universal joint in the lifting component, a multi-axis robotic arm can be used to drive the moxibustion head structure to move in different phases or in the same phase, so that the moxibustion treatment process can stimulate the patient's internal heat to achieve the moxibustion and qi effect of the moxibustion head structure in different phases; the moxibustion head structure can perform moxibustion alone, further meeting the patient's more moxibustion needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the double-arm coordinated moxibustion instrument in the first embodiment of the present invention; Figure 2It is a schematic diagram of the overall structure of the double-arm coordinated moxibustion instrument from another perspective in the first embodiment of the present invention; Figure 3 It is a structural schematic diagram of a lifting assembly in the first embodiment of the present invention; Figure 4 An exploded view of the double-arm coordinated moxibustion instrument in the first embodiment of the present invention; Figure 5 An exploded view of the moxibustion head structure in the first embodiment of the present invention; Figure 6 It is a cross-sectional view of the moxibustion head structure in the first embodiment of the present invention; Figure 7 Schematic diagram of key position distribution of the control panel in the first embodiment of the present invention; Figure 8 It is a schematic diagram of the overall structure of the double-arm coordinated moxibustion instrument in the first embodiment of the present invention from a top view.

[0016] Description of main component symbols:

[0017] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0018] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0019] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0021] Embodiment 1 See also Figures 1 to 8, shown is a double-arm coordinated moxibustion instrument in the first embodiment of the present invention, including an equipment body, a lifting component arranged in the equipment body, and a double-arm coordinated component movably installed on the equipment body, wherein the lifting component is used to drive the double-arm coordinated component to realize movement in different phases or in the same phase, wherein the double-arm coordinated component includes a multi-axis robotic arm and a moxibustion head structure 53 movably arranged at the end of the multi-axis robotic arm, the lifting component includes an electric push rod 41, a sliding rod 43 connected to the electric push rod 41, and a universal joint 42 connecting the sliding rod 43 and the electric push rod 41, the sliding rod 43 is connected to the multi-axis robotic arm, the electric push rod 41 pushes the sliding rod 43, so that the multi-axis robotic arm drives the moxibustion head structure 53 to move in different phases or in the same phase, so as to realize the moxibustion and qi-generating effect of the moxibustion head structure 53 in different phases.

[0022] In this embodiment, the device body includes a base 1 and an outer box 2 arranged on the base 1, the lifting assembly is arranged in the outer box 2, and a smoke purification structure 6 is arranged in the base 1. The smoke purification structure 6 is used to purify the smoke generated after the moxa stick is burned and eliminate the odor generated after the moxa stick is burned.

[0023] Among them, the lifting assembly is located in the outer box 2 and is connected to the electric push rod 41 by rivets. The two electric push rods 41 are symmetrically arranged. The telescopic rods on the two electric push rods 41 are connected to the universal joint 42 by bolts. The universal joint 42 is vertically arranged. The two universal joints 42 are slidably connected to the outer box 2; a sliding rod 43 is fixed to the telescopic rod, and the two sliding rods 43 are vertically arranged. In this embodiment, the extension process of the telescopic rod is 1-2 seconds, and the stop extension holding time is 1-2 seconds. The contraction process of the telescopic rod is 1-2 seconds, and the stop contraction holding time is three seconds. The moxa stick is aligned with the acupuncture points of the human body for moxibustion for three seconds, and the telescopic stroke of the telescopic rod is 3-9cm.

[0024] Furthermore, the multi-axis robotic arm includes a first robotic arm 51, a second robotic arm 52, and a rotating core connecting the first robotic arm 51 and the slide bar 43, the first robotic arm 51 is rotationally connected to the second robotic arm 52, and the first robotic arm 51 is rotationally connected to the slide bar 43 through the rotating core.

[0025] It can be understood that the first robotic arm 51 can be connected to the lifting assembly installed in the outer box 2 through the rotating core and realize rotation, so that the first robotic arm 51 can rotate around the central axis of the lifting assembly; the second robotic arm 52 is rotatably connected to the first robotic arm 51, and the first robotic arm 51 and the second robotic arm 52 can drive the moxibustion head structure 53 to move in the X-axis direction.

[0026] Specifically, the moxibustion head structure 53 includes an insulating tube 531 movably connected to the first mechanical arm 51 and an ash blocking cover 542 covered on the insulating tube 531, and the insulating tube 531 and the ash blocking cover 542 enclose a heating chamber for burning moxa sticks; a moxibustion material placement tube 543 and a clamping claw 544 arranged on one end of the moxibustion material placement tube 543 facing the ash blocking cover 542 are arranged in the insulating tube 531, and the clamping claw 544 is used to install the moxa stick; a gap is arranged between the insulating tube 531 and the moxibustion material placement tube 543, a smoke exhaust structure 545 is arranged on the top of the moxibustion material placement tube 543, a top sealing cover 547 is arranged on the top cover of the insulating tube 531, and an insulating sleeve 546 is arranged on the bottom of the insulating tube 531.

[0027] In this embodiment, the moxibustion material is placed from top to bottom through the moxibustion material placement located on the top of the moxibustion head structure 53. The claws 544 can fix the moxibustion material in the heating chamber formed by the insulation tube 531 and the ash blocking cover 542, and make the combustion of the moxibustion material always remain in the same position. The smoke exhaust structure 545 can effectively discharge the smoke generated by the combustion of the moxibustion material, and the ash blocking cover 542 can effectively block the ash generated by the combustion of the moxibustion material.

[0028] Furthermore, the base 1 and the side wall of the outer box 2 are provided with a plurality of heat dissipation holes, and the main body of the device is provided with a control panel, which is used to control the lifting and movement of the dual-arm cooperative assembly. The control panel assembly includes an operation panel 61, a clean smoke temperature display window 62, a working time display window 63, a synchronization key 64, a walking key 65, a walking key 66, an ascending key 67, a descending key 68, an ascending key 610 and a descending key 611. The upper part of the outer box 2 is provided with an operation panel 61, and a clean smoke temperature display window 62 and a working time display window 63 are provided on the operation panel 61. The clean smoke temperature display window 62 and the working time display window 63 are opposite to each other. The net smoke temperature display window 62 and the working time display window 63 are respectively used to display the working time of the two electric push rods 41, and the operation panel 61 is provided with a synchronization key 64, a walking key 65, a walking key 66, an up key 67, a down key 68, an up key 610 and a down key 611, and the synchronization key 64, the walking key 65, the walking key 66, the up key 67, the down key 68, the up key 610 and the down key 611 are located on the same horizontal plane.

[0029] In this embodiment, a universal wheel 8 is provided at the bottom of the device body, wherein the universal wheel 8 has a braking function to ensure the movement and positioning of the moxibustion instrument.

[0030] Before performing moxibustion, the doctor can hold the handle and push the moxibustion machine to a suitable position. The universal wheels 8 will rotate, making it easier to move the moxibustion machine. After determining the position, the two braking universal wheels 8 will be braked to ensure that the moxibustion machine is stable and does not slide during operation.

[0031] When the medical staff needs to use the double-arm cooperative moxibustion instrument in this embodiment to perform moxibustion on the patient, the ash cover 542 is removed, the top sealing cover 547 is opened, the moxa stick is lit, and placed in the placement tube. The three claws 544 will clamp the moxa stick, and then the ash cover 542 is replaced on the bottom of the insulation tube 531. When the patient lies on the bed, the position of the moxibustion head structure 53 is adjusted so that the moxa stick in the moxibustion head structure 53 is vertically aligned with the patient's acupuncture points. The medical staff rotates or adjusts the second mechanical arm 52 and the moxibustion head structure 53 up and down through the control panel to rotate horizontally. The rotation of the second mechanical arm 52 drives the moxibustion head structure 53 to adjust in the vertical direction, and the position of the moxibustion head structure 53 can be adjusted in the vertical direction. Then the medical staff rotates the moxibustion head structure 53 alone, which can quickly adjust the position of the moxibustion head structure 53, so that the moxa stick in the moxibustion head structure 53 is quickly aligned with the patient's acupuncture points, thereby facilitating efficient moxibustion treatment of the patient, and it can also be suitable for patients of different body shapes.

[0032] During the moxibustion process, the insulating sleeve 546 attached to the outside of the insulating tube 531 has a heat-insulating effect to prevent burns and reduce the risk of deformation of the moxibustion head structure 53 due to heat. In addition, the ash produced by the burning of the moxa stick during moxibustion will fall on the ash blocking cover 542. The ash blocking cover 542 can block the ash and prevent it from falling onto the surface of human skin, thereby improving the safety during moxibustion.

[0033] During the moxibustion process, if the position of the moxa stick is not accurate enough, the electric push rod 41 can be controlled to start through the control panel, driving the universal joint 42 and the slide rod 43 to extend and retract at the same time, and the telescopic rod will extend or retract to drive the slide rod 43, the rotating core, the first mechanical arm 51 and the moxibustion head structure 53 to rise or fall. When the two moxibustion head structures 53 move to the appropriate position, the electric push rod 41 is started by the up key 67, the down key 68, the up key 610, and the down key 611 on the control panel. Among them, the up key 67 and the up key 610 will The telescopic rods of the two electric push rods 41 are extended respectively, and the up two keys 610 are used to fine-tune the ascending distance. The down one key 68 and the down two keys 611 will compress the telescopic rods of the two electric push rods 41 respectively, and the down two keys 611 are used to fine-tune the descending distance. The electric push rods 41 can be stopped by multi-touch, thereby driving the two moxibustion head structures 53 to rise and fall respectively, so as to fine-tune the positions of the two moxibustion head structures 53, making the positions of the moxibustion head structures 53 more precise, thereby allowing the moxa sticks in the moxibustion head structures 53 to maintain accurate positions for moxibustion.

[0034] After the position of the moxa stick in the moxibustion head structure 53 is adjusted, the medical staff presses the start button again, and the telescopic rods of the two electric push rods 41 will be extended and retracted again, thereby driving the two moxibustion head structures 53 to rise and fall synchronously. When it is necessary to lift and fall one of the moxibustion head structures 53 for moxibustion, the medical staff first presses the synchronization button 64 to cancel the synchronization, and long presses the walking button 1 65 or the walking button 2 66 to make the telescopic rod of one of the electric push rods 41 extend and retract and drive one of the moxibustion head structures 53 to rise and fall, and the telescopic rod of the other electric push rod 41 will stop rising and falling. This is suitable for situations where only one moxibustion head structure 53 is needed for moxibustion, and further meets more moxibustion needs; the net smoke time display window and the working time display window 63 are respectively used to display the working time of the two electric push rods 41, thereby respectively indicating the moxibustion time of the two moxibustion head structures 53, so that the doctor can clearly know the moxibustion time.

[0035] During the moxibustion process, the telescopic rod of the electric push rod 41 will extend, thereby driving the moxibustion head structure 53 to rise. It takes 1-2 seconds for the moxibustion head structure 53 to rise, and then the telescopic rod of the electric push rod 41 stops extending and remains for 1-2 seconds, and then the telescopic rod of the electric push rod 41 will contract, thereby driving the moxibustion head structure 53 to descend, and it takes 1-2 seconds for the moxibustion head structure 53 to descend. The telescopic rod of the electric push rod 41 stops contracting and remains for three seconds, so that the moxibustion head structure 53 is aimed at the acupuncture points of the human body for moxibustion for three seconds, and then the telescopic rod of the electric push rod 41 will extend again, and reciprocate in sequence, so that the moxibustion head structure 53 intermittently performs moxibustion on the patient, avoiding the moxibustion head structure 53 from being close to the skin for a long time and causing skin burns, so that the patient can be treated with moxibustion more safely. After the moxibustion is completed, press the start button to stop the electric push rod 41 from extending and retracting, the medical staff cuts off the power to the moxibustion machine, then removes the moxibustion head structure 53, then removes the ash cover 542 and pours out the ash, and finally replaces the ash cover 542.

[0036] Experimental data Patients with sleep disorders were selected as the research subjects. The double-arm coordinated moxibustion instrument was used for moxibustion. The scores of depression (HAMD), anxiety (HAMA), and sleep quality (PSQI) were observed before intervention, 1 month after intervention, and 2 weeks after the end of intervention. The results showed that after 1 month of thermosensitive moxibustion intervention, HAMD, HAMA, and PSQI were significantly reduced (P < 0.05); 2 weeks after the end of thermosensitive moxibustion intervention, HAMD, HAMA, and PSQI were significantly different from those after 1 month of thermosensitive moxibustion intervention (P < 0.05). This shows that the method in this embodiment can effectively improve the sleep quality of patients with sleep disorders and alleviate depression and anxiety symptoms.

[0037] Typical cases: Zhu, female, 41 years old. Difficulty falling asleep, usually takes 2-3 hours, easy to wake up after sleeping, urinate 2-3 times at night, often have stomach pain, defecate once every 8-10 days, accompanied by obvious anxiety and depression. Sleep quality (PSQI) score is 18, depression (HAMD) score is 20, anxiety (HAMA) score is 19. After one month of thermosensitive moxibustion treatment, sleep improved significantly, sleep time was 30 minutes, occasional nocturia, no stomach pain, spirit was significantly improved, mood was happy, defecation once every 2-3 days, PSQI score was 6, HAMD score was 5, HAMA score was 4.

[0038] In summary, the double-arm coordinated moxibustion instrument in the above embodiment of the present invention, by arranging a double-arm coordinated component and a lifting component on the device body, and utilizing the cooperation of the electric push rod, the sliding rod and the universal joint in the lifting component, realizes that the multi-axis mechanical arm drives the moxibustion head structure to move in different phases or in the same phase, so that the moxibustion process can stimulate the patient's internal heat to achieve the moxibustion and qi effect of the moxibustion head structure in different phases; the moxibustion head structure can perform moxibustion alone, further meeting the patient's more moxibustion needs.

[0039] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0040] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A double-arm coordinated moxibustion instrument, characterized in that: include: Equipment body; A dual-arm coordination component, wherein the dual-arm coordination component is movably mounted on the device body; A lifting assembly, which is disposed in the main body of the device and is used to drive the dual-arm cooperative assembly to achieve movement in different phases or in the same phase; Among them, the dual-arm collaborative component includes a multi-axis robotic arm and a moxibustion head structure movably arranged at the end of the multi-axis robotic arm, the lifting component includes an electric push rod, a sliding rod connected to the electric push rod, and a universal joint connecting the sliding rod and the electric push rod, the sliding rod is connected to the multi-axis robotic arm, and the electric push rod pushes the sliding rod so that the multi-axis robotic arm drives the moxibustion head structure to move in different phases or in the same phase, so as to achieve the moxibustion and qi-generating effect of the moxibustion head structure in different phases.

2. The double-arm coordinated moxibustion instrument according to claim 1, characterized in that: The multi-axis robotic arm includes a first robotic arm, a second robotic arm, and a rotating core connecting the first robotic arm and the sliding rod. The first robotic arm is rotationally connected to the second robotic arm, and the first robotic arm is rotationally connected to the sliding rod through the rotating core.

3. The double-arm coordinated moxibustion instrument according to claim 1, characterized in that: The moxibustion head structure includes a heat-insulating tube movably connected to the first mechanical arm and an ash-blocking cover arranged on the heat-insulating tube, and the heat-insulating tube and the ash-blocking cover enclose a heating chamber for burning moxa sticks.

4. The double-arm coordinated moxibustion instrument according to claim 3, characterized in that: The heat-insulating tube is provided with a moxibustion material placement tube and a clamping claw provided on one end of the moxibustion material placement tube facing the ash blocking cover, and the clamping claw is used for installing the moxa stick.

5. The double-arm coordinated moxibustion instrument according to claim 4, characterized in that: A gap is arranged between the heat-insulating cylinder and the moxibustion material placement cylinder, a smoke exhaust structure is arranged on the top of the moxibustion material placement cylinder, and a top sealing cover is arranged on the top cover of the heat-insulating cylinder.

6. The double-arm coordinated moxibustion instrument according to claim 1, characterized in that: The device body includes a base and an outer box arranged on the base, the lifting assembly is arranged in the outer box, and a smoke purification structure is arranged in the base, and the smoke purification structure is used to purify the smoke generated after the moxa stick is burned and eliminate the odor generated after the moxa stick is burned.

7. The double-arm coordinated moxibustion instrument according to claim 6, characterized in that: A plurality of heat dissipation holes are provided on the base and the side walls of the outer box, and a control panel is provided on the device body, and the control panel is used to control the lifting and movement of the dual-arm cooperative assembly.

8. The double-arm coordinated moxibustion instrument according to claim 3, characterized in that: A heat-insulating sleeve is sleeved on the bottom of the heat-insulating cylinder, and a universal wheel is arranged on the bottom of the equipment body.

9. The double-arm coordinated moxibustion instrument according to claim 1, characterized in that: During the moxibustion process of the double-arm coordinated moxibustion instrument, the rising and falling strokes of the moxibustion head structure are both 3-9 cm, and the time is both 1-2 seconds. When the moxibustion head structure rises to the highest point, it stays for 1-3 seconds and then descends, and stays at the acupuncture points of the human body for 3-6 seconds for moxibustion, and repeats this process in sequence, so that the moxa stick in the moxibustion head structure intermittently moxibustions the patient to achieve the best therapeutic effect.

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