Moxibustion mechanical arm capable of automatically monitoring and adjusting

Abstract

The invention relates to the technical field of moxibustion treatment, in particular to an automatic monitoring and adjusting mechanical arm for moxibustion, which comprises a base, a mechanical arm body is mounted at the top of the base, a storage barrel is mounted at the right end of the mechanical arm body, and a storage assembly is mounted at the top of an inner cavity of the storage barrel. The storage assembly comprises a second motor, a movable frame, an auxiliary frame, a movable sleeve and a protruding rod. The output end of the second motor is provided with a movable plate and an angle sensor. Through cooperative use of the exhaust assembly, the distance measuring assembly and the storage assembly, the continuous moxibustion device has the advantage of continuous moxibustion, multiple moxibustion sticks can be installed on the movable frame at the same time, according to actual moxibustion requirements, a second motor is controlled to work to adjust the positions of the corresponding moxibustion sticks, and the moxibustion sticks are ignited in cooperation with an igniter; a second distance measuring sensor is used for auxiliary distance measurement to guarantee the moxibustion distance, meanwhile, smoke exhaust and fire extinguishing operation can be completed in cooperation with an exhaust assembly and a distance measuring assembly, and the use safety of the equipment is higher.

Description

Technical Field

[0001] The present invention relates to the technical field of moxibustion therapy, and in particular to a moxibustion mechanical arm capable of automatic monitoring and adjustment. Background Art

[0002] Moxibustion is a traditional Chinese medicine therapy that achieves health care and therapeutic effects by burning moxa sticks or moxa cones made of moxa leaves to fumigate specific acupuncture points or parts of the human body. The moxibustion robotic arm is an innovative device that combines modern technology with traditional Chinese medicine to perform moxibustion operations instead of manual operations.

[0003] The existing moxibustion robotic arm can often only meet the installation and use of a single moxibustion stick. Since different patients require different treatment conditions, medical staff often need to repeatedly replace moxibustion sticks containing different medicines, which not only increases the operation time, but also when a single patient is treated with multiple moxibustion sticks, the temperature of the patient's treated area decreases when the moxibustion sticks are manually replaced, and the continuity of treatment is general, which has certain limitations. In order to solve the above technical problems, we have designed a moxibustion robotic arm that can automatically monitor and adjust. Summary of the invention

[0004] The purpose of the present invention is to provide a moxibustion robotic arm that can automatically monitor and adjust, which has the advantage of continuous moxibustion and solves the problem that medical staff in existing moxibustion robotic arms often need to repeatedly replace moxibustion sticks containing different medicines, which not only increases the operation time, but also when the moxibustion sticks are manually replaced under the comprehensive treatment of a single patient using multiple moxibustion sticks, the temperature of the patient's treated area is reduced, and the continuity of treatment is generally poor.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a moxibustion robot arm capable of automatic monitoring and adjustment, comprising a base, a robot arm body is installed on the top of the base, a storage cylinder is installed on the right end of the robot arm body, a storage assembly is installed on the top of the inner cavity of the storage cylinder, the storage assembly comprises a second motor, a movable frame, an auxiliary frame, a movable sleeve and a convex rod, a movable plate and an angle sensor are respectively installed on the output ends of the second motor, a storage hole is opened at the bottom of the movable frame, a card block is arranged at the bottom of the movable frame, and a movable sleeve on the surface of the auxiliary frame A toggle bar is provided, and a guide block and a spring are respectively sleeved on the surface of the convex rod. Exhaust components are installed on the left and right sides of the storage tube, and the exhaust component includes a storage shell. An air pump is screwed on the top of the storage shell, and a filter is installed in the inner cavity of the storage shell. A ranging component is installed at the bottom of the storage tube, and the ranging component includes a second ranging sensor and a first motor. The output end of the first motor is fixedly connected to a sealing plate, and the top of the sealing plate is fixedly inlaid with a first ranging sensor. The inner wall of the storage tube is respectively fixedly installed with an igniter and a monitoring component.

[0006] Preferably, the top of the second motor is fixedly connected to the top of the inner cavity of the base, and the movable frame is located at the bottom of the movable plate.

[0007] Preferably, a hexagonal block is fixedly connected at the center of the bottom of the movable plate, and a hexagonal groove is opened at the center of the top of the movable frame.

[0008] Preferably, a through groove is formed through the surface of the movable frame, the inner diameter of the through groove is larger than the specification of the igniter, and a positioning groove is formed at the bottom of the surface of the movable frame, and the positioning groove is matched with the guide block.

[0009] Preferably, a mounting block is fixedly connected to the bottom of the movable frame, a torsion spring is sleeved on the surface of the mounting block, one end of the torsion spring is fixedly connected to the surface of the clamping block, the other end of the torsion spring is fixedly connected to the surface of the mounting block, and the inner circle of the clamping block is provided with an arc edge.

[0010] Preferably, the auxiliary frame is fixedly mounted on the outer ring of the storage tube, the lower end of the shift bar contacts the surface of the guide block, and one end of the guide block penetrates into the storage tube to slide in contact with the storage tube and is sealed.

[0011] Preferably, the movable sleeve is arranged on the storage tube, and the inner wall of the movable sleeve contacts the upper end of the toggle bar, one end of the spring is fixedly connected to the surface of the protruding rod, and the other end of the spring is fixedly connected to the surface of the guide block.

[0012] Preferably, the outer ring of the storage shell is fixedly connected to the surface of the storage tube through a bracket, the air inlet end of the air pump is connected to the inner cavity of the storage shell, the bottom of the inner cavity of the storage shell is connected to an air pipe, and the other end of the air pipe passes through the storage tube.

[0013] Preferably, the first motor is fixedly mounted on the storage tube, the second distance measuring sensor is fixedly embedded in the bottom of the storage tube, the surface of the sealing plate is movably connected to the bottom of the storage tube and sealed, and the first distance measuring sensor and the igniter are in a misaligned state.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] The present invention has the advantage of continuous moxibustion through the coordinated use of an exhaust component, a distance measuring component and a storage component. A plurality of moxibustion sticks can be installed on a movable frame at the same time. According to actual moxibustion needs, the second motor is controlled to adjust the position of the corresponding moxibustion stick, and the igniter is used to ignite the stick. The second distance measuring sensor performs auxiliary distance measurement to ensure the moxibustion distance. At the same time, the exhaust component and the distance measuring component can be used to complete smoke exhaust and fire extinguishing operations, and the equipment is safer to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1It is a three-dimensional schematic diagram of the structure of the present invention;

[0017] Figure 2 It is a cutaway perspective view of the storage tube of the present invention;

[0018] Figure 3 It is a three-dimensional diagram of the storage assembly of the present invention when it is separated from the storage tube;

[0019] Figure 4 This is a three-dimensional diagram of the storage assembly of the present invention when it is separated;

[0020] Figure 5 For the present invention Figure 4 Middle A is an enlarged schematic diagram;

[0021] Figure 6 It is a bottom-up stereogram of the local structure of the present invention;

[0022] Figure 7 This is a three-dimensional diagram of the present invention when the clamping block and the mounting block are separated;

[0023] Figure 8 It is a sectional perspective view of the exhaust assembly of the present invention.

[0024] In the figure: 1. base; 2. robot arm body; 3. storage tube; 4. exhaust assembly; 401. air pipe; 402. filter; 403. storage shell; 404. air pump; 5. distance measuring assembly; 501. sealing plate; 502. first distance measuring sensor; 503. second distance measuring sensor; 504. first motor; 6. storage assembly; 601. second motor; 602. movable plate; 603. hexagonal groove; 604. through groove; 605. movable frame; 606. angle sensor; 607. guide block; 608. auxiliary frame; 609. toggle bar; 610. movable sleeve; 611. spring; 612. convex rod; 613. hexagonal block; 614. storage hole; 615. block; 616. arc edge; 617. mounting block; 618. torsion spring; 619. positioning groove; 7. igniter; 8. monitoring component. DETAILED DESCRIPTION

[0025] See also Figure 1-Figure 8A moxibustion robot arm capable of automatic monitoring and adjustment comprises a base 1, a robot arm body 2 is mounted on the top of the base 1, a storage tube 3 is mounted on the right end of the robot arm body 2, a storage assembly 6 is mounted on the top of the inner cavity of the storage tube 3, the storage assembly 6 comprises a second motor 601, a movable frame 605, an auxiliary frame 608, a movable sleeve 610 and a protruding rod 612, a movable plate 602 and an angle sensor 606 are mounted on the output ends of the second motor 601, a storage hole 614 is provided at the bottom of the movable frame 605, a block 615 is provided at the bottom of the movable frame 605, a toggle bar 609 is provided on the surface of the auxiliary frame 608, by providing the auxiliary frame 608 and the toggle bar 609, the toggle bar 609 can be driven to rotate around the auxiliary frame 608, and then the guide block 607 can be toggled outward by the lower end of the toggle bar 609, and the protruding rod 612 The surfaces are respectively sleeved with guide blocks 607 and springs 611. By setting a convex rod 612, the displacement of the guide block 607 can be guided, and the installation requirements of the spring 611 sleeve are met. Exhaust components 4 are installed on both sides of the left and right sides of the storage tube 3. The exhaust component 4 includes a storage shell 403. The top screw of the storage shell 403 is screwed with an air pump 404. The inner cavity of the storage shell 403 is installed with a filter screen 402. By setting the filter screen 402, impurities in the flue gas flowing through other parts can be adsorbed and purified. A distance measuring component 5 is installed at the bottom of the storage tube 3. The distance measuring component 5 includes a second distance measuring sensor 503 and a first motor 504. The output end of the first motor 504 is fixedly connected to a sealing plate 501. The top of the sealing plate 501 is fixedly inlaid with a first distance measuring sensor 502. The inner wall of the storage tube 3 is respectively fixedly installed with an igniter 7 and a monitoring component 8;

[0026] See also Figure 3 and Figure 4 , the top of the second motor 601 is fixedly connected to the top of the inner cavity of the base 1, and the movable frame 605 is located at the bottom of the movable plate 602;

[0027] See also Figure 4 and Figure 6 A hexagonal block 613 is fixedly connected at the center of the bottom of the movable plate 602, and a hexagonal slot 603 is opened at the center of the top of the movable frame 605. By setting the hexagonal slot 603 and the hexagonal block 613, it can play a role of positioning and clamping in the installed state. When driven by the second motor 601, the movable plate 602 will drive the movable frame 605 to rotate;

[0028] See also Figure 4 , Figure 5 and Figure 6A through slot 604 is provided on the surface of the movable frame 605. By providing the through slot 604, the space requirement for the igniter 7 to pass through can be met when the movable frame 605 is installed. The inner diameter of the through slot 604 is larger than the specification of the igniter 7. A positioning slot 619 is provided on the bottom of the surface of the movable frame 605. The positioning slot 619 is matched with the guide block 607. By providing the guide block 607 and the positioning slot 619, a positioning card installation can be achieved. The rotation of the movable frame 605 can be guided to ensure the stability of the movable frame 605 and prevent the movable frame 605 from moving up and down at will.

[0029] See also Figure 6 and Figure 7 The bottom of the movable frame 605 is fixedly connected with a mounting block 617, and a torsion spring 618 is sleeved on the surface of the mounting block 617. One end of the torsion spring 618 is fixedly connected to the surface of the clamping block 615, and the other end of the torsion spring 618 is fixedly connected to the surface of the mounting block 617. By providing the torsion spring 618, a torque can be provided for the clamping block 615 to prevent the clamping block 615 from rotating at will without external force. The inner ring of the clamping block 615 is provided with an arc edge 616. By providing the arc edge 616, the contact area with the cylindrical moxibustion stick can be increased, thereby improving the clamping stability of the clamping block 615 on the moxibustion stick;

[0030] See also Figure 5 The auxiliary frame 608 is fixedly mounted on the outer ring of the storage tube 3, the lower end of the toggle bar 609 contacts the surface of the guide block 607, and one end of the guide block 607 penetrates into the storage tube 3 and contacts the storage tube 3 in a sliding manner and performs a sealing treatment;

[0031] See also Figure 4 and Figure 5 , the movable sleeve 610 is sleeved on the storage tube 3, and the inner wall of the movable sleeve 610 is in contact with the upper end of the toggle bar 609. By setting the movable sleeve 610, the upper ends of multiple toggle bars 609 can be squeezed at the same time when moving upward, so that the multiple toggle bars 609 rotate at the same time. One end of the spring 611 is fixedly connected to the surface of the protruding rod 612, and the other end of the spring 611 is fixedly connected to the surface of the guide block 607. By setting the spring 611, an elastic supporting force can be provided for the guide block 607, thereby preventing the guide block 607 from sliding randomly without external force.

[0032] See also Figure 8 The outer ring of the storage shell 403 is fixedly connected to the surface of the storage tube 3 through a bracket, the air inlet end of the air pump 404 is connected to the inner cavity of the storage shell 403, and the bottom of the inner cavity of the storage shell 403 is connected to the air delivery pipe 401, and the other end of the air delivery pipe 401 passes through the storage tube 3;

[0033] See also Figure 3 and Figure 4, the first motor 504 is fixedly mounted on the storage tube 3, the second distance sensor 503 is fixedly embedded in the bottom of the storage tube 3, the surface of the sealing plate 501 is movably connected to the bottom of the storage tube 3 and sealed, and the first distance sensor 502 and the igniter 7 are in a misaligned state;

[0034] The use principle of the robot body 2 is consistent with that of the commonly used robot in the prior art, which will not be described here. Its purpose is to flexibly adjust the height, position and angle of the storage tube 3;

[0035] A controller with a buzzer is installed on the base 1, and the robot body 2, the air pump 404, the first distance sensor 502, the second distance sensor 503, the first motor 504, the second motor 601, the angle sensor 606, the igniter 7 and the monitoring component 8 are all electrically connected to the controller, wherein the detection signals of the first distance sensor 502, the second distance sensor 503, the angle sensor 606 and the monitoring component 8 are all transmitted to the controller;

[0036] The monitoring component 8 includes a temperature sensor, a smoke concentration sensor and an air pressure sensor. The detection signals of the monitoring component 8 are all transmitted to the controller in the base 1. The corresponding temperature value, smoke concentration value and air pressure value can be preset. When the monitoring component 8 detects that the temperature, smoke concentration or air pressure meets the standard, the signal is transmitted to the controller, and the controller can automatically control the buzzer to work, reminding the medical staff of the abnormality, so as to cause the medical staff to come for inspection and troubleshooting in time;

[0037] The internal material of the filter 402 can be one or more of activated carbon particles, activated alumina particles, silica gel particles, and activated carbon fibers, which are used to adsorb and purify the smoke generated by the burning of the moxibustion sticks;

[0038] In actual application, in order to meet the needs of secondary ignition of moxibustion sticks of different lengths remaining after combustion, the igniter 7 is synchronously replaced with an ignition device with adjustable flame height;

[0039] In actual application, in order to facilitate the gas supply pipe 401 to absorb the smoke generated by the burning of the moxa stick, the height of the exhaust component 4 can be flexibly adjusted.

[0040] A moxibustion robotic arm capable of automatic monitoring and adjustment comprises the following steps:

[0041] A: Treatment preparation: The base 1 is fixed in a suitable position with bolts, and the patient lies flat on the treatment bed. According to the patient's moxibustion treatment needs, the moxibustion stick with suitable materials is selected and the clamping block 615 is driven to rotate outward, and the torsion spring 618 is tightened until the receiving hole 614 is exposed, and then the moxibustion stick is moved upward to pass through the receiving hole 614, and then the clamping block 615 is released. Under the torque of the torsion spring 618, the clamping block 615 can be automatically reset to clamp the moxibustion stick;

[0042] B: Convenient card installation: Control the first motor 504 to drive the sealing plate 501 to open, then move the movable frame 605 upward to enter the storage tube 3, and move the movable sleeve 610 upward at the same time, so that multiple toggle bars 609 can rotate around the auxiliary frame 608 at the same time. The toggle bar 609 moves downward and naturally moves the guide block 607 outward, and the spring 611 is compressed. As the movable frame 605 moves upward until the positioning groove 619 is aligned with the guide block 607, the hexagonal block 613 is placed in the hexagonal groove 603, and then the movable sleeve 610 is released. Under the elastic connection of the spring 611, the guide block 607 is reset into the positioning groove 619, the toggle bar 609 will also reset and rotate, and the movable sleeve 610 gradually moves downward. In this state, the quick installation of the movable frame 605 can be completed;

[0043] C: Moxibustion treatment: according to the position of the patient to be treated, the second distance measuring sensor 503 is set to detect the distance, and then the second motor 601 is controlled to work. Under the cooperation of the angle detection of the angle sensor 606, the moxibustion stick at the corresponding position is accurately placed above the igniter 7, and the igniter 7 is controlled to ignite so that the moxibustion stick burns. Then the second motor 601 is controlled to work so that the burning moxibustion stick and the igniter 7 are misaligned. The mechanical arm body 2 is controlled to work so that the position and angle of the storage tube 3 can be flexibly adjusted so that the burning moxibustion stick is close to the patient's part to be treated, and under the detection of the second distance measuring sensor 503, the distance between the burning moxibustion stick and the patient is guaranteed to ensure the moxibustion treatment effect;

[0044] D: Smoke exhaust protection: When step C is performed, the air pump 404 is synchronously controlled to work, and the gas in the storage tube 3 can be extracted. The gas mixed with the smoke generated by the combustion of the moxibustion stick enters the storage shell 403 through the gas pipe 401, and is filtered by the filter 402 and then discharged;

[0045] E: Fire extinguishing protection: After the moxibustion of a single moxibustion stick is completed, the first motor 504 is controlled to drive the sealing plate 501 to rotate and completely overlap with the storage tube 3 to achieve the purpose of sealing, and then the air pump 404 is controlled to work, so that the gas in the storage tube 3 can be continuously pumped out, and the burning moxibustion stick will naturally extinguish after losing oxygen;

[0046] F: After step E, when it is necessary to ignite the moxibustion sticks at other positions for multiple moxibustion, it is only necessary to control the second motor 601 to work, adjust the position of the required moxibustion stick to coincide with the igniter 7, and repeat step C. In this way, the patient can be treated with moxibustion using different moxibustion sticks without manual intervention, which is more in line with actual use needs;

[0047] G: Distance measurement combustion: After the moxa stick burns, its overall length will gradually decrease. At this time, when the sealing plate 501 is in the closed state, the first distance measurement sensor 502 is used to measure the distance of the moxa stick to be burned for the second time. According to the detection distance, the detection distance of the second distance measurement sensor 503 can be changed to ensure that the burning moxa stick is at a suitable distance from the acupuncture points of the human body to ensure the moxibustion effect.

[0048] In summary: the moxibustion robotic arm capable of automatic monitoring and adjustment, by providing an exhaust component 4, a distance measuring component 5 and a storage component 6, solves the problem that medical staff in existing moxibustion robotic arms often need to repeatedly replace moxibustion sticks containing different medicines, which not only increases the operation time, but also when the moxibustion sticks are manually replaced under the comprehensive treatment of a single patient using multiple moxibustion sticks, the temperature of the patient's treated area is lowered, and the continuity of treatment is generally poor.

Claims

1. A moxibustion robot arm capable of automatic monitoring and adjustment, comprising a base (1), characterized in that: A mechanical arm body (2) is installed on the top of the base (1), a storage tube (3) is installed on the right end of the mechanical arm body (2), a storage assembly (6) is installed on the top of the inner cavity of the storage tube (3), and the storage assembly (6) includes a second motor (601), a movable frame (605), an auxiliary frame (608), a movable sleeve (610) and a protruding rod (612), the output end of the second motor (601) is respectively installed with a movable plate (602) and an angle sensor (606), a storage hole (614) is opened at the bottom of the movable frame (605), a clamping block (615) is arranged at the bottom of the movable frame (605), a toggle bar (609) is movably sleeved on the surface of the auxiliary frame (608), and a guide bar (610) is sleeved on the surface of the protruding rod (612). A guide block (607) and a spring (611), an exhaust assembly (4) is installed on both sides of the storage tube (3), the exhaust assembly (4) comprises a storage shell (403), an air pump (404) is screwed on the top of the storage shell (403), a filter screen (402) is installed in the inner cavity of the storage shell (403), a distance measuring assembly (5) is installed at the bottom of the storage tube (3), the distance measuring assembly (5) comprises a second distance measuring sensor (503) and a first motor (504), the output end of the first motor (504) is fixedly connected to a sealing plate (501), the top of the sealing plate (501) is fixedly inlaid with the first distance measuring sensor (502), and the inner wall of the storage tube (3) is respectively fixedly installed with an igniter (7) and a monitoring component (8).

2. The moxibustion robot arm capable of automatic monitoring and adjustment according to claim 1, characterized in that: The top of the second motor (601) is fixedly connected to the top of the inner cavity of the base (1), and the movable frame (605) is located at the bottom of the movable plate (602).

3. The moxibustion robot capable of automatic monitoring and adjustment according to claim 1, characterized in that: A hexagonal block (613) is fixedly connected at the center of the bottom of the movable plate (602), and a hexagonal groove (603) is opened at the center of the top of the movable frame (605).

4. The moxibustion robot arm capable of automatic monitoring and adjustment according to claim 1, characterized in that: A through groove (604) is provided through the surface of the movable frame (605), the inner diameter of the through groove (604) is larger than the specification of the igniter (7), and a positioning groove (619) is provided at the bottom of the surface of the movable frame (605), and the positioning groove (619) is adapted to the guide block (607).

5. The moxibustion robot arm capable of automatic monitoring and adjustment according to claim 1, characterized in that: The bottom of the movable frame (605) is fixedly connected to a mounting block (617), the surface of the mounting block (617) is sleeved with a torsion spring (618), one end of the torsion spring (618) is fixedly connected to the surface of the clamping block (615), the other end of the torsion spring (618) is fixedly connected to the surface of the mounting block (617), and the inner circle of the clamping block (615) is provided with an arc edge (616).

6. The moxibustion robot arm capable of automatic monitoring and adjustment according to claim 1, characterized in that: The auxiliary frame (608) is fixedly mounted on the outer ring of the storage tube (3), the lower end of the shifting bar (609) contacts the surface of the guide block (607), and one end of the guide block (607) penetrates into the storage tube (3) and is in sliding contact with the storage tube (3) and is sealed.

7. The moxibustion robot arm capable of automatic monitoring and adjustment according to claim 1, characterized in that: The movable sleeve (610) is sleeved on the storage tube (3), and the inner wall of the movable sleeve (610) contacts the upper end of the toggle bar (609), one end of the spring (611) is fixedly connected to the surface of the protruding rod (612), and the other end of the spring (611) is fixedly connected to the surface of the guide block (607).

8. The moxibustion robot arm capable of automatic monitoring and adjustment according to claim 1, characterized in that: The outer ring of the storage shell (403) is fixedly connected to the surface of the storage tube (3) through a bracket, the air inlet end of the air pump (404) is connected to the inner cavity of the storage shell (403), and the bottom of the inner cavity of the storage shell (403) is connected to an air supply pipe (401), and the other end of the air supply pipe (401) passes through the storage tube (3).

9. The moxibustion robot arm capable of automatic monitoring and adjustment according to claim 1, characterized in that: The first motor (504) is fixedly mounted on the storage tube (3), the second distance measuring sensor (503) is fixedly embedded in the bottom of the storage tube (3), the surface of the sealing plate (501) is movably connected to the bottom of the storage tube (3) and sealed, and the first distance measuring sensor (502) and the igniter (7) are in a misaligned state.

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