Targeted moxibustion therapy mechanical arm

Abstract

A targeted moxibustion therapy mechanical arm comprises a first plane (S1), a second plane (S2) and a third plane (S3) which are sequentially hinged end to end, and a fourth plane (S4) which rotates around a second rotating shaft (Y2) and is perpendicular to the third plane (S3) is arranged at the front end of the third plane (S3). The technical key points are as follows: the front end of the fourth plane (S4) is provided with a fifth plane (S5) which rotates around a third rotating shaft (Y3) and is simultaneously vertical to the third plane (S3) and the fourth plane (S4); the rear end of the first plane (S1) is provided with a first rotating shaft (Y1) which is arranged in the same direction as the length direction of the first plane (S1), and the first plane (S1), the second plane (S2), the third plane (S3), the fourth plane (S4) and the fifth plane (S5) can synchronously rotate around the first rotating shaft (Y1). The device has the advantages of high action flexibility, wide application range and the like.

Description

Technical Field

[0001] The invention relates to a medical device, in particular to a targeted moxibustion therapy mechanical arm, which is mainly suitable for a moxibustion instrument. Background Art

[0002] Moxibustion is a traditional Chinese medicine therapy that stimulates the body's acupuncture points through the heat and medicinal effects of burning wormwood to achieve the purpose of treating diseases and maintaining health. However, traditional moxibustion methods have some limitations, such as inconvenient operation, large amounts of smoke, and difficult temperature control. In order to solve these problems, people began to develop moxibustion instruments. Moxibustion instruments are medical devices that use modern scientific and technological means to achieve moxibustion functions. They have the advantages of simple operation, controllable temperature, smoke-free and environmentally friendly, and have attracted more and more attention and love.

[0003] The effect of moxibustion is often affected by the following factors: moxibustion materials, high-quality moxa with high purity and few impurities, the fire is gentler and more persistent when burning, the penetration is stronger, and it can better play the role of warming the meridians. Poor-quality moxa burns quickly, the fire is dry, it is easy to hurt the skin, and the efficacy will be greatly reduced; the location and accuracy of the acupoints for moxibustion, it is very important to find the acupoints accurately. Different acupoints correspond to different parts of the body and symptoms. Accurate moxibustion can make the warm stimulation and medicinal effects of moxibustion play a better role. For example, Zusanli acupoint plays an important role in regulating the spleen and stomach. Accurate moxibustion of this acupoint can effectively improve the function of the spleen and stomach; the amount, time and intensity of moxibustion. If the time is too short, the heat and medicinal effects cannot be fully penetrated; if the time is too long, it may cause skin burns and other problems. At the same time, the intensity of moxibustion is also very important. Only the right firepower can produce good stimulation. The smoke produced by the burning of moxa sticks contains volatile oil components of moxa leaves, and the effective ingredients, such as eucalyptol, camphor, etc., enter the human meridians with the smoke, and then play the pharmacological effects of moxibustion.

[0004] The order of moxibustion generally follows the order of upper part first, then lower part, back first, then abdomen, head first, then limbs. This can avoid the disorder of qi and blood and ensure the effect and safety of moxibustion. The firepower of moxibustion can be flexibly adjusted according to the patient's constitution, condition and tolerance. At the beginning of moxibustion, the firepower should be small and gradually increased until the patient feels warm and comfortable to avoid scalding the skin. The amount of moxibustion should be reasonably controlled according to the patient's constitution, condition and moxibustion site.

[0005] In addition, when using a moxibustion instrument, body position will also have a certain impact on the effect of moxibustion. Normally, each acupoint is moxibustioned for 10 to 15 minutes, until the skin becomes flushed, but the specific time and amount of moxibustion need to be flexibly adjusted according to the actual situation. Among them, sitting and lying positions are often used according to the moxibustion site. For example, when the moxibustion points are mainly located in the upper limbs such as the neck and shoulders, if only the lying position is used, the moxibustion head may interfere with the moxibustion bed during movement, so the sitting position is preferred.

[0006] The sitting position is stable and relaxed. The patient is required to sit on a chair or stool, keep the body upright and relaxed, lean the back against the chair, let the shoulders hang naturally, put the arms on the thighs naturally, and spread the legs naturally to the width of the shoulders, so that the body is in a stable and comfortable state. This makes it easier to fully expose the moxibustion site of the human joints, facilitate the operation of the moxibustion instrument, and also facilitate the circulation of qi and blood. When moxibustioning the shoulders, the moxa stick can be 45°~60° with the skin; when moxibustioning the acupoints of the upper limbs, the moxa stick can be 30°~45° with the skin to ensure that the heat of the moxa can act accurately on the acupoints.

[0007] When the acupoints for moxibustion are mainly located on the back, the supine position is preferred. The patient needs to lie supine or prone on the bed, choose a suitable mattress and pillow, keep the body naturally comfortable, and avoid twisting or compressing the body. At the same time, pay attention to the safety protection of the bedside to prevent the patient from falling during the moxibustion process, and keep the moxibustion site stable.

[0008] In addition, since the moxibustion head is almost always facing downward during horizontal moxibustion, if the moxa ash falls, it is easy to burn the skin, so this part has been optimized and improved, for example, the composition of the moxa stick can be targeted. Specifically, high-purity moxa sticks have very few impurities (mainly moxa leaf stalks, stems, etc.), higher moxa content (such as ≥80%), uniform appearance color, earthy yellow or golden yellow, fine texture, soft and long moxa fibers, fluffy and elastic when touched by hand, and tightly rolled moxa sticks with a smooth surface. It burns slower, has mild and long firepower, light and white moxa smoke, and a fragrant smell. The moxa ash is not easy to fall off, has better molding, is grayish white, and has fine ashes. And it has strong penetration, can better warm the meridians, harmonize qi and blood, and dispel dampness and cold. During moxibustion, the heat can easily penetrate the skin and reach the diseased area, and the stimulation of acupoints is more accurate and lasting, which has a better conditioning effect on some chronic diseases and deficiency and cold diseases.

[0009] Moxa smoke is an important substance produced during moxibustion. Its chemical composition is complex. At present, more than 300 chemical components have been detected by gas chromatography-mass spectrometry, mainly alcohols (phenols), terpenes and their derivatives, aldehydes (ketones / acids / esters), aliphatic hydrocarbons, aromatic hydrocarbons, nitriles, heterocyclic compounds, etc., with multiple biological activities. Many studies have shown that moxa smoke has multiple pharmacological activities such as anti-inflammatory, immunomodulatory, anti-free radical, antioxidant, anti-aging, antibacterial, antiviral, anti-asthmatic, anti-allergic, blood lipid regulation, and anti-tumor. Inhalation of low-concentration moxa smoke can have different degrees of benign effects on multiple organs or systems of the body, such as the nervous system, endocrine system, immune system, circulatory system, respiratory system, digestive system, etc., so the rational use of moxa smoke can prevent and treat diseases. (Research Progress on Chemical Composition and Pharmacological Activity of Moxa Smoke, Chinese Journal of Traditional Chinese Medicine (formerly Chinese Journal of Medicine and Pharmacy) August 2022, Vol. 37, No. 8) However, low-concentration moxa smoke is difficult to penetrate the body surface and cannot play the established therapeutic role.

[0010] It is known to those of ordinary skill in the art that, under the conditions of the same acupuncture point, the same distance, and the same moxibustion time, if the shape of the moxa smoke is disorderly and scattered everywhere, it may mean that the moxa stick burns unevenly and the firepower is unstable. This will cause uneven heating of the moxibustion site, affect the stimulating effect of moxibustion on the acupuncture points, and make it difficult to achieve the expected effects of warming the meridians, balancing yin and yang, and may also cause excessive or insufficient heating of the local skin. When the shape of the moxa smoke is stable, columnar or umbrella-shaped, it usually means that the moxa stick burns fully and evenly, the firepower is stable, and it can continuously and stably provide warm stimulation to the acupuncture points, which helps to warm the meridians and harmonize qi and blood. At this time, the moxa heat can better penetrate the skin, reach the diseased area, and play the therapeutic and health-care effects of moxibustion.

[0011] In addition, moxa smoke with moderate density indicates that the heat and medicinal power generated by the burning of moxa sticks are released in a relatively balanced manner. Moderate moxa smoke density is conducive to the formation of a certain warm and medicinal atmosphere on the surface of the skin, allowing the heat to better penetrate into the deep layers of the skin, promote the circulation of qi and blood, and enhance the warming and unblocking meridian effect of moxibustion. The concentration of effective ingredients such as volatile oils contained in moxa smoke around the moxibustion site is relatively appropriate, which is easy for the human body to absorb, thereby better exerting the pharmacological effects of moxibustion, such as removing dampness and cold, strengthening the body and eliminating evil, etc.

[0012] When the density of moxa smoke is too high, a thicker smoke layer will form around the moxibustion site, which will hinder the direct conduction of moxa heat to a certain extent, making it difficult for heat to effectively penetrate deep into the skin, affecting the warm stimulation effect of moxibustion. When the density of moxa smoke is too low, the heat generated by the burning of moxa sticks and the release of effective ingredients such as volatile oils are less, resulting in insufficient heat and medicinal power at the moxibustion site, and unable to fully exert the effects of moxibustion such as warming the meridians and harmonizing qi and blood. It is difficult to form an effective warm and medicinal atmosphere around the moxibustion site, which is not conducive to the effect of moxibustion. Summary of the invention

[0013] The purpose of the present invention is to provide a targeted moxibustion therapy robotic arm, which fundamentally solves the above-mentioned problems and has the advantages of high flexibility of movement and wide range of application.

[0014] To achieve the above-mentioned purpose, the present invention provides the following technical solution: the targeted moxibustion therapy mechanical arm comprises a first plane, a second plane, and a third plane which are hinged in sequence at the head and tail ends, and a fourth plane which rotates around a second rotation axis and is perpendicular to the third plane is provided at the front end of the third plane. The technical key points are: A fifth plane is provided at the front end of the fourth plane and rotates around the third rotation axis and is perpendicular to the third plane and the fourth plane at the same time; A first rotating shaft is arranged at the rear end of the first plane in the same direction as the length direction thereof, and the first plane, the second plane, the third plane, the fourth plane and the fifth plane can rotate synchronously around the first rotating shaft.

[0015] Furthermore, the first plane is an angle adjustment arm assembly including a T-shaped angle adjustment arm body, a vertical portion of the angle adjustment arm body is used to cooperate with the first rotating shaft, and a horizontal portion of the angle adjustment arm body is provided with a first joint hole.

[0016] Furthermore, the second plane is a middle section arm assembly including a middle section arm body with a second joint hole at one end of a waist-shaped middle section arm body, and a middle section driving joint fixed at the other end of the middle section arm body.

[0017] Furthermore, the third plane is an extension section arm assembly including an extension section arm body and an extension section driving joint fixed at one end of the extension section arm body.

[0018] Furthermore, the fourth plane is an adjustment component including an adjustment servo fixed between the front servo bracket and the rear servo bracket with the second rotating shaft as the output shaft and a swing servo with the third rotating shaft as the output shaft, and a brake connected through a brake shaft.

[0019] Furthermore, the fifth plane is a connection port fixed on the output shaft of the swing servo engine.

[0020] Furthermore, a moxibustion head assembly is fixed on the connection port.

[0021] Furthermore, the moxibustion head assembly includes a filter assembly with a smoke exhaust channel formed inside, a fan assembly, a heat insulation cover assembly with an exhaust port, and a moxibustion assembly with an annular cavity and a moxibustion inner cavity, which are assembled in sequence from top to bottom. The fan assembly is divided into a fan inner cabin and ventilation holes. The filter assembly and the fan assembly are separated by a fan seat with a fan seat ventilation port, and the fan inner cabin is connected to the outside through the exhaust duct; the annular cavity is connected to the fan inner cabin through the moxibustion inner cavity, the base ventilation port, the fixed plate ventilation port, the ventilation hole, the fan seat ventilation port, and the filter cavity in sequence.

[0022] Furthermore, a moxibustion chamber is provided in the moxibustion assembly, and the fan inner cabin is connected to the moxibustion chamber via a through hole on the inner wall at the bottom thereof.

[0023] Beneficial effects of the present invention: The moxibustion head assembly adopts a unique one-way flue design, and the moxa smoke enters the annular cavity through the air inlet distributed circumferentially of the gray mesh shell after burning, goes up to the filter cavity, enters the fan inner cabin after being filtered by the filter, and is finally discharged to the outside of the shell. The displacement of the exhaust duct can also be adjusted manually or automatically, and the heat loss is prevented as much as possible and the oxygen content in the moxibustion cavity is maintained, so that the moxa stick always maintains the best combustion state. Through the unique flue design in the shell, under the driving action of the fan, an outward and upward airflow is formed at the outer periphery of the front end of the gray mesh shell, and a downward and outward airflow is formed in the middle, that is, a cylindrical or umbrella-shaped annular cyclone with a stable shape is formed. Further, the gas flow entering the moxibustion cavity from the fan inner cabin is adjusted manually or automatically, and the downward and outward airflow flow in the middle is changed to adjust the shape of the polymerized moxibustion smoke protruding in the middle of the front end of the gray mesh shell. For example, when the airflow entering the moxibustion cavity gradually increases, the moxibustion smoke gradually tends to be columnar from a flat umbrella shape, and the density of the moxibustion smoke gradually increases from a small shape. And ultimately ensure the optimal moxibustion temperature and moxa smoke concentration, so that the volatile oil components in the moxa smoke are always maintained within a reasonable range, the health-care ingredients penetrate into the human meridians, and the therapeutic effect of moxibustion is exerted to the greatest extent.

[0024] The filter is integrated in the filter housing, and magnets corresponding to the bolt holes of the fan base are arranged on the filter housing, so as to facilitate the quick removal of the filter housing for quick replacement of the filter.

[0025] On the one hand, the arm assembly of the present invention can change the extension direction through the angle-adjusting arm assembly, and can be folded downward when not in use, greatly reducing the space occupied; at the same time, different applicable states can be switched through the angle-adjusting arm assembly, and rapid positioning of the horizontal plane can be achieved when horizontally extended, and rapid positioning of the vertical plane can be achieved when vertically extended; on the other hand, it can drive the overall rotation and lifting of the moxibustion head assembly, and the moxibustion head assembly can rotate relative to the arm assembly, so as to facilitate the adjustment of the moxibustion angle.

[0026] By improving the composition of moxa sticks, or regularly moving the moxa head assembly above the ignition assembly to shake off the moxa ash by vibration, the shedding of moxa ash after burning during moxibustion can be avoided as much as possible.

[0027] The camera module on the top of the sliding column assembly can accurately and quickly identify all the acupoints in the required moxibustion area, and propose corresponding treatment plans based on different symptoms, individual differences of patients, treatment goals and other factors, and carry out moxibustion treatment on the required acupoint combination in a targeted manner. The appropriate distance can ensure that the warmth of moxibustion penetrates deep into the skin and exerts the best therapeutic effect. Different moxibustion methods and acupoints also require adjustment of the distance. For example, the distance can be slightly farther for mild moxibustion, while closer for sparrow pecking moxibustion. Therefore, a reasonable treatment plan can be given according to the computer program, and the moxibustion head assembly can be quickly extended and positioned to the corresponding acupoint of the acupoint combination through the arm assembly, thereby realizing treatment plans with different times and moxibustion depths.

[0028] The smart moxibustion device can also be connected to other smart devices and remotely controlled and operated through the APP. For example, you can check the progress of the moxibustion treatment on the smart terminal, adjust the treatment plan, set reminder functions, etc., to manage the moxibustion treatment process conveniently and quickly.

[0029] In summary, the present invention achieves a perfect combination of traditional moxibustion treatment and modern technology. Through advanced technology and algorithms, it realizes automatic recognition and precise positioning of moxibustion points, improves the therapeutic effect and safety of moxibustion, and can meet the needs of different users. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is an isometric structural schematic diagram of the moxibustion apparatus of the present invention.

[0031] Figure 1a for Figure 1 Isometric side view of the structure after removing the front shell and decorative cover.

[0032] Figure 1b for Figure 1a Schematic diagram of the isometric structure after removing the sliding column assembly.

[0033] Figure 1c for Figure 1 Schematic diagram of the exploded structure of the CIMC gray box assembly I.

[0034] Figure 1d for Figure 1 Schematic diagram of the exploded structure of CIMC gray box assembly II.

[0035] Figure 1e for Figure 1 Schematic diagram of the working principle of CIMC ash box assembly.

[0036] Figure 2 It is an isometric side structural schematic diagram of the support arm assembly of the present invention.

[0037] Figure 2a for Figure 2 Schematic diagram of the decomposition mechanism I.

[0038] Figure 2b for Figure 2 Schematic diagram of the decomposition mechanism II.

[0039] Figure 2c It is a working principle diagram of the support arm assembly of the present invention.

[0040] Figure 3 It is an isometric structural schematic diagram of the moxibustion head assembly of the present invention.

[0041] Figure 3a for Figure 3 Schematic diagram of the decomposition structure I.

[0042] Figure 3b for Figure 3 Schematic diagram of the decomposition structure II.

[0043] Figure 3c for Figure 3 Schematic diagram of the cross-sectional structure.

[0044] Figure 3d for Figure 3 Schematic diagram of the structure of the central ignition network.

[0045] Figure 4 This is a schematic diagram of the flow of moxa smoke when the moxibustion head of the present invention is in use.

[0046] Figure 5 It is a schematic diagram of the bottom structure of the moxibustion head of the present invention.

[0047] Figure 6 It is a schematic diagram of the ignition contact of the moxibustion head of the present invention.

[0048] Figure 7 It is a schematic diagram of the fluid velocity field when the moxibustion head of the present invention is in use. DETAILED DESCRIPTION

[0049] The following combination Figures 1 to 7 , the specific contents of the present invention are described in detail through specific embodiments.

[0050] This embodiment mainly describes a specific implementation scheme of the support arm assembly 4. The support arm assembly 4 includes an angle adjustment support arm assembly 41, an intermediate section support arm assembly 42, an extension section support arm assembly 43, and an angle adjustment assembly 44 which are connected in sequence. Among them, the angle adjustment support arm assembly 41 includes a T-shaped angle adjustment support arm body 413 as a main structure, an angle adjustment support arm cover 412 matched therewith, an angle adjustment sleeve 411 fixed on the sliding column assembly 52, an angle adjustment bearing 415 assembled in the angle adjustment sleeve 411, and an angle adjustment shaft 414 limited by the angle adjustment bearing 415, the inner side of the angle adjustment shaft 414 is fixed on the vertical wall of the angle adjustment support arm body 413, and a first joint hole 4131 for matching the intermediate section driving joint 421 is provided on one side of the bottom edge of the angle adjustment support arm body 413.

[0051] The middle section arm assembly 42 includes a middle section arm body 423 in a waist-shaped shape as the main structure, a middle section arm cover shell 422 cooperating therewith, and a middle section driving joint 421 fixed at one end of the middle section arm body 423; the other end of the middle section arm body 423 is provided with a second joint hole 4231 for cooperating with the extending section driving joint 431.

[0052] The extension arm assembly 43 includes an extension arm body 433 as a main body, an extension arm cover 432 matched therewith, and an extension drive joint 431 fixed to one end of the extension arm body 433. The extension arm body 433 includes a support end 4331 for matching the extension drive joint 431 and a pair of extension ends 4332 protruding from the front end of the support end 4331 for assembling the adjustment assembly 44. In order to obtain the rotation angle of the intermediate drive joint 421 and the extension drive joint 431 in real time, angle sensors (such as rotary encoders and potentiometers) are preset on the intermediate drive joint 421 and the extension drive joint 431.

[0053] The adjustment assembly 44 includes a front servo bracket 443 and a rear servo bracket 4431 of the main structure, a swing servo 444 and an adjustment servo 446 limited between the front and rear servo brackets 443 & 4431, a brake 4443 for controlling the braking angle of the adjustment servo 446, a connecting port 445 fixed to the front end of the front servo bracket 443, a lower hem 4442 fixed to the output end of the swing servo 444 through a swing shaft 4441, the outer end of the servo shaft 441 can be rotatably sleeved on one of the protruding ends 4332, the inner side of the servo shaft 441 is coaxially fixed with the output end of the adjustment servo 446, the outer side of the brake 4443 is fixed to the other protruding end 4332, and the inner input end of the brake 4443 cooperates with the adjustment servo 446 through the brake shaft 4444.

[0054] like Figure 2aAs shown, in order to further improve safety, the outer end of the servo shaft 441 is laterally limited by a rhombus-shaped flange structure, and a braking protrusion (not marked in the figure) is provided at the protruding end 4332 on the corresponding side to prevent the servo shaft 441 from over-rotating due to aging of the brake 4443 or the adjustment servo 446.

[0055] For the convenience of manufacturing and assembly, each arm cover is fastened by a bolt assembly after being buckled onto the corresponding arm frame. Further preferably, each arm cover is set as a split structure, for example, the middle section arm cover 422 is prefabricated into a segmented shell centered on the installation side of the middle section drive joint 421. The extension section arm cover 432 is prefabricated into a symmetrical shell distributed on both sides of the extension section arm body 433. The adjustment component cover 442 is prefabricated into an upper and lower shell structure.

[0056] like Figure 3a As shown, in order to facilitate fixing the targeted polymer fumigation moxibustion head at the end of the arm assembly 4 firmly on the connection port 445, the fan seat 321 and the fixing plate 331 are each fixed with an interface base 333 on the same side by a pair of bolts, and the interface shell 3331 is fixed to the outside of the interface base 333 by bolts.

[0057] Through the coordinated control of the arm assembly 4, the targeted polymer fumigation moxibustion head of the present invention can adjust the action mode of the moxibustion head according to different body position requirements.

[0058] This embodiment mainly describes a specific implementation scheme of the targeted polymer fumigation moxibustion head assembly 3. The targeted polymer fumigation moxibustion head assembly 3 includes a filter assembly 31, a fan assembly 32, a heat shield assembly 33, and a moxibustion assembly 34 which are assembled in sequence from top to bottom.

[0059] The filter assembly 31 is snapped onto the fan assembly 32 by magnetic attraction, and includes a semi-enclosed filter housing 311 with an opening at the bottom, a filter 312 limited therein, and magnets 313 fixed to the four corners of the filter housing 311 by nuts (not marked in the figure), an annular filter cavity 314 is formed between the filter housing 311 and the filter 312, the bottom of the filter housing 311 is fitted on the fan seat 321 of the fan assembly 32, and the upper surface of the fan seat 321 is also provided with an annular protrusion (not marked in the figure) for limiting the filter 312.

[0060] The fan assembly 32 includes a fan seat 321, a fan compartment 322, an exhaust baffle 323, a fan 324, and a ring-shaped air intake adjustment disk 325. The fan compartment 322 is divided into a fan inner compartment 3223 and a fan outer compartment (not marked in the figure) by an annular vertical wall (not marked in the figure). The fan inner compartment 3223 is connected to the outside through the exhaust duct 3222. The fan 324 is fixed at the bottom of the fan seat 321 and is located in the fan inner compartment 3223. The center hole of the fan seat 321 is connected to the air intake end of the fan 324. The fan outer compartment is provided with a baffle slot 3225, and an exhaust port 3221 is provided on the side wall of the fan compartment 322 outside the baffle slot 3225. The exhaust baffle 323 is slidably and rotatably limited in the baffle slot 3225. The exhaust baffle 323 is provided with a plurality of baffle openings 3231. A handle 3232 protruding from the outside is provided on one side of the exhaust baffle 323, so that the rotation of the air intake adjustment disk 325 can be controlled by the handle 3232 to adjust the opening size of the exhaust duct 3222, thereby controlling the exhaust air volume. When the exhaust air volume is the largest, the exhaust duct 3222, the baffle opening 3231, and the exhaust port 3221 are connected.

[0061] A plurality of through holes (not shown in the figure) for connecting the moxibustion chamber 3433 of the moxibustion assembly 34 are arranged at intervals along the circumference on the inner wall at the bottom of the fan inner cabin 3223. The rotatable air intake adjustment disk 325 is limited between the fan cabin 322 and the fixed plate 331. A plurality of air holes matching the through holes of the fan inner cabin 3223 are arranged at intervals along the circumference on the air intake adjustment disk 325. A control handle 3251 protruding from the outside of the fan cabin 322 is arranged on one side of the air intake adjustment disk 325. The air intake adjustment disk 325 can be rotated by the control handle 3251 to close or open the through holes on the inner wall at the bottom of the fan inner cabin 3223.

[0062] The heat shield assembly 33 includes a ring-shaped fixing plate 331 and a heat shield base 332 which are assembled in sequence. The bottom of the heat shield base 332 is provided with a plurality of hollow guide columns 3322 protruding downward along the circumferential direction. The bottom of the heat shield base 332 is also fixed with a plurality of laser distance measuring devices 334. The outer periphery of the fixing plate 331 is provided with a through fixing plate vent 3311, and the corresponding position of the heat shield base 332 is provided with a through base vent 3321. The moxibustion cabin shell 341 is installed on the fixing plate 331, and the heat shield base 332 is limited between the fixing plate 331 and the moxibustion cabin shell 341. A plurality of long bolts pass through the fan seat 321, the fan cabin 322, the fixing plate 331, and the heat shield base 332 in sequence to fix them. The magnets 313 on the four corners of the filter housing 311 match the positions of the long bolts to facilitate the magnetic snap-fit ​​of the filter assembly 31.

[0063] The moxibustion assembly 34 includes a moxibustion cabin shell 341, a moxibustion cabin inner wall 343 limited therein, and a gray mesh shell 342 with a preset annular cavity 3422 inside. The moxibustion cabin shell 341 is divided into a moxibustion inner cavity 3414 and a moxibustion cavity 3433 by the moxibustion cabin inner wall 343. The gray mesh shell 342 is mounted on the end of the moxibustion cabin shell 341 in a retractable manner. Air inlets 3421 connected to the annular cavity 3422 are arranged at circumferential intervals in the gray mesh shell 342.

[0064] A plurality of limiting columns 3415 are provided in the moxibustion cabin shell 341, and a plurality of guide columns 3322 cooperating with the limiting columns 3415 are provided on the heat shield base 332. The contact switch 335 is limited in the limiting columns 3415 by the contact switch mounting groove 3413. The moxibustion cabin shell 341 is provided with ranging holes 3412 for cooperating with the laser ranging device 334 along the circumferential direction. The position of the ranging holes 3412 corresponds to the laser ranging device 334.

[0065] The gray net shell 342 is provided with a contact protrusion 3423 that cooperates with the contact switch 335. The end of the moxibustion cabin shell 341 is provided with a limit slot 3411, and the gray net shell 342 is provided with a limit protrusion 3424 that cooperates with the limit slot 3411. The outer wall 343 of the moxibustion cabin is provided with a thermocouple slot 3431, and the thermocouple gland 3432 is clamped on the outside of the thermocouple slot 3431 by plugging or snapping. The ignition net assembly 344 is installed on the inner side of the bottom of the ash screen 345, and includes an inner and outer double-ring skeleton structure connected by a connecting portion 3446 with a side hole 3443. A middle hole 3444 is provided in the middle ring 3447, and a plurality of outer card grooves 3442 are arranged in pairs along the circumferential direction at intervals on the outer side of the outer ring, and a corresponding number of inner card grooves 3445 are arranged along the circumferential direction on the inner side of the inner ring. The resistance wire 3441 is wound around the outer card groove 3442 and the inner card groove 3445 in an alternating manner inside and outside, and finally led out from the side hole 3443.

[0066] The long bolt passes through the guide column cover 3472 and the spring guide column 3473 in sequence and is screwed onto the moxa stick holder 347. The moxa stick holder 347 is also provided with a plurality of pins 3471 for fixing the moxa stick 3474. The outer wall of the spring guide column 3473 is provided with a strip-shaped protrusion. The dust blocking net cover 3452 is mounted on the outside of the spring guide column 3473 through the middle hole, and is prevented from deflection and limited by cooperating with the strip-shaped protrusion. A plurality of springs 3475 are also provided between the dust blocking net cover 3452 and the moxa stick holder 347.

[0067] The outer edge of the ignition net assembly 344 is fastened to the inner side of the gray net shell 342 by bolts that penetrate the gray net shell 342 and the gray net 345, and a heat insulation pad is set on the nut. The inner edge of the ignition net assembly 344 is further fastened to the bottom of the gray net 345 by cross-arranged bolts. The gray net 345 and the gray net shell 342 are separated by a heat insulation pad 3451. The inner side of the ignition net assembly 344 and the outer side of the bottom of the gray net 345 are respectively provided with a tray-shaped support bracket 346 and a support base 3461 fastened by bolts. Through the above structure, the moxa stick 3474 is stably limited between the moxa stick seat 347 and the support bracket 346. A pair of strip-shaped protrusions are provided at the bottom of the support base 3461, which, on the one hand, prevents the ignition net assembly 344 from being too close to the skin, and on the other hand, plays a diversion role for the moxa smoke.

[0068] like Figure 1c , Figure 3d , Figure 6 As shown, when in use, the moxa stick 3474 is installed on the moxa stick holder 347, and the device enters the ignition mode. The moxa head assembly 3 is moved to the top of the ash box assembly 2 by the support arm assembly 4 according to the built-in encoder information, and then slowly descends. The positive and negative electrode contacts 2321 in the ash box assembly 2 are in contact with the positive and negative electrodes of the resistance wire 3441 in the ignition network. The ignition network assembly 344 moves upward and contacts the moxa stick 3474 by compressing four ceramic column springs (not shown in the figure), and stops descending according to the Z-axis encoder information, and the ignition contact 3454 contacts the electrode contact 2321, so that the resistance wire 3441 is connected to the power supply for heating to achieve ignition. Among them, the ceramic column 3453 effectively compensates for the distance error in the Z-axis direction and prevents the risk of short circuit. After normal ignition, the moxa head is removed, the ignition network is reset, and does not contact the moxa stick 3474, which increases the service life.

[0069] After the moxa stick burns, a stable columnar or umbrella-shaped moxa smoke is formed at the bottom of the moxa component 34. The moxa smoke passes through the annular cavity 3422, the moxa inner cavity 3414, the moxa smoke channel formed by the fan seat vent 3211, the ventilation hole 3224, the fixed plate vent 3311 and the base vent 3321, and then passes through the filter 312 to enter the filter inner cavity 3121. The filtered moxa smoke is discharged from the exhaust duct 3222 driven by the fan 324.

[0070] like Figure 5 , Figure 7As shown, the present invention can blow moxa smoke from the internal air supply to the skin, and then recover it from the exhaust system and blow it out as the internal air supply after passing through the filter, emphasizing the positive effect of moxa smoke itself on the moxibustion process, reducing the exhaust volume into the air, reducing the loss of moxa heat, reducing the influence of the smell of moxa smoke after filtering, and controlling the blowing amplitude of moxa smoke. The opening size of the exhaust duct 3222 is adjusted by the exhaust baffle 323. When the exhaust duct 3222 is enlarged, the downflow air volume in the fan inner cabin 3223 is controlled to decrease, the fresh air inflow is increased, the return air suction of the moxibustion head is improved, and the depth and concentration of the smoke column are reduced, and vice versa.

[0071] In order to facilitate manual adjustment of the oxygen content in the fan inner cabin 3223 or the moxibustion chamber 3433 and to ensure the temperature of the moxibustion chamber 3433 as much as possible, a handle 3232 protruding from the outside of the fan cabin 322 is provided on one side of the exhaust baffle 323, and a control handle 3251 protruding from the outside of the fan cabin 322 is provided on one side of the air intake adjustment disk 325. When the oxygen content in the fan inner cabin 3223 or the moxibustion chamber 3433 is sufficient, the exhaust baffle 323 is manipulated to reduce the air volume of the exhaust port 3221 and the exhaust duct 3222, so as to reduce the heat loss of the moxa stick as much as possible to ensure the treatment effect. Furthermore, the air intake adjustment disk 325 can be rotated to cover the through hole at the bottom of the fan inner cabin 3223, so that the moxibustion chamber 3433 is closed to further prevent heat loss; when the oxygen content in the fan inner cabin 3223 or the moxibustion chamber 3433 is insufficient, the air outlet 3221 and the exhaust duct 3222 can be increased by manipulating the exhaust baffle 323, and the air intake adjustment disk 325 can be rotated to open the through hole at the bottom of the fan inner cabin 3223, thereby further increasing the air intake of the moxibustion chamber 3433.

[0072] Furthermore, to facilitate automated control, the exhaust baffle 323 and the air intake adjustment disk 325 can be set to a geared disk structure that meshes with the output gear of the drive motor and is controlled by the drive motor. At the same time, an oxygen content sensor is set in the cavity to achieve real-time oxygen content in the moxibustion cavity 3433 and automatically adjust it.

[0073] Example 3 Intelligent moxibustion instrument like Figure 1As shown, this embodiment mainly describes a specific implementation scheme of an intelligent moxibustion instrument using the above-mentioned moxibustion head assembly 3 and arm assembly 4. The intelligent moxibustion instrument also includes a base assembly 1, a lifting column assembly 5 fixed on the base assembly 1, and an ash box assembly 2 fixed on the side of the lifting column assembly 5. Among them, the base assembly 1 includes a base 12, a power module 14 fixed on the base 12, a counterweight 13, a cover 11 that cooperates with the base 12, and a control module (such as a PCB motherboard, not shown in the figure). The control program is pre-embedded in the control module, so that each electrical component is controlled by transmitting an electrical signal. By setting the counterweight 13, the overall center of gravity of the intelligent moxibustion instrument can be moved downward to prevent the arm assembly 4 from tipping over when it extends outward. In order to facilitate the movement of the intelligent moxibustion instrument, walking wheels (not shown in the figure) can also be set at the bottom of the base 12.

[0074] like Figure 1a , Figure 1b As shown, the lifting column assembly 5 includes a fixed column assembly 51 fixed on the base 12, and a sliding column assembly 52 slidably matched on the fixed column assembly 51. The fixed column assembly 51 includes a supporting back plate 511 and a front housing 512 as the main structure, a lifting drive motor 514 fixed on the base 12, a lead screw 517 fixed to the output end of the lifting drive motor 514 through a coupling 5174, a pair of lead screw brackets 5171 fixed on the supporting back plate 511 and matched at both ends thereof for supporting the lead screw 517, a screw nut 5173 slidably or rollingly matched with the lead screw 517, a screw nut seat 5172 fixed on the screw nut 5173, a pair of guide rails 515 fixed on the supporting back plate 511 and located on both sides of the lead screw 517, and a plurality of sliders 5151 slidably matched on 515. To facilitate automated control, a number of contact switches (not shown in the figure) are provided on the front side of the support back plate 511 along the running direction of the screw nut seat 5172. The present embodiment preferably uses a pair of start and end positions to avoid accidental touches and is used to quickly identify the start / end position of the screw nut seat 5172.

[0075] In order to improve the running stability of the lifting drive motor 514, an L-shaped motor fixing plate 5141 is fixed to the support back plate 511, and a through hole is provided on the bottom vertical section thereof for matching the lifting drive motor 514. In order to facilitate manufacturing and assembly and make the appearance more beautiful, a fixing column decorative cover 513 is also installed on the support back plate 511 and the front shell 512.

[0076] like Figure 1a , Figure 1bAs shown, the sliding column assembly 52 includes a sliding back plate 521 and a sliding front housing 522 as the main structure, a camera slot 524 fixed on one side of the sliding back plate 521, a camera rod 525 slidably fitted in the camera slot 524, a camera module 5251 fixed at the uppermost end of the camera rod 525, and a stopper 5241 fixed at the end of the camera slot 524 for limiting the travel of the camera rod 525. The outer back side of the sliding back plate 521 is fixed on the slider 5151, and the middle part is fixed on the lead screw nut seat 5172, so that the lifting drive motor 514 can output torque to drive the lead screw nut seat 5172 to slide up and down, thereby driving the sliding column assembly 52 to slide up and down along the guide rail 515.

[0077] Through the smart mobile APP or the control panel on the lifting column assembly 5, control the device to enter the treatment mode, and follow the steps below to control the action of the arm assembly 4. Take the horizontal extension of the arm assembly 4 as an example for explanation. At this time, the extension direction of the lifting column assembly 5 is the Z axis, and the vertical plane of the Z axis is the XY plane.

[0078] Step 1, the camera module 5251 is installed in the camera slide 524 in an adjustable height manner through the camera rod 525, and the lens plane of the camera module 5251 is tilted downward so that its shooting range covers the moxibustion area, and the contour of the moxibustion area is identified through the algorithm, and the contour data is sent to the pre-trained model I to determine the body part of the moxibustion area, such as shoulders, back, waist, knees, arms, etc.

[0079] Step 2, send the recognition result to the pre-trained model II to mark the corresponding acupuncture points and spatial coordinates (x, y) of each part in real time, and send it to the data processing module of the intelligent moxibustion instrument. The data processing module converts the spatial coordinates (x, y) of the acupuncture points into the relative coordinates (x, y) of the arm assembly 4 through an algorithm according to the pre-planned treatment plan.

[0080] Step 3, adjust the lifting height and extension length of the arm assembly 4 through the algorithm, calculate the rotation angle of the middle section drive joint 421 and the extension section drive joint 431 through the extension length, and adjust the rotation angle of the servo 446 and the swing servo 444 through the lifting height and extension length calculation, and finally align the center of the moxibustion assembly 34 with the specific acupuncture point, and adjust it to the optimal distance according to the internal temperature sensor value. When the error value between the current coordinate and the target coordinate is higher than the threshold, adjust the Z-axis coordinate by adjusting the sliding column assembly 52, and adjust the XY plane coordinate (x, y) of the arm assembly 4 through the middle section drive joint 421 or the extension section drive joint 431; when the error value is lower than the threshold, fine-tune the swing angle of the servo 446 or the swing servo 444.

[0081] As for the calculation method of the coordinates (x, y), it can be assumed that the lengths of the middle-section arm assembly 42 and the extended-section arm assembly 43 are L1 and L2 respectively, and the swing angles of the two joints of the middle-section driving joint 421 and the extended-section driving joint 431 are θ1 (the angle between the middle-section arm assembly 42 and the x-axis) and θ2 (the clockwise swing angle of the extended-section arm assembly 43 relative to the middle-section arm assembly 42). Then, x=L1·cosθ1+L2·cos(θ1-θ2); y=L1·sinθ1+L2·sin(θ1-θ2). Input the target coordinates (x, y) and solve inversely to obtain θ1 and θ2.

[0082] Step 4: After the arm assembly 4 has finished its motion, its target coordinates are fed back to the control module to verify the accuracy of the robot arm motion. If the position is wrong, return to step 3 to control the arm assembly 4 to move again until it reaches the target coordinates; if the position is correct, exit the loop and the arm assembly 4 ends its motion.

[0083] Preferably, the pre-trained models I and II are stored in the control module, and the API is called by locally deploying offline models to improve the overall adaptability of the device. For the pre-trained models I and II, both can be obtained by using the data collection, labeling and training methods in the prior art, and the accuracy of the model can be improved by repeated optimization, adjustment and verification until it has the ability to accurately identify the moxibustion sites and acupoints. The operating efficiency of the model can also be improved by streamlining and optimizing data or algorithms, further meeting the real-time requirements of this solution.

[0084] To facilitate the rotatable fit of the arm assembly 4 on the lifting column assembly 5, an angle adjustment sleeve 411 is also fixed to the front of the upper end of the sliding back plate 521. To facilitate manufacturing and assembly and make the appearance more beautiful, a sliding column decorative cover 523 is also installed on the sliding back plate 521 and the sliding front housing 522. To further improve the operating reliability and protect the cables, a drag chain 516 is installed between the drag chain upper fixing plate 5161 at the bottom of the sliding back plate 521 and the drag chain lower fixing plate 5162 on the counterweight 13.

[0085] like Figure 1c , Figure 1dAs shown, the ash box assembly 2 includes a bottom shell 21, an upper shell 22, an ash box 23, and a motor reducer 24, which are assembled in sequence from bottom to top. Among them, the motor reducer 24 adopts a combination of a stepping motor and a reducer. The bottom shell 21 is quasi-circular, and one end protrudes outward. The ash box assembly 2 is assembled on the side of the fixed column assembly 51 of the lifting column assembly 5 through the protruding section. The upper shell 22 is a cylindrical structure with one end closed to match the bottom shell 21. The four corners of the bottom of the closed end are respectively provided with positioning tenons 222. The center of the closed end is provided with an upper middle hole 223. The output end of the motor reducer 24 is provided through the upper middle hole 223. A pair of positioning bosses 224 for matching the support 232 and the terminal 221 are provided on both sides of the upper middle hole 223 at the top of the closed end.

[0086] The ash collecting box 23 is a cylindrical structure with one end closed and matched to the upper shell 22. A box body hole 231 is provided at the center of the closed end. Four hollow pillars 232 are symmetrically arranged along the circumferential direction with the box body hole 231 as the center. Terminals 221 are arranged in two opposite pillars 232. The electrode contacts 2321 at the ends of the terminal posts 221 are exposed at the ends of the pillars 232 in a concave manner. The rear ends of the pillars 232 are sleeved and fitted on the positioning bosses 224.

[0087] The electrode contact 2321 is embedded in the support 232 in a concave manner to avoid the risk of electric shock caused by accidental touch by human hands. At the same time, the end of the ignition contact 3454 is slightly protruded outward so that it can normally contact the electrode contact 2321 in the concave. The electrical connection structure starts from the electrode contact 2321, passes through the terminal 221 and passes through the positioning protrusion 224, and is connected from the wiring hole on the side of the bottom shell 21 to the inner cavity of the fixed column assembly 51. Under the limiting action of the drag chain 516, it continues to connect downward to the control module or power module 14, thereby realizing the normal operation of the ignition assembly 2.

[0088] The transmission cap 25 is assembled floatingly at the upper end of the hole 231 in the box body, and a pair of protrusions are symmetrically arranged at the upper end of the transmission cap 25. The transmission rod 26, the upper transmission gear 27, and the lower transmission gear 28 that match the transmission cap 25 are assembled in sequence from top to bottom between the upper hole 223 and the hole 231 in the box body. Among them, an annular boss 261 is arranged in the middle of the transmission rod 26, the ash collecting box 23 is matched between the transmission cap 25 and the annular boss 261, the bottom of the lower transmission gear 28 is matched on the output end of the motor reducer 24, and the upper transmission gear 27 and the lower transmission gear 28 are matched in a height-adjustable manner. The specific working principle is as follows.

[0089] like Figure 1eAs shown, the upper transmission gear 27 or the lower transmission gear 28 adopts an asymmetric tooth structure arranged along the circumference and meshing up and down, that is, one side of each tooth is a bevel and the other side is a straight side. In the first working state, the distance between the upper transmission gear 27 and the lower transmission gear 28 is the smallest, and the contact surface between the upper tooth bevel 271 and the lower tooth bevel 281, and the upper tooth straight edge 272 and the lower tooth straight edge 282 is the largest; the motor reducer 24 drives the lower transmission gear 28 to rotate, and in the second working state, the contact surface between the upper tooth bevel 271 and the lower tooth bevel 281 gradually decreases, and the upper tooth straight edge 272 and the lower tooth straight edge 282 diverge until the tooth tops of the upper transmission gear 27 and the lower transmission gear 28 are in contact, and the contact surface between the upper tooth bevel 271 and the lower tooth bevel 281 is the smallest; the motor reducer 24 drives the lower transmission gear 28 to continue to rotate, and in the third working state, each tooth of the lower transmission gear 28 enters the next tooth groove of the upper transmission gear 27 in sequence, returns to the first working state, and continuously cycles. During the circulation process, the upper transmission gear 27 drives the transmission cap 25 to float up and down through the transmission rod 26, and hits the ash blocking net 345 to drive the moxa stick 3474 to vibrate, so that the floating ash on the moxa stick 3474 falls off and falls into the ash collecting box 23.

[0090] In order to more intuitively illustrate the main structure of the present invention, most of the wires, bolts, nuts, sealing rings and other parts are omitted in the accompanying drawings. It can be understood that under the conception of the present invention, technical personnel in this field can connect and fix the corresponding parts in practical applications in combination with conventional technical means in the field, and flexibly adjust and optimize according to actual conditions to implement the technical solution of the present invention.

[0091] Description of reference numerals: 1 base assembly, 11 cover, 12 base, 13 counterweight, 14 power module; 2 ignition assembly, 21 bottom shell, 22 upper shell, 221 terminal, 222 positioning tenon, 223 upper middle hole, 224 positioning boss, 23 ash box, 231 middle hole of box body, 232 pillar, 2321 electrode contact, 24 motor reducer, 25 transmission cap, 26 transmission rod, 261 annular boss, 27 upper transmission gear, 271 upper tooth bevel, 272 upper tooth straight edge, 28 lower transmission gear, 281 lower tooth bevel, 282 lower tooth straight edge; 3 moxibustion head assembly, 31 filter assembly, 311 filter housing, 312 filter, 3121 filter cavity, 313 magnet, 314 filter cavity, 32 fan assembly, 321 fan seat, 3211 fan seat vent, 322 fan compartment, 3221 exhaust vent, 3222 exhaust duct, 3223 fan compartment, 3224 vent, 3225 baffle slide, 323 exhaust baffle, 3231 baffle opening, 3232 handle, 324 fan, 325 air intake adjustment plate, 3251 control handle, 33 heat shield assembly, 331 fixing plate, 3311 fixing plate vent, 332 heat shield base, 3321 base vent, 3322 guide column, 333 interface base, 3331 interface housing, 334 Laser distance measuring device, 335 contact switch, 34 moxibustion assembly, 341 moxibustion cabin shell, 3411 limit card slot, 3412 distance measuring hole, 3413 contact switch installation slot, 3414 moxibustion inner cavity, 3415 limit column, 342 ash net shell, 3421 air inlet, 3422 annular cavity, 3423 contact protrusion, 3424 limit protrusion, 343 moxibustion cabin inner wall, 3431 thermocouple slot, 3432 thermocouple gland, 3433 moxibustion cavity, 344 ignition net assembly, 3441 resistance wire, 3442 outer card slot, 3443 side hole, 3444 middle hole, 3445 inner card slot, 3446 connection part, 3447 middle ring, 345 ash screen, 3451 Insulation pad, 3452 ash screen cover, 3453 ceramic column, 3454 ignition contact, 346 support bracket, 3461 support base, 347 moxa holder, 3471 pin, 3472 guide column cover, 3473 spring guide column, 3474 moxa, 3475 spring; 4 arm assembly, 41 angle adjustment arm assembly, 411 angle adjustment sleeve, 412 angle adjustment arm cover, 413 angle adjustment arm body, 4131 first joint hole, 414 angle adjustment shaft, 415 angle adjustment bearing, 42 middle section arm assembly, 421 middle section drive joint, 422 middle section arm cover, 423 middle section arm body, 4231 second joint hole, 43 extension section arm assembly, 431 extension section drive joint, 432 extension section arm cover, 433 extension section arm body, 4331 support end, 4332 extension end, 44 adjustment assembly, 441 servo shaft, 442 adjustment assembly cover, 443 front servo bracket, 4431 rear servo bracket, 444 swing servo, 4441 swing shaft, 4442 swing, 4443 brake, 4444 brake shaft, 445 connection port, 446 adjustment servo; 5 lifting column assembly, 51 fixed column assembly, 511 supporting back plate, 512 front shell, 513 fixed column decorative cover, 514 lifting drive motor, 5141 motor fixing plate, 515 guide rail, 5151 slider, 516 drag chain, 5161 drag chain upper fixing plate, 5162 drag chain lower fixing plate, 517 lead screw, 5171 lead screw bracket, 5172 lead screw nut seat, 5173 nut, 5174 coupling, 52 sliding column assembly, 521 sliding back plate, 522 sliding front shell, 523 sliding column decorative cover, 524 camera slide, 5241 block, 525 camera rod, 5251 camera module.

Claims

1. A targeted moxibustion therapy mechanical arm, comprising a first plane (S1), a second plane (S2), and a third plane (S3) which are hinged in sequence head to tail, a fourth plane (S4) rotating around a second rotation axis (Y2) and perpendicular to the third plane (S3) being provided at the front end of the third plane (S3), characterized in that: A fifth plane (S5) is provided at the front end of the fourth plane (S4) and is rotated around the third rotation axis (Y3) and is perpendicular to the third plane (S3) and the fourth plane (S4); A first rotating shaft (Y1) is provided at the rear end of the first plane (S1) and is arranged in the same direction as the length direction thereof; the first plane (S1), the second plane (S2), the third plane (S3), the fourth plane (S4), and the fifth plane (S5) can rotate synchronously around the first rotating shaft (Y1).

2. The targeted moxibustion therapy mechanical arm according to claim 1, characterized in that: The first plane (S1) is an angle adjustment arm assembly (41) including a T-shaped angle adjustment arm body (413), the vertical portion of the angle adjustment arm body (413) is used to cooperate with the first rotating shaft (Y1), and the horizontal portion of the angle adjustment arm body (413) is provided with a first joint hole (4131).

3. The targeted moxibustion therapy mechanical arm according to claim 1, characterized in that: The second plane (S2) is a middle section arm assembly (42) comprising a middle section arm body (423) with a second joint hole (4231) at one end of a round shape, and a middle section driving joint (421) fixed to the other end of the middle section arm body (423).

4. The targeted moxibustion therapy mechanical arm according to claim 1, characterized in that: The third plane (S3) is an extension section arm assembly (43) comprising an extension section arm body (433) and an extension section driving joint (431) fixed to one end of the extension section arm body (433).

5. The targeted moxibustion therapy mechanical arm according to claim 1, characterized in that: The fourth plane (S4) is an adjustment assembly (44) including an adjustment servo (446) fixed between a front servo bracket (443) and a rear servo bracket (4431) with a second rotating shaft (Y2) as an output shaft, a swing servo (444) with a third rotating shaft (Y3) as an output shaft, and a brake (4443) connected via a brake shaft (4444).

6. The targeted moxibustion therapy mechanical arm according to claim 5, characterized in that: The fifth plane (S5) is a connection port (445) fixed on the output shaft of the swing steering engine (444).

7. The targeted moxibustion therapy mechanical arm according to claim 6, characterized in that: A moxibustion head assembly (3) is fixed on the connection port (445).

8. The targeted moxibustion therapy mechanical arm according to claim 7, characterized in that: The moxibustion head assembly (3) comprises a filter assembly (31) with a smoke exhaust passage formed inside, a fan assembly (32), a heat insulation cover assembly (33) provided with an exhaust port (3221), and a moxibustion assembly (34) provided with an annular cavity (3422) and a moxibustion inner cavity (3414), which are assembled in sequence from top to bottom. The fan assembly (32) is divided into a fan inner cabin (3223) and a ventilation hole (3224). The filter assembly (31) and the fan assembly (32) are separated by a fan seat (321) provided with a fan seat ventilation hole (3211). The fan inner cabin (3223) is connected to the outside through the exhaust duct (3222); the annular cavity (3422) is connected to the fan inner cabin (3223) through the moxibustion inner cavity (3414), the base ventilation hole (3321), the fixing plate ventilation hole (3311), the ventilation hole (3224), the fan seat ventilation hole (3211), and the filter cavity (314).

9. The targeted moxibustion therapy mechanical arm according to claim 8, characterized in that: A moxibustion chamber (3433) is provided in the moxibustion assembly (34), and the fan inner cabin (3223) is connected to the moxibustion chamber (3433) via a through hole on the inner wall of the bottom thereof.

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