Full-automatic physiotherapy moxibustion robot and control method thereof

Abstract

The invention discloses a full-automatic physiotherapy moxibustion robot and a control method thereof. The moxibustion robot comprises a base, a six-axis mechanical arm, a moxibustion device, a sensing assembly, a smoke exhaust system, an operation terminal and a controller. A feeding workbench is arranged on the base. The six-axis mechanical arm is arranged on the base; the moxibustion device is connected with the six-axis mechanical arm and used for applying massage force to a target area and achieving a moxibustion function; the sensing assembly comprises three laser distance measuring sensors uniformly distributed on the outer side of the moxibustion device, a camera and a temperature sensor, and the camera is used for capturing and positioning acupuncture point images of a human body; the smoke exhaust system is connected with the moxibustion device through a pipeline so as to treat smoke generated in the combustion process of the moxibustion device; the operation terminal is arranged on the base and controls the six-axis mechanical arm and the moxibustion device to operate. And the controller is electrically connected with the operation terminal. The invention further provides a using method, the acupoint positioning precision is remarkably improved on the basis of full automation, and the safety and environment problems in the using process are avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of moxibustion robots, in particular to a full-automatic physiotherapy moxibustion robot and a control method thereof. BACKGROUND

[0002] As one of traditional Chinese medicine physiotherapy methods, moxibustion has wide application value in relieving pain, regulating blood and qi, and improving sub-health status, etc. through the warm effect and drug components generated by burning mugwort acting on human acupoints. With the improvement of people's health consciousness, the demand for moxibustion physiotherapy is increasing, but the traditional moxibustion physiotherapy method still has many limitations and deficiencies in practical application, which is difficult to meet the needs of precision, automation and safety in current physiotherapy scenarios.

[0003] Firstly, the traditional moxibustion physiotherapy highly depends on manual operation and requires high professional skills of the operator. During the physiotherapy process, the operator needs to accurately position the human acupoints by experience, and if the acupoint positioning deviation is large, it will not only affect the physiotherapy effect, but also cause discomfort due to the action of moxibustion on non-target areas. At the same time, the operator needs to continuously hold the moxibustion stick or moxibustion appliance to control the distance and angle of moxibustion to the skin, which is easy to cause fatigue after a long time of operation, further reducing the operation accuracy, and the standardization of manual physiotherapy is low, and the difference in technical level of different operators will lead to uneven physiotherapy effect, which is difficult to guarantee stable service quality.

[0004] Secondly, the traditional moxibustion physiotherapy has obvious safety hazards. During the moxibustion burning process, high temperature is generated, and if the operator does not properly control the distance between the moxibustion and the skin, it is easy to cause skin burns; in addition, the smoke generated by moxibustion contains particulate matter, volatile organic compounds and other components, and if the physiotherapy environment lacks effective smoke exhaust measures, the smoke will diffuse in the air, not only affecting the comfort of the physiotherapy environment, but also possibly causing adverse effects on the respiratory health of the operator and the user.

[0005] Thirdly, the operation flexibility of traditional moxibustion physiotherapy is insufficient. Human acupoints are widely distributed, and some acupoints are located in areas with large activity or hidden positions such as joints and back, and it is difficult for manual holding of moxibustion appliances to flexibly adjust the posture to meet the physiotherapy needs of different acupoints, there are physiotherapy dead angles, and it is impossible to achieve comprehensive coverage of all acupoints in the body. At the same time, it is difficult to monitor key parameters such as skin temperature in real time during manual physiotherapy, and it is impossible to dynamically adjust the moxibustion intensity and distance according to the real-time reaction of the user, which may lead to poor physiotherapy effect or decreased user experience. SUMMARY

[0006] Therefore, in order to solve the defects of the above-mentioned technology, the present application provides a full-automatic physiotherapy moxibustion robot and a control method thereof.

[0007] The technical scheme of the present application is as follows: The first object of the present application is to provide a full-automatic physiotherapy moxibustion robot, comprising: a base for supporting the entire robot system main body structure; a six-axis mechanical arm provided on the base and capable of performing multi-degree-of-freedom precise movement in space; a moxibustion device connected with the six-axis mechanical arm and used for applying massage force and moxibustion function to a target area; a sensing assembly including three laser ranging sensors, a camera and a temperature sensor uniformly distributed on the outside of the moxibustion device, the three laser ranging sensors being used to determine the distance between the device and the human body, the temperature sensor being used to measure the skin temperature at the moxibustion position, and the camera being used to capture and locate the image of the acupoint of the human body; a smoke exhaust system connected with the moxibustion device through a pipeline to treat the smoke generated by the moxibustion device during combustion; an operation terminal provided on the base box body to facilitate human-computer interaction control of the six-axis mechanical arm and the moxibustion device; a controller electrically connected with the operation terminal.

[0008] Further, the moxibustion device comprises: an incense stick mounting chuck for fixing an incense stick; a lifting device provided above the incense stick mounting chuck and connected with the incense stick mounting chuck to enable the incense stick mounting chuck to be lifted, the lifting device including an outer cover and a support bottom plate sealed on the opening side of the outer cover, one side of the support bottom plate extending to the outside of the outer cover and being provided with a mounting interface connected with the end of the six-axis mechanical arm; a combustion box mounted on the lower surface of the support bottom plate, the upper part of the combustion box being provided with a corresponding opening to enable the incense stick mounting chuck to extend into the box, the upper end face of the combustion box being connected with the lifting device, and the bottom of the combustion box being provided with an incense heat output port for outputting hot gas generated by combustion of the incense stick to a human body part; a dust blocking shell connected to the lower end of the support bottom plate and covering the combustion box in the internal space, the bottom of the dust blocking shell being provided with an extension hole matched with the incense heat output port.

[0009] Further, the moxibustion device further comprises a massage head structure adapted to be mounted on the lifting device, the massage head structure comprising: a moxibustion cylinder adapted to accommodate the incense stick, and both ends of the incense stick extending out of the upper and lower ends of the moxibustion cylinder; a protective cover provided at the lower port of the moxibustion cylinder, and the protective cover having a moxibustion window thereon; A sensing assembly is provided with a vertical through hole on one side, the sensing assembly is sleeved on the moxa stick through the through hole and the bottom end of the sensing assembly is attached to the top end surface of the moxa stick cylinder; A mounting clamp is connected between the sensing assembly and the moxa stick cylinder; A mounting disc body is fixedly installed at the top end of the sensing assembly through an intermediate connecting disc.

[0010] Further, the six-axis mechanical arm includes a mechanical arm mounting auxiliary structure mounted at the mounting interface of the support bottom plate, the mechanical arm mounting auxiliary structure includes A force control sensor is fixedly connected at the mounting interface of the support bottom plate; A mounting flange plate is fixedly connected on the force control sensor through a connecting disc at one end surface, and connected with the end of the six-axis mechanical arm at the other end surface.

[0011] Further, the moxa stick mounting clamp includes: A moxa stick cylinder includes a guide cylinder and a guide cylinder cover connected to the lower end of the guide cylinder; A fixed limiting piece includes a circumferential positioning structure horizontally inserted into the guide cylinder cover and an axial pressing disc structure installed between the guide cylinder and the guide cylinder cover; The guide cylinder cover includes a guide snap ring, a fan-shaped boss symmetrically connected to the circumference of the guide snap ring, and a connecting plate connected between the two fan-shaped bosses, the connecting plate is located at the center of the guide snap ring, and the top height of the connecting plate is lower than the top height of the two fan-shaped bosses, so as to form two insertion gaps between the guide snap ring, the fan-shaped boss and the connecting plate; the circumferential positioning structure is adapted to be inserted into the guide cylinder cover from any of the insertion gaps to position the moxa stick circumferentially; The axial pressing disc structure is adapted to be pressed on the top of the circumferential positioning structure and axially position the moxa stick.

[0012] Further, the lifting device includes: A support seat includes a support top ring and a support bottom plate arranged horizontally up and down; A slide rod component includes a plurality of slide rods uniformly distributed and vertically connected between the support top ring and the support bottom plate, a plurality of linear bearings slidingly inserted into each slide rod, and a lifting cylinder sleeve sleeved on the plurality of linear bearings; The driving component comprises a motor support plate horizontally connected to the support top ring, a driving motor connected to the bottom of the motor support plate, a screw rod shaft vertically rotating through the support top ring and the support bottom plate, and a screw rod seat sleeved on the screw rod shaft, the screw rod shaft is also fixed through the screw rod seat and connected to the flange plate of the lifting cylinder sleeve, and the output shaft of the driving motor is drivingly connected to the screw rod shaft through an intermediate transmission component; When the driving motor works, the screw rod shaft is driven to rotate through the intermediate transmission component, the lifting cylinder sleeve is driven to move up and down on the plurality of sliding rods through the screw rod seat, the incense stick mounting chuck is vertically and fixedly connected to the lifting cylinder sleeve, the bottom of the incense stick mounting chuck passes through the center hole of the support bottom plate, and the incense stick is fixed to the bottom of the incense stick mounting chuck.

[0013] Further, the base comprises: A base box body for supporting and mounting positioning; A structural frame arranged in the base box body; An ash scraping assembly arranged on one side of the structural frame; An acupoint moxibustion instrument arranged on the other side of the structural frame.

[0014] Further, the ash scraping assembly comprises a stepping motor vertically arranged on the upper part of the inner side of the structural frame, a second driving pulley connected to the output shaft of the stepping motor, a rotating shaft vertically rotating through the structural frame, a second driven pulley connected to one end of the rotating shaft and located on the same side of the second driving pulley, a second belt in meshing transmission connection between the second driving pulley and the second driven pulley, and an ash scraping cylinder connected to the other end of the rotating shaft; the stepping motor is adapted to drive the ash scraping cylinder to rotate.

[0015] Further, the ash scraping cylinder comprises an ash accumulation cylinder body rotationally mounted on the top end of the rotating shaft, and a plurality of brushes uniformly distributed in the circumferential direction of the ash accumulation cylinder body.

[0016] The second object of the present application is to provide a use method of the full-automatic physiotherapy moxibustion robot, comprising the following steps: S1: fixing the incense stick on the incense stick mounting chuck; S2: opening the operation terminal to enter the corresponding control program, and selecting the moxibustion equipment model for application; S3: selecting the moxibustion project type in the program interface; S4: selecting the moxibustion scheme or customizing the moxibustion scheme in the project detail page; S5: replacing the incense stick and igniting according to the moxibustion scheme; S6: After determining the project, select "click to moxa" to jump to the positioning page; S7: Select the shift acupuncture point on the positioning page to move the robot to the positioning area; S8: Control the moxa device to complete positioning through the direction moving button on the operation interface; S9: Moxa is carried out, and project information and adjustment buttons are displayed during moxa.

[0017] Compared with the prior art, the present application has at least the following beneficial effects: The full-automatic physiotherapy moxa robot in the application includes a base, a six-axis mechanical arm, a moxa device, a sensing assembly, a smoke exhaust system, an operation terminal and a controller, wherein the base provides stable support for the whole, guarantees the structural stability during equipment operation, and avoids affecting the operation precision due to shaking; the six-axis mechanical arm has multi-degree-of-freedom precise motion capability, can drive the moxa device to flexibly reach any acupoint area of the human body, breaks through the operation limitation of traditional manual moxa holding, and realizes no dead angle physiotherapy; the moxa device as a core executive component can stably apply the moxa function, realizes dynamic regulation and control in cooperation with the sensing assembly, three uniformly distributed laser ranging sensors can determine the distance between the equipment and the human body in real time, prevent scalding due to too close distance or affect the curative effect due to too far distance, the temperature sensor monitors the skin temperature in real time, provides data basis for adjusting the moxa intensity, the camera 42 accurately captures the acupoint image to realize automatic positioning, solves the problem of insufficient precision due to manual acupoint searching depending on experience; the smoke exhaust system timely processes the moxa smoke, avoids smoke pollution of the environment and influence on the user's breathing experience; the operation terminal and the controller form the man-machine interaction and control core, the user can conveniently set parameters, the controller receives data of each component and links to regulate and control the mechanical arm and the moxa device, forms a complete automatic closed loop of positioning, execution, monitoring, adjustment and purification, and finally realizes precise, safe and comfortable moxa physiotherapy without manual intervention, while improving the physiotherapy efficiency and standardization. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a three-dimensional structure schematic diagram of the full-automatic physiotherapy moxa robot in the embodiment of the application; Figure 2 It is a one-direction internal structure schematic diagram of the base box in the embodiment of the application; Figure 3 It is another-direction internal structure schematic diagram of the base box in the embodiment of the application; Figure 4 It is a one-direction structure schematic diagram of the moxa device in the embodiment of the application; Figure 5 It is another-direction structure schematic diagram of the moxa device in the embodiment of the application; Figure 6 It is a one-direction exploded structure schematic diagram of the moxa device in the embodiment of the application; Figure 7 Another direction exploded view of the moxa stick device in the embodiment of the present application; Figure 8 Assembly structure diagram of the moxa stick device and the moxa stick in the embodiment of the present application; Figure 9 Assembly structure diagram of the support seat and the slide rod part of the lifting device in the embodiment of the present application; Figure 10 Structure diagram of the lifting cylinder sleeve in the embodiment of the present application; Figure 11 Installation structure diagram of the driving part in the embodiment of the present application; Figure 12 Exploded structure diagram of the lifting cylinder sleeve, the locking joint and the moxa stick mounting chuck in the embodiment of the present application; Figure 13 Assembly structure diagram of the lifting cylinder sleeve, the locking joint and the moxa stick mounting chuck in the embodiment of the present application; Figure 14 One direction exploded structure diagram of the locking joint, the moxa stick mounting chuck and the moxa stick in the embodiment of the present application; Figure 15 One direction exploded structure diagram of the locking joint, the moxa stick mounting chuck and the moxa stick in the embodiment of the present application; Figure 16 One direction exploded structure diagram of the locking joint in the embodiment of the present application; Figure 17 Another direction exploded structure diagram of the locking joint in the embodiment of the present application; Figure 18 Exploded structure diagram of the driving part, the locking tongue and the wedge block in the embodiment of the present application; Figure 19 Internal section structure diagram of the locking joint, the moxa stick mounting chuck and the moxa stick in the embodiment of the present application; Figure 20 Assembly structure diagram of the moxa stick mounting chuck and the moxa stick in the embodiment of the present application; Figure 21 Assembly exploded structure diagram of the moxa stick mounting chuck and the moxa stick in the embodiment of the present application; Figure 22 Three-dimensional structure diagram of the guide cylinder cover in the embodiment of the present application; Figure 23 Three-dimensional structure diagram of the fixed limiting part in the embodiment of the present application; Figure 24 Three-dimensional structure diagram of the massage head structure in the embodiment of the present application; Figure 25 Exploded structure diagram of the massage head structure in the embodiment of the present application; Figure 26 FIG. 1 is a schematic view of a direction structure of a dust scraping assembly in an embodiment of the present application; Figure 27 FIG. 2 is another schematic view of a direction structure of the dust scraping assembly in the embodiment of the present application.

[0019] Legend of reference signs: 1 - base; 11 - base box; 12 - structural frame; 13 - dust scraping assembly; 131 - stepping motor; 132 - second driving pulley; 133 - rotating shaft; 134 - second driven pulley; 135 - second belt; 136 - dust scraping cylinder; 1361 - dust accumulation cylinder body; 1362 - brush; 14 - moxibustion instrument; 15 - feeding workbench; 2 - six-axis mechanical arm; 21 - mechanical arm installation auxiliary structure; 211 - force control sensor; 212 - installation flange; 213 - connecting disc; 3 - moxibustion device; 31 - moxa stick installation chuck; 311 - moxibustion cylinder body; 3111 - guide cylinder; 31111 - cover; 311111 - first screw hole; 31112 - inner stop opening accommodating groove; 3112 - guide cylinder cover; 31121 - guide snap ring; 311211 - inner stop opening; 31122 - fan-shaped boss; 311221 - second screw hole; 31123 - connecting plate; 311231 - fourth connecting hole; 31124 - plug-in notch; 312 - fixed limiting member; 3121 - circumferential positioning structure; 31211 - horizontal plug-in plate; 312111 - through groove; 31212 - arc-shaped plate; 31213 - horizontal insertion pin; 3122 - axial pressure disc structure; 31221 - axial pressure disc; 312211 - third screw hole; 31222 - vertical insertion pin; 31223 - first locking member; 32-lifting device; 321-outer cover; 322-first stroke switch; 323-support seat; 3231-support top ring; 3232-support bottom plate; 32321-mounting interface; 32322-center hole; 324-sliding rod component; 3241-sliding rod; 3242-linear bearing; 3243-lifting cylinder sleeve; 32431-flange plate; 32432-connection table; 324321-mounting hole; 32433-inner connection plate; 324331-first connection hole; 325-driving component; 3251-motor support plate; 3252-driving motor; 3253-screw shaft; 3254-screw seat; 3255-intermediate transmission component; 32551-driving pulley; 32552-following pulley; 32553-belt; 32554-limiting shaft sleeve; 326-second stroke switch; 327-telescopic sleeve; 33-burning box; 331-aisle output port; 34-dust blocking shell; 341-protruding hole; 35-massage head structure; 351-guide pipe; 352-massage head; 353-pneumatic driving valve; 354-mounting chuck; 3541-vertical arc plate; 3542-first half-arc chuck; 35421-first screw hole; 3543-pressing disc; 35432-third connection hole; 3544-second half-arc chuck; 35441-second screw hole; 355-mounting disc body; 356-intermediate connection disc; 3561-fifth connection hole; 36-locking joint; 361-locking seat; 3611-guide cylinder body; 36111-second connection hole; 3612-guide cover; 362-driving member; 3621-first power member; 36211-guide rod; 36212-electromagnet; 362121-third wedge surface; 3622-elastic member; 363-locking tongue; 3631-second wedge surface; 3632-protrusion; 364-wedge block; 3641-first wedge surface; 365-connection seat; 3651-locking tongue sliding groove; 36511-limiting groove; 4-sensing assembly; 41-laser ranging sensor; 42-camera; 43-temperature sensor; 5-smoke exhaust system; 51-first smoke exhaust pipe; 52-second smoke exhaust pipe; 53-ternary catalytic assembly; 6-operation terminal; 7-controller; 8-sound box; 9-aisle. DETAILED DESCRIPTION

[0020] The technical solutions of the present application will be described clearly and completely in combination with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application. In the description of the present application, it should be noted that the terms "first", "second" and the like are used only for descriptive purposes and are not to be construed as indicating or implying relative importance. In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements, it can be wireless connection, or it can be wired connection. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0021] Figures 1-27 The full-automatic physiotherapy moxibustion robot provided by the embodiment of the present application is shown, the full-automatic physiotherapy moxibustion robot comprises a base 1, a six-axis mechanical arm 2, a moxibustion device 3, a sensing assembly 4, a smoke exhaust system 5, an operation terminal 6 and a controller 7, wherein: The base 1 is used for supporting the whole robot system main body structure; the six-axis mechanical arm 2 is arranged on the base 1 and can perform multi-degree-of-freedom accurate motion in space; the moxibustion device 3 is connected with the six-axis mechanical arm 2 and is used for applying moxibustion function to the target area; the sensing assembly 4 comprises three laser ranging sensors 41, a camera 42 and a temperature sensor 43 which are uniformly distributed on the bottom outer side of the moxibustion device 3, the three laser ranging sensors 41 are used for determining the distance between the equipment and the human body; the temperature sensor 43 is used for measuring the skin temperature of the hot moxibustion position; the camera 42 is used for capturing and positioning the acupoint image of the human body; the smoke exhaust system 5 is connected with the moxibustion device 3 through a pipeline to process the smoke generated by the moxibustion device 3 during the combustion process; the operation terminal 6 is arranged on the base 1 and is convenient for man-machine interaction control of the six-axis mechanical arm 2 and the moxibustion device 3; the controller 7 is electrically connected with the operation terminal 6.

[0022] The base 1 provides stable support for the whole device, ensuring structural stability during operation and avoiding the influence of shaking on operation accuracy. The six-axis mechanical arm 2 has multi-degree-of-freedom precise motion capability, can drive the moxibustion device 3 to reach any acupoint area of the human body flexibly, breaks through the operation limitation of traditional manual moxibustion, and realizes no dead angle physiotherapy. The moxibustion device 3, as the core executive component, can stably apply the moxibustion function and cooperate with the sensing assembly 4 to realize dynamic regulation and control. The three uniformly distributed laser ranging sensors 41 can determine the distance between the device and the human body in real time, prevent the distance from being too close to cause burns or too far to affect the treatment effect. The temperature sensor 43 monitors the skin temperature in real time, provides data basis for adjusting the moxibustion intensity, and the camera 42 accurately captures the acupoint image to realize automatic positioning, solving the problem of insufficient precision of manual acupoint searching depending on experience. The smoke exhaust system 5 timely processes the moxibustion smoke to avoid environmental pollution and affect the user's breathing experience. The operation terminal 6 and the controller 7 form the human-computer interaction and control core. The user can conveniently set parameters, and the controller 7 receives data of each component and links to control the mechanical arm and the moxibustion device, forming a complete automatic closed loop of positioning, execution, monitoring, adjustment and purification, and finally realizing precise, safe and comfortable moxibustion physiotherapy without manual intervention, while improving the physiotherapy efficiency and standardization.

[0023] Specifically, please refer to Figure 5 、 6 , 7, in an embodiment of the present application, the moxibustion device 3 includes an incense stick mounting chuck 31, a lifting device 32, a combustion box 33 and a dust blocking shell 34, wherein: The incense stick mounting chuck 31 is used for fixing the incense stick 9; the lifting device 32 is arranged above the incense stick mounting chuck 31 and connected with the incense stick mounting chuck 31, so that the incense stick mounting chuck 31 can be lifted; the lifting device 32 includes an outer cover 321 and a support bottom plate 3232, the support bottom plate 3232 is blocked at the opening side of the outer cover 321, one side of the support bottom plate 3232 extends to the outside of the outer cover 321, and an installation interface 32321 connected with the end of the six-axis mechanical arm 2 is arranged on the one side; the combustion box 33 is installed on the lower surface of the support bottom plate 3232, the upper part of the combustion box 33 is provided with a corresponding opening so that the incense stick mounting chuck 31 extends into the combustion box 33, and the upper end face of the combustion box 33 is connected with the lifting device 32; the bottom of the combustion box 33 is provided with an incense heat output port 331 for outputting hot gas generated by the burning incense stick 9 to the human body part; the dust blocking shell 34 is connected to the lower end of the support bottom plate 3232 and covers the combustion box 33 in the internal space, and the bottom of the dust blocking shell 34 is provided with an extension hole 341 matched with the incense heat output port 331.

[0024] Specifically, the incense stick mounting chuck 31 can stably fix the incense stick 9, avoid loosening and falling off of the incense stick during burning or movement of the mechanical arm, and ensure continuity of the moxibustion process; the lifting device 32 can drive the incense stick mounting chuck 31 to lift, so as to adjust the distance between the incense stick 9 and the human body, and cooperate with the laser ranging sensor 41 and the temperature sensor 43 to realize precise regulation and control of the moxibustion temperature, so as to ensure the curative effect while avoiding burns; the structure design of the outer cover 321 and the support bottom plate 3232 not only provides protection and support for the lifting device 32, but also realizes stable connection with the six-axis mechanical arm 2 through the extended support bottom plate 3232 and the mounting interface 32321, so as to ensure the structural stability when the mechanical arm drives the moxibustion device 3 to move; the combustion box 33 provides a closed space for incense stick combustion, and the incense heat output port 331 at the bottom can concentrate the output of hot air, so as to enhance the concentration of the moxibustion effect; the ash blocking shell 34 covers the combustion box 33, can block the ash generated by the incense stick 9 from falling onto the human body, and improves safety; the extension hole 341 at the bottom does not affect the output of incense heat, and the components cooperatively form a compact and complete moxibustion execution unit, which effectively supports the precise physiotherapy function of the full-automatic physiotherapy moxibustion robot.

[0025] Specifically, please refer to Figure 1 、 24 , 25, in an embodiment of the present application, the moxibustion device 3 further comprises a massage head structure 35 adapted to be mounted on the lifting device 32, as a preferred mode of the present embodiment, the massage head structure 35 comprises a guide pipe 351, a massage head 352, a pneumatic drive valve 353, a mounting chuck 354 and a mounting disc body 355, wherein: The bottom end of the guide pipe 351 is sleeved with the massage head 352, and the top end of the guide pipe 351 is inserted into the pneumatic drive valve 353; a through hole vertically penetrating is formed on one side of the pneumatic drive valve 353, and the pneumatic drive valve 353 drives the guide pipe 351 to move up and down by intermittently introducing gas into the through hole, thereby driving the massage head 352 to apply controllable force to the massage part for massage; the mounting chuck 354 is connected between the pneumatic drive valve 353 and the outer fixed pipe of the guide pipe 351; the mounting disc body 355 is fixedly mounted on the top end of the pneumatic drive valve 353 through the intermediate connecting disc 356.

[0026] Specifically, the massage head 352 at the bottom end of the guide pipe 351 directly acts on the human body part, and the top end of the guide pipe 351 is inserted with the pneumatic drive valve 353, so that the pneumatic drive valve 353 can drive the guide pipe 351 to move up and down by intermittently passing the gas into the through hole, and then drive the massage head 352 to realize controllable force massage, solving the problem that the massage force is difficult to accurately control; the mounting clamp 354 is connected between the pneumatic drive valve 353 and the outer fixed pipe of the guide pipe 351, which enhances the stability of the structure connection and avoids the loosening of the components during the massage process to affect the massage effect; the mounting disc body 355 is fixed at the top end of the pneumatic drive valve 353 through the intermediate connecting disc 356, which facilitates the installation of the entire massage head structure 35 on the lifting device 32, realizes the integration of the massage function and the moxibustion device, and enables the robot to simultaneously or independently perform massage while moxibustion, thereby promoting blood circulation through massage to enhance the moxibustion effect, enriching the physiotherapy means and improving the user's comprehensive physiotherapy experience.

[0027] Please refer to Figure 25 As shown in the figure, the mounting clamp 354 includes a vertical arc-shaped plate 3541, a first half-arc-shaped clamp 3542, a top pressing disc 3543 and a second half-arc-shaped clamp 3544, wherein: The vertical arc-shaped plate 3541 is arranged in parallel on one side of the outer circumferential surface of the guide pipe 351, the top pressing disc 3543 and the first half-arc-shaped clamp 3542 are horizontally connected on the upper and lower sides of the vertical arc-shaped plate 3541, the first half-arc-shaped clamp 3542 is arranged opposite to the second half-arc-shaped clamp 3544, the top pressing disc 3543 is adapted to be pressed on the upper end surface of the pneumatic drive valve 353, and the first half-arc-shaped clamp 3542 and the second half-arc-shaped clamp 3544 are cooperatively locked on the outer fixed pipe circumferential surface of the guide pipe 351.

[0028] In this embodiment, the vertical arc-shaped plate 3541 is first attached to one side of the outer circumferential surface of the guide pipe 351, so that it is parallel to the pipe wall, providing a reference for the installation of other subsequent sub-components, and ensuring that the overall structure is aligned with the central axis of the guide pipe 351; the top pressing disc 3543 is horizontally installed on the upper side of the vertical arc-shaped plate 3541, so that its position corresponds to the upper end surface of the pneumatic drive valve 353, and the subsequent top pressing action can limit the upward displacement of the pneumatic drive valve 353; the first half-arc-shaped clamp 3542 is horizontally installed on the lower side of the vertical arc-shaped plate 3541, so that it is attached to the outer circumferential surface of the guide pipe 351, and a circumferential support is initially formed; the second half-arc-shaped clamp 3544 is placed opposite to the first half-arc-shaped clamp 3542, wrapping the outer circumferential surface of the guide pipe 351, and then the two are tightly fitted through locking operations (such as bolt connection, buckle fixing, etc.). At this time, the top pressing disc 3543 tightly presses the upper end surface of the pneumatic drive valve 353, and the upper and lower limiting and circumferential locking form a closed loop, completing the overall fixation of the mounting clamp 354.

[0029] Please refer to Figure 25As shown, the two sides of the first half-arc-shaped chuck 3542 are respectively provided with first screw holes 35421, and the two sides of the second half-arc-shaped chuck 3544 are respectively provided with second screw holes 35441 which are arranged opposite to the first screw holes 35421, and the first screw holes 35421 and the second screw holes 35441 are internally threadedly connected with locking bolts.

[0030] In this way, the clamping force can be ensured to be maintained for a long time through the self-locking property of the threaded connection, so as to avoid loosening of the chuck due to vibration and temperature change (heating of the cylinder wall during moxibustion), and to ensure the stability of the connection between the guide pipe 351 and the pneumatic drive valve 353; the clamping force can be flexibly controlled by adjusting the tightening degree of the bolts, so as to ensure that the chuck does not slip and to avoid excessive clamping from damaging the outer wall of the guide pipe 351, so as to adapt to guide pipes 351 with different wall thicknesses.

[0031] Please refer to Figure 25 As shown, the top pressure disc 3543 is provided with a plurality of uniformly distributed third connecting holes 35432, the middle connecting disc 356 is provided with a plurality of fifth connecting holes 3561 which are arranged opposite to the third connecting holes 35432, and the fifth connecting holes 3561 and the third connecting holes 35432 are internally connected with locking members.

[0032] Specifically, please refer to Figure 5 、 6 , 7, 9, in an embodiment of the present application, the six-axis mechanical arm 2 includes a mechanical arm mounting auxiliary structure 21 mounted at the mounting interface 32321 of the support bottom plate 3232, and the mechanical arm mounting auxiliary structure 21 includes a force control sensor 211 and a mounting flange 212, wherein: The force control sensor 211 is fixedly connected at the mounting interface 32321 of the support bottom plate 3232; one end face of the mounting flange 212 is fixedly connected on the force control sensor 211 through a connecting disc 213, and the other end face of the mounting flange 212 is connected with the tail end of the six-axis mechanical arm 2.

[0033] Specifically, the mounting flange plate 212 is fixedly connected with the force control sensor 211 through the connecting plate 213, and then the force control sensor 211 is connected to the mounting interface 32321 of the support bottom plate 3232, thereby realizing the connection with the end of the six-axis mechanical arm 2. The structure design ensures the stability of the connection between the mechanical arm and the moxibustion device, and provides reliable support for the spatial movement of the moxibustion device. The force control sensor 211 can sense the external force borne by the moxibustion device 3 in the movement process driven by the mechanical arm in real time. When the contact force between the moxibustion device 3 and the human body or other objects is abnormal, the signal can be fed back to the controller. The controller adjusts the movement parameters of the mechanical arm in time according to the signal, so as to avoid the injury of the human body or the damage of the equipment caused by excessive force. At the same time, cooperating with the multi-degree-of-freedom movement of the six-axis mechanical arm 2, the relative position and contact force between the moxibustion device 3 and the human body can be more accurately controlled, and the safety and operation accuracy of the moxibustion therapy process are further ensured.

[0034] Specifically, please refer to Figure 20 、 21 , 22, 23, in an embodiment of the present application, the moxa stick mounting chuck 31 comprises a moxibustion cylinder body 311 and a fixed limiting piece 312, wherein: The moxibustion cylinder body 311 comprises a guide cylinder 3111 and a guide cylinder cover 3112, and the guide cylinder cover 3112 is connected to the lower end of the guide cylinder 3111; The fixed limiting piece 312 comprises a circumferential positioning structure 3121 horizontally inserted into the guide cylinder cover 3112 and an axial pressing disc structure 3122 mounted between the guide cylinder 3111 and the guide cylinder cover 3112; The guide cylinder cover 3112 comprises a guide snap ring 31121, two fan-shaped bosses 31122 and a connecting plate 31123, the two fan-shaped bosses 31122 are symmetrically connected to the circumference of the guide snap ring 31121, the connecting plate 31123 is connected between the two fan-shaped bosses 31122, the connecting plate 31123 is located at the center of the guide snap ring 31121, and the top height of the connecting plate 31123 is lower than the top height of the two fan-shaped bosses 31122, so as to form two insertion gaps 31124 between the guide snap ring 31121, the fan-shaped bosses 31122 and the connecting plate 31123; the circumferential positioning structure 3121 is suitable for being inserted into the guide cylinder cover 3112 from any insertion gap 31124, so as to circumferentially position the moxa stick 9; The axial pressing disc structure 3122 is suitable for being pressed into the top of the circumferential positioning structure 3121, and axially positions the moxa stick 9.

[0035] In this embodiment, the guide cylinder 3111 and the guide cylinder cover 3112 of the moxibustion cylinder 311 provide a mounting space for the moxa stick 9, the guide snap ring 31121, the fan-shaped boss 31122 and the connecting plate 31123 of the guide cylinder cover 3112 form two insertion notches 31124, which facilitate the insertion of the circumferential positioning structure 3121 from any notch, and the circumferential positioning structure 3121 limits the circumferential position of the moxa stick 9 through horizontal insertion, preventing the moxa stick 9 from rotating; the axial pressure plate structure 3122 is pressed on the top of the circumferential positioning structure 3121, and at the same time, the axial pressure plate structure 3122 applies axial pressure to the moxa stick 9 to achieve axial positioning, avoiding axial loosening or falling of the moxa stick 9; the cooperation of the two positioning structures forms a comprehensive fixation of the moxa stick 9, which can ensure the stability of the position of the moxa stick 9 and the continuity and accuracy of the output of the moxa heat even during the movement of the moxa stick 9 driven by the six-axis mechanical arm 2 or the burning process of the moxa stick 9, providing structural support for the stable play of the moxa therapy effect.

[0036] Please refer to Figure 23 As shown in the figure, the circumferential positioning structure 3121 includes a horizontal insertion plate 31211, an arc-shaped plate 31212 and a horizontal insertion pin 31213, wherein: The horizontal insertion plate 31211 is vertically connected with the arc-shaped plate 31212 at the end, and a plurality of horizontal insertion pins 31213 are vertically connected on the arc-shaped plate 31212, and the horizontal insertion pins 31213 are located directly below the horizontal insertion plate 31211, the horizontal insertion pins 31213 are suitable for being inserted into the interior of the moxa stick 9, the horizontal insertion plate 31211 is arranged above the connecting plate 31123 through the insertion notch 31124, and the arc-shaped plate 31212 is adapted to the outer circumferential contour shape of the fan-shaped boss 31122.

[0037] Specifically, the horizontal insertion plate 31211 is arranged above the connecting plate 31123 through the insertion notch 31124, providing a mounting and positioning basis for the entire structure; the arc-shaped plate 31212 is adapted to the outer circumferential contour shape of the fan-shaped boss 31122, which can fit the inner structure of the guide cylinder cover 3112, enhancing the overall stability of the positioning structure; a plurality of horizontal insertion pins 31213 are vertically connected on the arc-shaped plate 31212 and inserted into the interior of the moxa stick 9, directly forming circumferential constraint on the moxa stick 9 through physical insertion, avoiding the circumferential rotation of the moxa stick 9 due to the shaking of the mechanical arm movement or the deformation caused by its own burning; the positioning structure formed by the cooperation of the three can not only realize reliable limiting through the rigid connection of the horizontal insertion pins 31213 and the moxa stick 9, but also ensure its stable installation by means of the adaptive structure of the arc-shaped plate 31212 and the guide cylinder cover 3112, so as to ensure that the moxa stick 9 always maintains the preset circumferential position during the entire moxibustion process, ensuring the relative position accuracy of the moxa heat output port 331 and the human body acupoint, and providing support for stable physiotherapy effect.

[0038] Please refer to Figure 22As shown, the thickness of the horizontal insertion plate 31211 is equal to the difference between the top height of the connecting plate 31123 and the top height of the fan-shaped boss 31122. Thus, due to the top height of the connecting plate 31123 being lower than the top height of the fan-shaped boss 31122, the height difference forms a stepped mounting space. When the horizontal insertion plate 31211 is inserted into place through the insertion gap 31124, the upper surface of the horizontal insertion plate 31211 will be flush with the top of the fan-shaped boss 31122, forming a continuous and flat support plane.

[0039] As shown in Figure 22 , 23 As shown, two through-slots 312111 extending in the insertion direction are formed on the horizontal insertion plate 31211, and a fourth connecting hole 311231 is formed on the connecting plate 31123 opposite the through-slots 312111. Locking members are connected in the through-slots 312111 and the fourth connecting hole 311231 to fixedly connect the horizontal insertion plate 31211 and the connecting plate 31123.

[0040] As shown in Figure 23 The axial pressure disc structure 3122 includes an axial pressure disc 31221 and a vertical insertion pin 31222, wherein: The axial pressure disc 31221 is connected to the top of the two fan-shaped bosses 31122, and the vertical insertion pin 31222 is vertically connected to the bottom surface of the axial pressure disc 31221, and is adapted to be vertically inserted into the end of the incense stick 9.

[0041] Thus, the axial pressure disc 31221 is connected to the top of the two fan-shaped bosses 31122, and the fan-shaped bosses 31122 and the horizontal insertion plate 31211 have been designed to form a flush support surface through the height difference, providing a stable and horizontal mounting reference for the axial pressure disc 31221, ensuring that the vertical insertion pin 31222 can be vertically inserted into the incense stick 9. By applying vertical pressure, the axial pressure disc 31221 is moved downward, driving the vertical insertion pin 31222 to penetrate into the top end of the incense stick 9, achieving axial positioning through the physical embedding of the insertion pin; at the same time, the weight of the pressure disc itself or additional pressure continuously acts on the top of the incense stick 9, forming an axial pressing force.

[0042] As shown in Figure 21 The bottom of the guide cylinder 3111 is sealingly connected to a cover 31111, and the cover 31111 is provided with two groups of symmetrically arranged first screw holes 311111. The axial pressure disc 31221 is provided with a third screw hole 312211 opposite the first screw holes 311111, and the fan-shaped boss 31122 is provided with a second screw hole 311221 opposite the third screw hole 312211. Locking members are connected in the first screw holes 311111, the second screw holes 311221, and the third screw holes 312211.

[0043] In particular, as shown inFigure 7 、 9 , 10, 11, in an embodiment of the present application, the lifting device 32 comprises a support seat 323, a sliding rod component 324 and a driving component 325, wherein: The support seat 323 comprises a support top ring 3231 and a support bottom plate 3232 arranged horizontally up and down; the sliding rod component 324 comprises a plurality of sliding rods 3241, a plurality of linear bearings 3242 and a lifting cylinder sleeve 3243, the plurality of sliding rods 3241 are uniformly distributed and vertically connected between the support top ring 3231 and the support bottom plate 3232, the plurality of linear bearings 3242 are slidably arranged on each sliding rod 3241, and the lifting cylinder sleeve 3243 is sleeved on the plurality of linear bearings 3242; The driving component 325 comprises a motor support plate 3251, a driving motor 3252, a screw shaft 3253 and a screw rod seat 3254, wherein: The motor support plate 3251 is connected horizontally on the support top ring 3231, the driving motor 3252 is connected at the bottom of the motor support plate 3251, the screw shaft 3253 is rotatably arranged vertically through the support top ring 3231 and the support bottom plate 3232, the screw rod seat 3254 is sleeved on the screw shaft 3253, and the screw shaft 3253 is further fixedly connected through the screw rod seat 3254 on the flange plate of the lifting cylinder sleeve 3243, and the output shaft of the driving motor 3252 is drivingly connected with the screw shaft 3253 through an intermediate transmission component 3255; When the driving motor 3252 works, the screw shaft 3253 is driven to rotate through the intermediate transmission component 3255, the lifting cylinder sleeve 3243 is driven to move up and down on the plurality of sliding rods 3241 through the screw rod seat 3254, the incense stick mounting chuck 31 is vertically and fixedly connected on the lifting cylinder sleeve 3243, the bottom of the incense stick mounting chuck 31 passes through the center hole 3222 of the support bottom plate 3232, and the incense stick 9 is fixed on the bottom of the incense stick mounting chuck 31.

[0044] In this embodiment, the support top ring 3231 and the support bottom plate 3232 of the support base 323 provide a stable frame, a plurality of uniformly distributed sliding rods 3241 are vertically connected therebetween, a linear bearing 3242 slides on the sliding rod 3241 and is sleeved with the lifting cylinder sleeve 3243, which provides guidance and support for the up-down movement of the lifting cylinder sleeve 3243, and ensures that the lifting process is stable and does not shake; the driving motor 3252 in the driving component 325 drives the screw shaft 3253 to rotate through the intermediate transmission component 3255, and the screw shaft 3253 drives the lifting cylinder sleeve 3243 to lift along the sliding rod 3241 through the lead screw seat 3254. This screw transmission mode can realize precise control of the lifting distance, and further drive the moxa stick mounting chuck 31 and the moxa stick 9 to accurately adjust the distance from the human body; when the moxa stick 9 is burned shorter or needs to be adjusted according to the temperature sensor 43 feedback, the driving motor 3252 can realize precise lifting of the moxa stick 9 through forward and reverse rotation, so that the distance between the moxa heat output port 331 and the human body is always in the best range of physiotherapy, avoiding affecting the curative effect or causing safety hazards due to improper distance, and effectively improving the accuracy and stability of temperature regulation during moxibustion.

[0045] Please refer to Figure 11 In an embodiment, as shown in the drawings, the intermediate transmission component 3255 includes a first driving pulley 32551, a first driven pulley 32552 and a first belt 32553. The first driving pulley 32551 is installed on the output shaft of the driving motor 3252, the first driven pulley 32552 is installed on the end of the screw shaft 3253, and the first belt 32553 is engaged between the first driving pulley 32551 and the first driven pulley 32552. The first driving pulley 32551 and the first driven pulley 32552 are fixedly installed on the same side of the support top ring 3231 through the limiting shaft sleeve 32554, respectively.

[0046] Please refer to Figure 11 In an embodiment, as shown in the drawings, the output shaft of the driving motor 3252 vertically penetrates the motor support plate 3251 and extends above the support top ring 3231, the top end of the screw shaft 3253 extends above the support top ring 3231, the first driving pulley 32551 is fixedly installed on the top end of the output shaft of the driving motor 3252, the first driven pulley 32552 is fixedly installed on the top end of the screw shaft 3253, and the top ends of the first driving pulley 32551 and the first driven pulley 32552 are flush, which can strictly ensure that the axes of the two pulleys are at the same horizontal height, ensure that the first belt 32553 always maintains uniform tension during transmission, avoid excessive unilateral stress or deviation of the belt due to height difference, thereby ensuring the stability and consistency of transmission, reducing belt wear and prolonging service life.

[0047] Please refer to Figure 6As shown, in an embodiment, the first stroke switch 322 is fixedly installed on the upper surface of the flange plate 32431 of the lifting cylinder sleeve 3243, and the second stroke switch 326 is fixedly installed on the upper surface of the support bottom plate 3232, for accurately detecting the highest and lowest stroke limits of the lifting cylinder sleeve 3243. When the lifting cylinder sleeve 3243 runs to these two limit positions, the stroke switches can trigger a stop or reverse operation instruction, preventing the lifting cylinder sleeve 3243 from colliding with other parts of the device due to excessive movement, and achieving safety limit protection for the lifting movement.

[0048] As shown, Figure 6 As shown, in an embodiment, the lifting device 32 further includes a telescopic sleeve 327 connected between the flange plate 32431 of the lifting cylinder sleeve 3243 and the support bottom plate 3232, and the telescopic sleeve 327 is sleeved outside the lifting cylinder sleeve 3243 and the incense stick mounting chuck 31. The telescopic sleeve 327 can be synchronously telescoped with the lifting of the lifting cylinder sleeve 3243, which not only avoids the exposure of internal components during lifting, preventing dust, debris from entering or accidental touching by personnel, but also blocks the smoke overflow that may be generated during the operation of the moxibustion operation head, keeping the environment around the device clean.

[0049] As shown, Figure 9 As shown, in an embodiment, the number of sliding rods 3241 is three. The three sliding rods 3241 can form a triangular support structure during the lifting of the lifting cylinder sleeve 3243, which can greatly improve the radial stability of the lifting cylinder sleeve 3243 compared to a single or two sliding rods, effectively suppressing the shaking or deviation of the lifting cylinder sleeve 3243 during movement, and ensuring that the moxibustion device 3 can always maintain a precise lifting trajectory and operation position.

[0050] As shown, Figure 9 , 10 As shown, in an embodiment, the flange plate 32431 of the lifting cylinder sleeve 3243 is horizontally extended to form three evenly distributed connection tables 32432, and mounting holes 324321 suitable for mounting linear bearings 3242 are formed on the connection tables 32432, and the three connection tables 32432 are respectively arranged on the three sliding rods 3241. In this way, the lifting cylinder sleeve 3243 can form a symmetrical and balanced support structure on the three sliding rods 3241, ensuring uniform stress during lifting, and fundamentally avoiding the tilting or jamming of the lifting cylinder sleeve 3243 due to the deviation of the support point, and ensuring the stability and accuracy of the lifting movement of the incense stick mounting chuck.

[0051] As shown, Figure 13 , 14In an embodiment, as shown in FIGS. 15, the locking connector 36 includes a locking seat 361, a driving member 362, two locking latches 363, and a connecting seat 365. The locking seat 361 is mounted at the top end of the moxa cylinder body 311. The driving member 362 is mounted on the locking seat 361. The two locking latches 363 are symmetrically mounted on the driving member 362 near the side of the moxa cylinder body 311. The driving member 362 is adapted to drive the locking latches 363 to move within the locking seat 361.

[0052] The connecting seat 365 is adapted to block the side end face of the locking seat 361 near the moxa cylinder body 311. The side surface of the connecting seat 365 near the locking latches 363 is provided with a horizontal latch sliding groove 3651 adapted to slidingly accommodate the locking latches 363. The side end face of the moxa cylinder body 311 near the connecting seat 365 is provided with an inner stopper accommodating groove 31112 adapted to accommodate the connecting seat 365. The diameter of the stopper of the inner stopper accommodating groove 31112 is greater than the outer diameter of the connecting seat 365.

[0053] When the locking connector 36 drives the connecting seat 365 to be mounted on the moxa stick mounting clamp 31, the connecting seat 365 is located in the inner stopper accommodating groove 31112 of the moxa cylinder body 311. The driving member 362 further drives the two locking latches 363 to symmetrically move away from the sliding groove 3651, so that the locking latches 363 partially extend outside the connecting seat 365, and are clamped in the inner stopper accommodating groove 31112 of the moxa cylinder body 311 in the axial direction, thereby completing the locking between the moxa stick mounting clamp 31 and the locking connector 36.

[0054] When locking is needed, the driving member 362 drives the two symmetrically mounted locking latches 363 to move along the latch sliding groove 3651 of the connecting seat 365. Since the latch sliding groove 3651 is horizontally through and adapted to the locking latches 363, the moving direction of the locking latches 363 is stable and will not be stuck. The driving member 362 further drives the locking latches 363 to symmetrically move away from the sliding groove, i.e., the two locking latches extend in opposite directions. After the locking latches 363 partially extend outside the connecting seat 365, they are clamped in the inner stopper accommodating groove 31112 of the moxa cylinder body 311 (since the diameter of the stopper of the accommodating groove is greater than the outer diameter of the connecting seat, a clamping space for the locking latches is reserved), thereby limiting the displacement of the locking connector 36 in the axial direction, and finally completing the locking of the three.

[0055] The entire locking process only needs to be triggered by the driving member 362, without the need for manual adjustment of the position of the locking latches 363, thereby reducing the manual intervention steps, especially suitable for automatic moxibustion equipment scenarios. The positioning in the pre-assembly stage eliminates the need for precise alignment and debugging of the component connection, thereby shortening the assembly time. In the locking stage, only the driving of the driving member to drive the sliding of the locking latches is needed to complete the fixation, which greatly improves the replacement efficiency compared with the traditional threaded connection and other methods.

[0056] In detail, please refer to Figure 16 ,17 As shown in FIG. 18, the driving member 362 comprises a first power member 3621 for driving the two locking tongues 363 to move up and down along the axial direction and an elastic member 3622 horizontally connected between the two locking tongues 363 and initially in an elastic compression state.

[0057] In the initial state, the elastic member 3622 is horizontally connected between the two locking tongues 363 and initially in an elastic compression state. According to the characteristics of the elastic member 3622, the compression state generates a horizontal outward thrust, at this time, the two locking tongues 363 have a tendency to be pried open, but are limited by the initial position of the first power member 3621 and cannot move, being in a ready-to-unlock state; the initial position of the first power member 3621 exerts a constraint force in the axial (up and down) direction on the locking tongues 363, counteracts the horizontal thrust of the elastic member 3622, maintains the initial position of the locking tongues 363 in the locking tongue sliding groove 3651, and ensures that the device will not be mistakenly locked when not activated.

[0058] As shown in FIG. 18, the driving member 362 comprises a first power member 3621 for driving the two locking tongues 363 to move up and down along the axial direction and an elastic member 3622 horizontally connected between the two locking tongues 363 and initially in an elastic compression state. Figure 16 17 In an embodiment of the present application, the first power member 3621 is a pneumatic cylinder or a hydraulic cylinder, the ends of the telescopic rod of the pneumatic cylinder or the hydraulic cylinder are symmetrically provided with wedge-shaped blocks 364, the first wedge-shaped surfaces 3641 of the two wedge-shaped blocks 364 gradually incline outward, and the two locking tongues 363 near the top outer side between the two wedge-shaped blocks 364 are respectively provided with second wedge-shaped surfaces 3631 matched with the first wedge-shaped surfaces 3641, when the telescopic rod of the pneumatic cylinder or the hydraulic cylinder moves downward, the two wedge-shaped blocks 364 respectively drive the two locking tongues 363 to move close to each other to compress the elastic member 3622; when the telescopic rod of the pneumatic cylinder or the hydraulic cylinder moves upward, the two locking tongues 363 move away from each other under the drive of the elastic member 3622.

[0059] As shown in FIG. 18, the driving member 362 comprises a first power member 3621 for driving the two locking tongues 363 to move up and down along the axial direction and an elastic member 3622 horizontally connected between the two locking tongues 363 and initially in an elastic compression state. Figure 18 In another embodiment of the present application, the first power member 3621 is a magnetic attraction device, the magnetic attraction device comprises a guide rod 36211 inserted into the locking seat 361 and electromagnets 36212 connected to the two ends of the guide rod 36211, the two electromagnets 36212 respectively have third wedge-shaped surfaces 362121 gradually inclining outward on the side facing each other, and the two locking tongues 363 near the top outer side between the two electromagnets 36212 are respectively provided with second wedge-shaped surfaces 3631 matched with the third wedge-shaped surfaces 362121, when the two electromagnets 36212 are electrified and attracted to each other, the two electromagnets 36212 respectively drive the two locking tongues 363 to move close to each other to compress the elastic member 3622; when the two electromagnets 36212 are de-energized, the two locking tongues 363 move away from each other under the drive of the elastic member 3622.

[0060] In particular, please refer to​Figure 16 As shown, in another embodiment of the present application, the lock tongue sliding groove 3651 extends outward along the middle part perpendicular to the sliding direction of the lock tongue to form a limiting groove 36511, and the two lock tongues 363 are respectively provided with a protrusion 3632 on the side close to each other and outward perpendicular to the sliding direction of the lock tongue, which is matched with the limiting groove 36511, when the lock tongue 363 slides outward in the lock tongue sliding groove 3651, the protrusion 3632 abuts on the side wall of the limiting groove 36511 to limit the lock tongue 363 from sliding out of the lock tongue sliding groove 3651.

[0061] Please refer to Figure 10 , 12 , 16, in an embodiment, the lifting cylinder sleeve 3243 is equal to the outer diameter of the guide cylinder body 3611, and the bottom end of the lifting cylinder sleeve 3243 extends inward in the circumferential direction to form an inner connecting plate 32433, the inner connecting plate 32433 is provided with uniformly distributed first connecting holes 324331, the top end surface of the guide cylinder body 3611 is provided with second connecting holes 36111 corresponding to the first connecting holes 324331, and the second connecting holes 36111 and the first connecting holes 324331 are fixedly connected with the first locking member. Both can ensure that the connecting parts are flush to reduce space occupation, and can also ensure the connection strength and stability through the uniformly distributed connecting points, prevent the moxibustion operation head from shaking due to loose connection during lifting, and improve the reliability of the overall structure.

[0062] Specifically, please refer to Figure 2 , 3 , in an embodiment of the present application, the base 1 comprises a base box 11, a structural frame 12, a scraping assembly 13 and a moxibustion instrument 14, wherein the base box 11 is used for supporting and mounting positioning; the structural frame 12 is arranged in the base box 11; the scraping assembly 13 is arranged on one side of the structural frame 12; and the moxibustion instrument 14 is arranged on the other side of the structural frame 12.

[0063] Specifically, the base box 11 provides a stable support foundation for the whole robot, ensuring the structural stability during equipment operation; the structural frame 12 is arranged in the base box 11, providing an installation carrier for the scraping assembly 13 and the moxibustion instrument 14, realizing the orderly integration of various functional components; the scraping assembly 13 can clean the ash generated by the burning of the moxa stick 9, avoiding the accumulation of ash affecting the output of moxa heat; the moxibustion instrument 14 can automatically ignite the moxa stick 9 without manual operation, and can move the moxa stick 9 to the moxibustion instrument 14 to complete ignition and to the scraping assembly 13 to complete scraping, forming an automatic auxiliary process from ignition to cleaning, reducing manual intervention, improving the continuity and convenience of moxibustion operation, and further supporting the automatic operation of the fully automatic physiotherapy moxibustion robot.

[0064] Specifically, please refer to Figure 2 , 3 As shown, in one embodiment of the present invention, a speaker 8 is also provided on the structural frame 12. The speaker 8 is electrically connected to the controller 7. The speaker 8 helps people relax during moxibustion.

[0065] Specifically, please refer to Figure 3 As shown, in one embodiment of the present invention, a loading workbench 15 is also provided near the scraping component 13 and the moxibustion device 14 on the structural frame 12. A spare massage head structure 35 and a moxa stick mounting clamp 31 with a spare moxa stick 9 are respectively placed on the loading workbench. In this way, the controller 7 can control the six-axis robotic arm 2 to drive the lifting device 32 and the locking joint 36 to automatically clamp and fix the spare massage head structure 35 or the moxa stick mounting clamp 31 with a spare moxa stick 9 for use.

[0066] Specifically, please refer to Figure 2 , 3 As shown in Figure 5, in one embodiment of the present invention, the smoke exhaust system 5 includes a first smoke exhaust pipe 51, a second smoke exhaust pipe 52, and a three-way catalytic converter 53. One end of the first smoke exhaust pipe 51 is connected to the combustion chamber 33 to extract the smoke generated by the moxa stick 9 during moxibustion. The other end is connected to the three-way catalytic converter 53 located in the base housing 11 for chemical reaction and demisting. One end of the second smoke exhaust pipe 52 is connected to the moxibustion device 14 to remove the smoke generated by the moxa stick 9 during ignition in the moxibustion device 14.

[0067] Specifically, please refer to Figure 26 , 27 As shown, in one embodiment of the present invention, the slagging assembly 13 includes a stepper motor 131, a second driving pulley 132, a rotating shaft 133, a second driven pulley 134, a second belt 135, and a slagging cylinder 136, wherein: A stepper motor 131 is vertically mounted on the upper inner side of the structural frame 12. A second drive pulley 132 is connected to the output shaft of the stepper motor 131. A rotating shaft 133 is vertically rotatably mounted on the structural frame 12. A second driven pulley 134 is connected to one end of the rotating shaft 133 and is located on the same side as the second drive pulley 132. A second belt 135 is engaged and driven between the second drive pulley 132 and the second driven pulley 134. A scraper cylinder 136 is connected to the other end of the rotating shaft 133. The stepper motor 131 is adapted to drive the scraper cylinder 136 to rotate.

[0068] Specifically, the stepper motor 131 serves as the power source, driving the rotating shaft 133 and the scraper cylinder 136 connected to its end to rotate through the transmission cooperation of the second active pulley 132, the second belt 135, and the second driven pulley 134. This belt transmission method can achieve smooth power transmission, and the stepper motor 131 can precisely control the speed and rotation angle of the scraper cylinder 136, ensuring that the scraping force and range are controllable. When the moxa stick 9 burns and produces ash, the six-axis robotic arm 2 can move the moxa stick 9 to the scraper cylinder 136, using the rotating scraper cylinder 136 to clean the ash on the surface of the moxa stick 9, preventing ash accumulation from clogging the heat output port 331 or affecting heat transfer, ensuring continuous and efficient combustion of the moxa stick 9 and stable heat output, eliminating the need for manual scraping, reducing human intervention, and further improving the automated functional process of the moxibustion robot.

[0069] Specifically, please refer to Figure 26 As shown, in one embodiment of the present invention, the ash scraper 136 includes an ash collection cylinder body 1361 and a brush 1362, wherein: The outer bottom of the ash collection cylinder body 1361 is rotatably mounted on the top of the rotating shaft 133, and multiple brushes 1362 are evenly distributed on the inner circumference of the ash collection cylinder body 1361.

[0070] In this embodiment, the ash collection cylinder body 1361 provides a space for ash cleaning. When the moxa stick 9 is inserted into it, multiple brushes 1362 evenly distributed on the inner circumference of the ash collection cylinder body 1361, which rotates with the rotating shaft 133, can fully contact the surface of the moxa stick. Through rotational friction, the ash produced by combustion is effectively cleaned, preventing ash from adhering and affecting the combustion efficiency of the moxa stick. At the same time, the cleaned ash falls directly into the ash collection cylinder body 1361, realizing the centralized collection of ash, preventing ash from scattering and polluting the equipment or environment, and reducing subsequent cleaning work. Combined with the rotating structure driven by the stepper motor 131, the efficiency and cleanliness of the ash scraping process are further enhanced, providing a guarantee for the stable operation of the moxibustion device.

[0071] It should be noted that, considering the high temperature, cleanliness and safety requirements of moxibustion scenarios, the material of the 1362 brush is preferably high-temperature resistant nylon, or in some high-precision scenarios, heat-resistant metal wire (such as 304 stainless steel wire) can be used.

[0072] Another embodiment of the present invention provides a method of using the above-mentioned fully automatic physiotherapy moxibustion robot, the method comprising the following steps: S1: Fix the moxa stick 9 onto the moxa stick mounting clamp 31; S2: Open the operation terminal 6 to enter the corresponding control program and select the model of the moxibustion device for moxibustion; S3: Select the moxibustion project type in the program interface; S4: entering the project detail page to select moxibustion scheme or custom moxibustion scheme; S5: replacing moxa stick 9 and igniting according to the moxibustion scheme; S6: selecting "click to moxibustion" after determining the project to jump to the positioning page; S7: selecting shift positioning on the positioning page to make the robot move to the positioning area; S8: controlling the moxibustion device to complete positioning through the direction moving button on the operation interface; S9: performing moxibustion and displaying project information and adjustment buttons during the moxibustion process.

[0073] Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications shall fall within the protection scope of the present disclosure.

Claims

1. A full-automatic physiotherapy moxibustion robot, characterized in that, The utility model relates to a kind of robot systems, including: Base for supporting the whole robot system main body structure, loading workbench is provided on the base; Six-axis robot, be located in the base box, can carry out multiple degrees of freedom accurate movement in space; Moxibustion device, connected with the six-axis robot, for applying massage force and moxibustion function to target area; Sensor assembly, including three laser ranging sensors, camera and temperature sensor that are evenly distributed outside the moxibustion device, three laser ranging sensors are used to determine the distance between equipment and human body;The temperature sensor is used to measure the skin temperature of hot moxibustion position;The camera is used to capture and position the image of human body acupoint; Smoke exhaust system, connected with the moxibustion device through pipeline, to handle the smoke generated during the combustion process of the moxibustion device; Operation terminal, set in base box, facilitate man-machine interaction control six-axis robot and the operation of moxibustion device; Controller, the controller is electrically connected with the operation terminal.

2. The full-automatic therapeutic moxibustion robot according to claim 1, characterized in that, The moxibustion device includes: Moxa column mounting chuck, for fixing moxa column; Lifting device, located above the moxa column mounting chuck and connected with the moxa column mounting chuck, so that the moxa column mounting chuck can be lifted;The lifting device includes an outer cover and a support bottom plate sealed on the opening side of the outer cover, one side of the support bottom plate extends to the outside of the outer cover, and is provided with a mounting interface connected with the end of the six-axis robot; Combustion box, installed on the lower surface of the support bottom plate, the upper part of the combustion box is provided with a corresponding opening so that the moxa column mounting chuck extends into the box, and the upper end surface of the combustion box is connected with the lifting device;The bottom of the combustion box is provided with an ai heat output port for outputting hot gas generated by burning the moxa column to the human body part; Dust baffle, connected to the lower end of the support bottom plate and covering the combustion box in the internal space, the bottom of the dust baffle is provided with an extension hole matched with the ai heat output port.

3. The full-automatic moxibustion robot according to claim 2, characterized in that, The moxibustion device further includes a massage head structure adapted to be mounted on the lifting device, and the massage head structure includes: Moxibustion cylinder, the moxibustion cylinder is adapted to accommodate the moxa column, and both ends of the moxa column extend out of the upper and lower ends of the moxibustion cylinder; Protective cover, provided on the lower end of the moxibustion cylinder, and the protective cover has a hot moxibustion window; Sensor assembly, one side of which is provided with a vertical through hole, the sensor assembly is sleeved on the moxa column through the through hole, and the bottom end of the sensor assembly is attached to the top end surface of the moxibustion cylinder; Mounting chuck, connected between the sensor assembly and the moxibustion cylinder; Mounting disc body, fixedly installed on the top end of the sensor assembly through an intermediate connecting disc.

4. The full-automatic moxibustion robot according to claim 2, characterized in that, The six-axis robot includes a robot mounting auxiliary structure mounted at the mounting interface of the support bottom plate, and the robot mounting auxiliary structure includes Force control sensor, fixedly connected at the mounting interface of the support bottom plate; Mounting flange, one end surface of which is fixedly connected to the force control sensor through a connecting disc, and the other end surface is connected to the end of the six-axis robot.

5. The full-automatic moxibustion robot according to claim 2, characterized in that, The moxa column mounting chuck includes: Moxibustion cylinder body, including a guide cylinder and a guide cylinder cover connected to the lower end of the guide cylinder. The fixed limiting member comprises a circumferential positioning structure horizontally inserted into the guide cylinder cover and an axial pressing disc structure installed between the guide cylinder and the guide cylinder cover; The guide cylinder cover comprises a guide snap ring, a plurality of fan-shaped bosses symmetrically connected to the circumference of the guide snap ring, and a connecting plate connected between two of the fan-shaped bosses, the connecting plate being located at the center of the guide snap ring, and the top of the connecting plate being lower than the top of the two fan-shaped bosses to form two insertion gaps between the guide snap ring, the fan-shaped bosses and the connecting plate; the circumferential positioning structure is adapted to be inserted into the guide cylinder cover from any of the insertion gaps to circumferentially position the incense stick; The axial pressing disc structure is adapted to be pressed on the top of the circumferential positioning structure and axially position the incense stick.

6. The full-automatic moxibustion robot according to claim 3, characterized in that, The lifting device comprises: a support seat comprising a support top ring and a support bottom plate arranged horizontally; a slide rod component comprising a plurality of slide rods uniformly distributed and vertically connected between the support top ring and the support bottom plate, a plurality of linear bearings slidably arranged on each of the slide rods, and a lifting cylinder sleeve sleeved on the linear bearings; a driving component comprising a motor support plate horizontally connected to the support top ring, a driving motor connected to the bottom of the motor support plate, a screw rod shaft vertically rotatably arranged on the support top ring and the support bottom plate, and a screw rod sleeve sleeved on the screw rod shaft, the screw rod shaft being further fixedly arranged on the flange plate of the lifting cylinder sleeve through the screw rod sleeve, and the output shaft of the driving motor being drivingly connected to the screw rod shaft through an intermediate transmission component; When the driving motor is in operation, the screw rod shaft is driven to rotate by the intermediate transmission component, the lifting cylinder sleeve is driven to move up and down on the slide rods by the screw rod sleeve, the incense stick mounting chuck is vertically and fixedly connected to the lifting cylinder sleeve, the bottom of the incense stick mounting chuck passes through the center hole of the support bottom plate, and the incense stick is fixed to the bottom of the incense stick mounting chuck.

7. The full-automatic therapeutic moxibustion robot according to claim 1, characterized in that, The base comprises: a base box for supporting and mounting positioning; a structural frame arranged in the base box; a dust scraping assembly arranged on one side of the structural frame; a moxibustion instrument arranged on the other side of the structural frame.

8. The fully automatic physiotherapy moxibustion robot according to claim 7, characterized in that, The dust scraping assembly comprises a stepping motor vertically arranged on the upper side of the inner side of the structural frame, a second driving pulley connected to the output shaft of the stepping motor, a rotating shaft vertically rotatably arranged on the structural frame, a second driven pulley connected to one end of the rotating shaft and located on the same side of the second driving pulley, a second belt drivingly connected between the second driving pulley and the second driven pulley, and a dust scraping cylinder connected to the other end of the rotating shaft; the stepping motor is adapted to drive the dust scraping cylinder to rotate.

9. The fully automatic physiotherapy moxibustion robot according to claim 8, characterized in that, The dust scraping cylinder comprises a dust accumulation cylinder body rotatably mounted on the top end of the rotating shaft and a plurality of brushes uniformly distributed in the circumferential direction of the dust accumulation cylinder body.

10. A method for using the full-automatic physiotherapy moxibustion robot according to any one of claims 1-9, characterized in that, The method comprises the following steps: S1: fixing the incense stick on the incense stick mounting chuck; S2: open the operation terminal to enter the corresponding control program, and select the moxibustion device model for moxibustion; S3: select the moxibustion project type in the program interface; S4: select the moxibustion scheme or customize the moxibustion scheme in the project details page; S5: replace the moxa stick according to the moxibustion scheme and ignite it; S6: after determining the project, select "click to moxibustion" to jump to the positioning page; S7: select the shift and acupoint positioning to move the robot to the positioning area in the positioning page; S8: control the moxibustion device to complete positioning through the direction moving button on the operation interface; S9: perform moxibustion and display project information and adjustment buttons during the moxibustion process.

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