Moxibustion mechanical arm capable of grabbing moxibustion sticks

Abstract

The invention relates to the technical field of medical instruments, in particular to a moxibustion mechanical arm capable of grabbing moxibustion sticks, which comprises a mechanical arm body, a wrist mechanism arranged on the mechanical arm body and a clamping mechanism connected with the wrist mechanism, the clamping mechanism comprises a clamping sleeve and a driving ring, the interior of the clamping sleeve is divided into a plurality of circumferentially distributed closed cavities, and the driving ring is arranged in the closed cavities. Each closed cavity is filled with a thermal expansion medium which expands when heated; the clamping sleeve is sleeved with the driving ring, and a driving mechanism used for conducting basic diameter clamping on the moxibustion sticks is arranged on the driving ring. Wherein heat generated by combustion of the moxibustion sticks can be conducted to the closed cavity, so that the thermal expansion medium expands outwards to drive the clamping sleeve to generate expansion displacement towards the axis, and clamping force suitable for weight reduction after combustion of the moxibustion sticks is provided. Through the linkage of the thermal expansion medium and the clamping sleeve, the real-time dynamic adjustment of the clamping force along with the combustion state of the moxibustion strip is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a moxibustion mechanical arm capable of gripping a moxibustion stick. BACKGROUND

[0002] Moxibustion is a traditional Chinese medicine therapy, which stimulates acupoints by heat generated by burning moxa sticks to regulate physiological functions, and has the advantages of simple operation and low cost. Traditional moxibustion is performed by a practitioner holding a moxa stick for suspension moxibustion, which requires high experience of the operator and is difficult to standardize the distance, time and technique of moxibustion. Modern light-weight mechanical arms have high precision, high flexibility and programmability, and can simulate the complex motion trajectory of human hand, which is suitable for fine operation.

[0003] In the prior art, such as the Aibao moxibustion robot developed by the company, the product is equipped with a 3D vision system and a high-precision sensor, which can scan the human body contour and automatically identify the acupoint, with an error control within 1mm; supports hovering moxibustion, rotary moxibustion and other techniques, equipped with temperature and distance sensors, and can automatically avoid obstacles in case of emergency to maintain a safe distance.

[0004] The above product cannot control the change of clamping according to the real-time burning progress of the moxa stick. During the burning process, the moxa stick will lose weight due to burning, and the fixed clamping may cause unstable clamping or unsuitable clamping position of the moxa stick, which may cause the moxa stick to fall, thereby triggering some hidden dangers. Therefore, it is necessary to propose a moxibustion mechanical arm capable of gripping a moxa stick with high safety and reliability. SUMMARY

[0005] To solve the above problems, the present application provides a moxibustion mechanical arm capable of gripping a moxa stick, which realizes real-time dynamic adjustment of clamping force according to the burning state of the moxa stick through the linkage of the thermal expansion medium and the clamping sleeve. Without additional sensors or electrical control, it can realize continuous and stable clamping from the initial stage to the end of the burning process, effectively avoiding the problems of moxa stick falling or excessive extrusion leading to breakage, and improving the reliability of the moxibustion process.

[0006] In order to achieve the above purpose, the technical scheme of the present application is as follows: a moxibustion mechanical arm capable of gripping a moxa stick, comprising a mechanical arm body, a wrist mechanism arranged on the mechanical arm body, and a clamping mechanism connected with the wrist mechanism, the clamping mechanism comprising a clamping sleeve and a driving ring, the inside of the clamping sleeve is divided into a plurality of closed cavities distributed in the circumferential direction, and the closed cavities are filled with a thermal expansion medium which expands under heat; the driving ring is arranged outside the clamping sleeve, and the driving ring is provided with a driving mechanism for clamping the moxa stick with a basic diameter.

[0007] The heat generated by the burning of the moxa stick can be conducted to the closed cavities, causing the thermal expansion medium to expand outward and drive the clamping sleeve to produce an expansion displacement towards the axis, so as to provide a clamping force suitable for the weight loss of the moxa stick after burning.

[0008] The technical principle of the above scheme is as follows:

[0009] The clamping sleeve is gripped with the driving ring to realize the gripping of the moxa stick, the clamping sleeve is internally provided with circumferentially distributed sealed chambers and is filled with heat-expandable medium which expands under heat, and the driving ring provides basic diameter clamping; when the moxa stick burns, the heat generated is conducted to the sealed chambers to make the heat-expandable medium expand, and then the clamping sleeve is pushed to shrink and displace towards the axial direction, so as to dynamically adjust the clamping force, adapt to the situation that the weight of the moxa stick is reduced after burning, and maintain stable clamping.

[0010] The above scheme has the following beneficial effects:

[0011] 1. The linkage of the heat-expandable medium and the clamping sleeve realizes the real-time dynamic adjustment of the clamping force according to the burning state of the moxa stick. The traditional clamping mechanism often causes insufficient or excessive clamping force due to the weight reduction of the moxa stick after burning, which may cause the moxa stick to fall or be extinguished. The scheme uses the heat generated by the burning of the moxa stick as driving force to make the heat-expandable medium in the sealed chamber expand synchronously and push the clamping sleeve to expand towards the axial center to compensate for the attenuation of the clamping force caused by the weight change. This heat and force conversion mechanism can realize continuous and stable clamping from the initial stage to the final stage without additional sensors or electrical control, effectively avoiding the problems of moxa stick falling or excessive compression leading to breakage, and improving the reliability of the moxa application process.

[0012] 2. The physical properties of the heat-expandable medium are used to realize passive response, reducing the safety hazards such as short circuit or signal delay of electrical equipment in high-temperature and smoky moxa application environment. When the burning temperature of the moxa stick increases, the expansion of the heat-expandable medium will push the clamping sleeve to generate clamping force, avoiding the risk of skin burns caused by the falling of the moxa stick. At the same time, the design without electronic components simplifies the safety protection logic and reduces the probability of operation errors caused by circuit failure, providing more reliable safety protection for both doctors and patients.

[0013] 3. The linkage design of the clamping sleeve and the driving ring integrates the basic diameter clamping and dynamic force compensation function, reducing the complex counterweight mechanism and servo motor required by the traditional mechanical arm, simplifying the overall structure and reducing the manufacturing cost. The basic clamping function of the driving ring can adapt to moxa sticks of different diameters, and the expansion characteristics of the heat-expandable medium can automatically adapt to the burning process without manual intervention, making the equipment more user-friendly and universal.

[0014] Further, the driving mechanism comprises a controller and a driving part, the controller is electrically connected with the driving part, and an opening is formed in the driving ring; the driving part is fixedly connected to the outer wall of the driving ring, and a lead screw is coaxially fixedly connected to the output shaft of the driving part; the lead screw is threadedly matched with a nut seat which penetrates through the opening of the driving ring, and the nut seat is rotationally matched with the outer wall of the driving ring.

[0015] Beneficial effects: The controller is electrically connected with the driving part to realize automatic control, the screw rod is in threaded transmission with the nut seat to have high transmission precision, the driving ring opening design combines the fixed driving part and the nut seat on the outer wall, the structure is compact and stable in adjustment, the diameter of the driving ring can be accurately adjusted to adapt to different moxa sticks, and the clamping reliability and operation convenience are improved.

[0016] Further, the outer wall of the driving ring is further fixedly connected with a plurality of displacement sensors, the displacement sensors are used for detecting the axial displacement of the sealed chamber due to the outward expansion of the thermal expansion medium, and the controller is used for calculating the working temperature of the clamped moxa stick according to the axial displacement.

[0017] Beneficial effects: The displacement sensor detects the axial displacement of the sealed chamber due to the expansion of the thermal expansion medium, the controller calculates the working temperature of the moxa stick accordingly, realizes non-contact temperature monitoring, avoids direct damage of high temperature to the sensor, and improves the detection stability; thereby the service life of the equipment is improved.

[0018] Further, a tripping mechanism is further arranged between the clamping mechanism and the wrist mechanism, the tripping mechanism includes a trigger ring composed of a plurality of bimetallic sheets; a counterweight is fixedly connected to the outer top wall of the driving ring, and the bimetallic sheets are circumferentially and obliquely installed on the top of the counterweight; a bearing plate is fixedly connected to the wrist mechanism, a wedge-shaped hole is formed in the bottom of the bearing plate, and the trigger ring is clamped into the wedge-shaped hole at normal temperature; when the temperature abnormally rises, the bimetallic sheets are deformed by heat, and the trigger ring falls outside the wedge-shaped hole.

[0019] Beneficial effects: The bimetallic sheet trigger ring cooperates with the wedge-shaped hole to realize mechanical automatic tripping when the temperature is abnormal; the trigger ring is stably connected by being clamped into the wedge-shaped hole at normal temperature, and the trigger ring falls off due to the deformation of the bimetallic sheet at high temperature, thereby cutting off the connection between the clamping mechanism and the wrist, and quickly terminating moxibustion. Pure mechanical structure is used without electronic components, high-temperature environment is resistant, response is reliable, overheat scalding risk is effectively avoided, and use safety is improved.

[0020] Further, an ai ash collection cover is further arranged below the bearing plate, the ai ash collection cover includes a movable cover and a fixed cover, the outer wall of the movable cover is hingedly connected to the top of the fixed cover, the bottom of the bearing plate is fixedly connected with a connecting plate, the fixed cover is detachably connected to the connecting plate, and a linkage trigger mechanism is further arranged between the movable cover and the fixed cover, the linkage trigger mechanism is linked with the tripping mechanism; when the trigger ring is unlocked, the linkage trigger mechanism drives the movable cover to pop up upward to form a protective ring to receive the falling moxa stick and ai ash.

[0021] Beneficial effects: The movable cover and the fixed cover are slidingly hinged, the linkage trigger mechanism is linked with the tripping mechanism, the movable cover automatically pops up upward to form a protective ring when triggered, the falling moxa stick and ai ash are accurately received, scalding and pollution are effectively prevented, the fixed cover is detachably connected for easy cleaning, the structure is compact and the response is timely, and the use safety and convenience are improved.

[0022] Further, the linkage trigger mechanism comprises a catch slidingly fitted on the side wall of the fixed cover, and a pre-press spring is fixedly connected to the inner bottom wall of the fixed cover; the catch is located at the top of the pre-press spring, and the movable cover is located at the top of the catch; the bottom of the bearing plate is further hingedly connected with a connecting rod, the bottom end of the connecting rod is hingedly connected with the catch, and the top end of the connecting rod extends into the bearing plate and is fixedly connected with a compression spring, one end of the compression spring away from the connecting rod is in contact with the outer wall of the trigger ring; the inside of the movable cover is further provided with a storage chamber.

[0023] Beneficial effects: through the linkage of the compression spring and the trigger ring, when the trigger ring is unlocked, the compression spring pulls the connecting rod, the pre-press spring is released to make the movable cover pop up, and the response is rapid through the pure mechanical structure; the catch and the spring cooperate to realize precise clamping and release, the structure is compact and does not need electronic components, the reliability is high in high-temperature environment, the movable cover forms a protective ring in time when tripping, and the safety and timeliness of the falling protection of the moxa ash and moxa sticks are improved. Through the design of the storage chamber, the moxa ash can be stored to prevent the movable cover from falling outside during the pop-up process.

[0024] Further, the wrist mechanism comprises a static platform and a dynamic platform, the static platform is fixedly connected with the mechanical arm body, and a plurality of telescopic members are hingedly connected to the top of the static platform; the controller is electrically connected with the telescopic members, and the output shafts of the telescopic members are hingedly connected with the dynamic platform, and one side of the dynamic platform away from the telescopic members is fixedly connected with the bearing plate.

[0025] Beneficial effects: through the hinging of the multiple telescopic members between the static platform and the dynamic platform, combined with the precise control of the controller, multiple degrees of freedom are flexibly adjusted, the structure is high in rigidity and fast in response, the posture and angle of the moxa stick can be stably adjusted, the complex moxibustion demand is adapted, and the operation precision and reliability are improved.

[0026] Further, heating elements are arranged outside the closed chambers, and the controller is used for cyclic and / or sequential control of the heating units, so that the closed chambers are differentially expanded, thereby driving the clamped moxa sticks to produce micro-motions to simulate specific moxibustion techniques.

[0027] Beneficial effects: through the cyclic / sequential control of the controller on the heating elements, the closed chambers are differentially expanded, the moxa sticks are driven to realize micro-motions along preset trajectories, and specific moxibustion techniques such as rotation and pecking are simulated; without additional mechanical driving components, the structure is simplified, the diversity and standardization of the technique simulation are improved, and the adaptability of automatic moxibustion is enhanced.

[0028] Further, a safety control module is further included, the safety control module is signal-connected with the controller, and the safety control module comprises:

[0029] A temperature inversion unit is arranged, which is used for receiving the axial displacement signal sent by the displacement sensor and inversely calculating the working temperature of the moxa stick in real time according to the axial displacement.

[0030] The early warning unit is configured to set a first threshold and a second threshold of the working temperature of the moxa stick, and trigger a warning signal when the working temperature of the moxa stick exceeds the preset first threshold.

[0031] The tripping trigger unit is configured to trigger the ring to bend when the working temperature of the moxa stick exceeds the preset second threshold, and trigger the tripping mechanism to act.

[0032] Beneficial effects: The safety control module monitors the temperature of the moxa stick in real time through the temperature inversion unit, the early warning unit realizes multi-level threshold reminding, and the tripping trigger unit links the mechanical tripping, forming a monitoring, early warning and braking closed-loop protection. Without manual intervention, the response is timely, effectively avoiding the risk of high-temperature scalding, and improving the safety and reliability of automatic moxibustion.

[0033] Further, a technique simulation module is further included, which is connected with the controller in signal, and includes:

[0034] The mode selection unit is configured to receive a selection signal of a target moxibustion technique mode.

[0035] The heating control unit is configured to drive the heating element to cyclically and / or sequentially heat the specific sealed chamber according to a control program corresponding to the preset technique mode.

[0036] The technique simulation unit is configured to drive the moxa stick to generate corresponding reciprocating and / or rotating motion tracks by controlling the chambers to generate differential thermal expansion, so as to simulate the preset moxibustion technique.

[0037] Beneficial effects: The target technique is conveniently switched through the mode selection unit, the heating control unit drives the heating element to cyclically / sequentially heat according to the preset program, and the technique simulation unit utilizes the differential thermal expansion of the chambers to realize the reciprocating / rotating motion of the moxa stick, so that various techniques can be simulated without complex mechanical structures, and the diversity, standardization and operation convenience of automatic moxibustion are improved.

[0038] Additional aspects and advantages of the application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 The shaft drawing of the moxa stick gripped by the moxa mechanical arm of the application.

[0040] Figure 2 The shaft drawing of the moxa stick gripped by the moxa mechanical arm of the application. Figure 1 The shaft drawing of the clamping mechanism.

[0041] Figure 3 The shaft drawing of the clamping mechanism. Figure 1 The installation shaft drawing of the moxa ash collection cover.

[0042] Figure 4 The shaft drawing of the clamping mechanism.Figure 3 Cross-sectional view along the direction of A-A.

[0043] Figure 5 Structure block diagram of moxa mechanical arm capable of gripping moxa stick.

[0044] The reference signs in the drawings of the specification include: 1, mechanical arm body; 2, clamping sleeve; 3, driving ring; 4, thermal expansion medium; 5, driving piece; 6, lead screw; 7, nut seat; 8, trigger ring; 9, movable cover; 10, fixed cover; 11, bayonet; 12, pre-pressing spring; 13, connecting rod; 14, static platform; 15, dynamic platform; 16, telescopic piece; 17, counterweight; 18, bearing plate; 19, connecting plate; 20, compression spring. DETAILED DESCRIPTION

[0045] The technical solutions of the present application will be described in detail below with reference to 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 other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0046] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0047] 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 communication inside two elements. 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.

[0048] The specific embodiments will be described in detail below:

[0049] The embodiments are basically as shown in the accompanying drawings Figures 1-4As shown: a moxibustion mechanical arm that can grip a moxibustion stick, comprising a mechanical arm body 1, a wrist mechanism arranged on the mechanical arm body 1, and a clamping mechanism connected with the wrist mechanism, the clamping mechanism comprising a clamping sleeve 2 and a driving ring 3, in the embodiment, the mechanical arm body 1 is fixedly connected to a hospital bed by bolts, or is connected through an external base, the clamping sleeve 2 is made of flexible material resistant to high temperature; the inside of the clamping sleeve 2 is divided into a plurality of closed chambers distributed in the circumferential direction, and each closed chamber is filled with a heat-expandable medium 4 that expands under heat, in the embodiment, the heat-expandable medium 4 is preferably organic silicone oil; the driving ring 3 is sleeved outside the clamping sleeve 2, and the driving ring 3 is provided with a driving mechanism for clamping the moxibustion stick in a basic diameter.

[0050] Wherein, the heat generated by the burning of the moxibustion stick can be conducted to the closed chambers, so that the heat-expandable medium 4 expands outward to drive the clamping sleeve 2 to produce an expansion displacement towards the axis, so as to provide a clamping force suitable for the weight loss of the moxibustion stick after burning.

[0051] The driving mechanism comprises a controller and a driving part 5, in the embodiment, the driving part 5 is a motor, the controller is electrically connected with the driving part 5, and the driving ring 3 is provided with an opening; the driving part 5 is screw-fixedly connected to the outer wall of the driving ring 3, the output shaft of the driving part 5 is coaxially fixedly connected with a lead screw 6 through a shaft coupling; the lead screw 6 penetrates through the opening of the driving ring 3 and is threadedly matched with a nut seat 7, and the nut seat 7 is rotationally matched with the outer wall of the driving ring 3.

[0052] Specifically, the controller sends an electrical signal to the driving part 5, the output shaft of the driving part 5 drives the lead screw 6 to rotate, since the lead screw 6 is threadedly matched with the nut seat 7, and the nut seat 7 is rotationally matched with the outer wall of the driving ring 3, the rotary motion of the lead screw 6 is converted into a relative displacement at the opening of the driving ring 3, so that the diameter of the driving ring 3 changes, thereby realizing the clamping or loosening action of the clamping sleeve 2.

[0053] In combination Figure 2 And Figure 3 As shown, a trip mechanism is further arranged between the clamping mechanism and the wrist mechanism, the trip mechanism comprising a trigger ring 8 composed of a plurality of bimetallic strips; in the embodiment, the bimetallic strips adopt the prior art, a counterweight 17 is screw-fixedly connected to the top wall of the driving ring 3, and the bimetallic strips are all installed on the top of the counterweight 17 in a circumferential direction; a bearing plate 18 is screw-fixedly connected to the wrist mechanism, a wedge-shaped hole is formed in the bottom of the bearing plate 18, and the trigger ring 8 is clamped into the wedge-shaped hole at normal temperature; when the temperature abnormally rises, the bimetallic strips are deformed by heat, and the trigger ring 8 falls to the outside of the wedge-shaped hole.

[0054] Specifically, in the normal temperature state, the trigger ring 8 composed of bimetallic strips remains in the initial state because the bimetallic strips do not deform, and the bimetallic strips circumferentially inclinedly installed on the top of the counterweight 17 jointly support the trigger ring 8 to be clamped into the wedge-shaped hole of the bearing plate 18 to form a wedge surface matching, thereby realizing the locking connection of the counterweight 17 and the bearing plate 18. When the temperature of the moxa stick abnormally rises, the bimetallic strips are bent and deformed by heat, which causes the overall inclination angle of the trigger ring 8 to change, so that the matching relationship with the wedge-shaped hole is released. Under the action of gravity of the counterweight 17, the trigger ring 8 falls to the outside from the wedge-shaped hole to complete the tripping action. In the embodiment, the trigger ring 8 is embedded in the wedge-shaped hole by high-temperature heating.

[0055] In combination Figure 3 and Figure 4 As shown in Figs. 7 and 8, the lower part of the bearing plate 18 is also provided with an ash collecting cover, which includes a movable cover 9 and a fixed cover 10. In the embodiment, the movable cover 9 is made of elastic material, and the outer wall of the movable cover 9 is hingedly connected to the top of the fixed cover 10. The bottom of the bearing plate 18 is screw-connected with a connecting plate 19, and the fixed cover 10 is detachably connected to the connecting plate 19. A linkage triggering mechanism is further arranged between the movable cover 9 and the fixed cover 10, and the linkage triggering mechanism is linked with the tripping mechanism. When the trigger ring 8 is unlocked, the linkage triggering mechanism drives the movable cover 9 to pop up, forming a protective ring to receive the falling moxa stick and ash. In some preferred embodiments, the connecting plate 19 can be arranged in an inclined or curved shape, so that the ash collecting cover is always located below the moxa stick.

[0056] The linkage triggering mechanism includes a pin 11 slidingly fitted on the side wall of the fixed cover 10, and a pre-compression spring 12 is screw-connected to the inner bottom wall of the fixed cover 10. The pin 11 is located on the top of the pre-compression spring 12, and the movable cover 9 is located on the top of the pin 11. The bottom of the bearing plate 18 is also hingedly connected with a connecting rod 13, the bottom end of the connecting rod 13 is hingedly connected with the pin 11, and the top end of the connecting rod 13 extends into the bearing plate 18 and is screw-connected with a compression spring 20, one end of the compression spring 20 away from the connecting rod 13 is in contact with the outer wall of the trigger ring 8. The inside of the movable cover is also provided with a storage chamber, so that the ash can be stored through the design of the storage chamber, preventing the movable cover from falling outside during the pop-up process.

[0057] Specifically, in the normal locking state, the trigger ring 8 is clamped into the wedge-shaped hole of the bearing plate 18, and the outer wall of the trigger ring 8 exerts a pushing force on the compression spring 20 to make the compression spring 20 in a compressed state. The compression spring 20 pushes the catch pin 11 to the top of the pre-compression spring 12 through the connecting rod 13, and the catch pin 11 overcomes the elastic force of the pre-compression spring 12 and compresses the pre-compression spring 12. At this time, the movable cover 9 remains in the folded state. When the trigger ring 8 falls out of the wedge-shaped hole due to abnormal temperature, the compression spring 20 loses the external compression force and quickly rebounds, and the top end of the connecting rod 13 moves to the position of the trigger ring 8. The connecting rod 13 rotates around the bottom hinge point of the bearing plate 18 by a certain angle, and the bottom end of the connecting rod 13 rotates and drives the catch pin 11 to slide along the side wall of the fixed cover 10, thereby releasing the pre-compression spring 12. The pre-compression spring 12 releases the pre-compression force and pushes the movable cover 9 upward, and the movable cover 9 slides along the inner wall of the fixed cover 10 and flips upward around the top hinge point, and finally pops up to form a ring-shaped protective ring, which is just located below the clamping sleeve 2 to receive the falling moxa sticks and moxa ash.

[0058] The specific implementation process is as follows:

[0059] First, the mechanical arm body 1 is fixed to the bed or external base by bolts to complete the equipment installation. When installing the moxa stick, the controller sends a signal to the driving part 5 (motor), and the output shaft of the driving part 5 drives the screw rod 6 to rotate. Since the screw rod 6 is in threaded cooperation with the nut seat 7, and the nut seat 7 is in rotational cooperation with the outer wall of the driving ring 3, the rotation of the screw rod 6 is converted into the relative displacement of the opening of the driving ring 3, so that the diameter of the driving ring 3 is reduced, and the basic diameter of the moxa stick is clamped by the clamping sleeve 2. At this time, the closed chambers (filled with silicone oil) distributed circumferentially in the clamping sleeve 2 are not heated and remain in the initial state. During the burning process of the moxa stick, the burning position of the moxa stick gradually approaches the clamping sleeve 2. The heat generated by the burning of the moxa stick is conducted to the closed chambers, and the thermal expansion medium 4 is heated and expanded to push the clamping sleeve 2 to expand towards the axis, dynamically compensating for the attenuation of the clamping force caused by the weight loss of the moxa stick after burning, and maintaining stable gripping.

[0060] During the moxibustion process, if the temperature abnormally rises (exceeds the safety threshold), the bimetallic strip of the tripping mechanism is heated and bent, and the trigger ring 8 (composed of the bimetallic strip) is matched with the wedge surface of the wedge-shaped hole of the bearing plate 18 to release. Under the action of the gravity of the counterweight 17, the trigger ring 8 falls out of the wedge-shaped hole, and the tripping is completed. In this process, after the trigger ring 8 is unlocked, the compression force of the compression spring 20 disappears, the compression spring 20 rebounds to drive the connecting rod 13 to rotate around the bottom hinge point of the bearing plate 18, the bottom end of the connecting rod 13 pulls the catch pin 11 to slide along the side wall of the fixed cover 10, thereby releasing the pre-compression spring 12. The pre-compression spring 12 releases the elastic force and pushes the movable cover 9 to slide along the inner wall of the fixed cover 10 and flip upward around the top hinge point to form a ring-shaped protective ring to receive the falling moxa stick and moxa ash, thereby realizing the safety interlocking of tripping and protection.

[0061] When the moxibustion is finished or the moxa stick needs to be replaced, the controller drives the driving member 5 to reverse, the diameter of the driving ring 3 driven by the lead screw 6 increases, and the moxa stick is loosened; the fixed cover 10 of the moxa ash collecting cover is detachably connected to the connecting plate 19, so that the internal moxa ash can be easily taken out and cleaned. The whole process is combined through linkage of mechanical structures and automatic control, so that stable clamping, dynamic adaptation, safety protection and convenient maintenance of the moxa stick are realized.

[0062] In another embodiment, a plurality of displacement sensors (not shown in the figure) are further screw-fixedly connected to the outer wall of the driving ring 3, the displacement sensors are used for detecting the axial displacement of the sealed chamber due to the outward expansion of the thermal expansion medium 4, and the controller is used for calculating the working temperature of the clamped moxa stick according to the axial displacement. In this embodiment, the displacement sensor is a laser displacement sensor.

[0063] The specific implementation process is as follows: the displacement sensor detects the axial displacement of the sealed chamber due to the expansion of the thermal expansion medium 4, and the controller calculates the working temperature of the moxa stick according to the axial displacement, so as to realize non-contact temperature monitoring, avoid direct damage of high temperature to the sensor, and improve the detection stability; thereby improving the service life of the equipment.

[0064] In still another embodiment, the wrist mechanism includes a static platform 14 and a dynamic platform 15, the static platform 14 is screw-fixedly connected to the mechanical arm body 1, and a plurality of telescopic members 16 are hinged to the top of the static platform 14; the controller is electrically connected to the telescopic members 16, the output shafts of the telescopic members 16 are hinged to the dynamic platform 15, and the side, away from the telescopic members 16, of the dynamic platform 15 is screw-fixedly connected to the bearing plate 18.

[0065] The specific implementation process is as follows: through the hinge connection between the static platform 14 and the dynamic platform 15, combined with the precise control of the controller, multi-degree-of-freedom flexible adjustment is realized, the structure has high rigidity and fast response, can stably adjust the posture and angle of the moxa stick, adapts to complex moxibustion requirements, and improves the operation precision and reliability.

[0066] In other embodiments, heating members (not shown in the figure) are arranged on the outside of the sealed chambers, the heating members are heating wires in this embodiment, and the controller is used for cyclically and / or sequentially controlling the heating units, so that the sealed chambers generate differential expansion, thereby driving the clamped moxa stick to generate micro-motion, to simulate specific moxibustion methods.

[0067] The specific implementation process is as follows: through the cyclic / sequential control of the controller on the heating members, the sealed chambers generate differential expansion, the moxa stick is driven to realize micro-motion along a preset track, and specific moxibustion methods such as rotation and pecking are simulated; without additional mechanical driving components, the structure is simplified, the diversity and standardization of the method simulation are improved, and the adaptability of automatic moxibustion is enhanced.

[0068] In still other embodiments, combined with Figure 5As shown, the embodiment also provides a safety control module and a manual simulation module, both of which are connected with the controller signal. The safety control module includes a temperature inversion unit, a pre-warning unit and a tripping trigger unit. The manual simulation module includes a mode selection unit, a heating control unit and a manual simulation unit, each of which has the following functions:

[0069] The temperature inversion unit is used to receive the axial displacement signal from the displacement sensor (detection accuracy ±0.01 mm) and inverses the working temperature of the moxa stick in real time according to the axial displacement. In this embodiment, the working temperature of the moxa stick is inversely calculated in real time through a preset algorithm, the inversion error is controlled within ±0.5℃, and the deviation from the actual burning temperature is ensured to meet the clinical moxibustion accuracy requirements (referring to the moxa robot temperature control standard).

[0070] The pre-warning unit is used to set the first threshold (such as 55℃, 90% of the safe moxibustion upper limit temperature) and the second threshold (60℃, the critical temperature of human skin tolerance) of the working temperature. When the working temperature of the moxa stick exceeds the preset 55℃, a pre-warning signal is triggered. In this embodiment, the pre-warning signal is displayed by a buzzer and an indicator light. The buzzer frequency is set to 2kHz, and the indicator light flickering period is 1Hz.

[0071] The tripping trigger unit is used to trigger the ring 8 (bimetallic strip, Curie point 60℃) to bend when the working temperature of the moxa stick exceeds the preset 60℃, and trigger the tripping mechanism to act under the gravity of the counterweight 17 (200g). The response time of the tripping mechanism is ≤0.1s, ensuring that the moxa stick completes mechanical separation before falling.

[0072] The mode selection unit is used to receive the selection signal of the target moxibustion manual mode. Specifically, for example, the mode selection unit supports 3 kinds of classic moxibustion manual mode selection: gentle moxibustion (static suspension moxibustion), bird pecking moxibustion (reciprocal motion), and rotary moxibustion (circular motion). The mode switching response time is ≤0.5s, meeting the moxibustion requirements of different acupoints (such as Zusanli or Guanyuan acupoint).

[0073] The heating control unit is used to drive the heating element (power 5-20W adjustable) to perform cyclic and / or sequential heating on the specific sealed chamber according to the control program corresponding to the preset manual mode. For example, when performing bird pecking moxibustion, the heating element alternately heats the symmetrical chambers at a frequency of 1.5Hz; when performing rotary moxibustion, the six chambers distributed in the circumference are sequentially heated in a clockwise order, realizing continuous control of the trajectory.

[0074] The manipulation simulation unit is used to drive the moxa stick to generate corresponding reciprocating and / or rotating motion trajectories by controlling the differential thermal expansion of each chamber to simulate the preset moxibustion manipulation. For example, the manipulation simulation unit drives the moxa stick to achieve the preset motion trajectory; the mild moxibustion maintains an axial displacement error of ±0.1 mm, and the temperature is stable at 52±0.5℃ (the optimal heat penetration temperature); the pecking moxibustion is set to a reciprocating stroke of 5-20 mm adjustable, a frequency of 0.5-2 Hz, and a displacement accuracy of ±0.2 mm (the reference mechanical arm has a repeat positioning accuracy of ±0.02 mm); the rotating moxibustion is set to a circular motion radius of 5-30 mm, an angular velocity of 0.5-2 rad / s, and a trajectory deviation of ≤0.5 mm, simulating the spiral heat penetration effect of artificial moxibustion.

[0075] Obviously, the above embodiments are only examples for clearly illustrating but not limiting the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, it is not necessary and impossible to enumerate all the embodiments. The obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A moxibustion robotic arm capable of gripping moxa sticks, comprising a robotic arm body (1), a wrist mechanism disposed on the robotic arm body (1), and a clamping mechanism connected to the wrist mechanism, characterized in that, The clamping mechanism includes a clamping sleeve (2) and a drive ring (3). The inside of the clamping sleeve (2) is divided into several circumferentially distributed closed chambers, and each closed chamber is filled with a thermally expanding medium (4) that expands with heat. The drive ring (3) is sleeved on the outside of the clamping sleeve (2), and the drive ring (3) is provided with a drive mechanism for clamping the moxibustion stick with a basic diameter. The heat generated by the burning of the moxibustion stick can be conducted to the sealed chamber, causing the thermal expansion medium (4) to expand outward, thereby driving the clamping sleeve (2) to expand towards the axis, so as to provide a clamping force that is adapted to the weight reduction after the moxibustion stick burns.

2. The moxibustion robotic arm capable of gripping moxa sticks according to claim 1, characterized in that, The drive mechanism includes a controller and a drive component (5). The controller and the drive component (5) are electrically connected. An opening is made on the drive ring (3). The drive component (5) is fixedly connected to the outer wall of the drive ring (3). A lead screw (6) is fixedly connected to the output shaft of the drive component (5) on the same axis. The lead screw (6) passes through the opening of the drive ring (3) and is threaded with a nut seat (7). The nut seat (7) is rotatably engaged with the outer wall of the drive ring (3).

3. The moxibustion robotic arm capable of gripping moxa sticks according to claim 2, characterized in that, Several displacement sensors are also fixedly connected to the outer wall of the drive ring (3). The displacement sensors are used to detect the axial displacement of the sealed chamber caused by the outward expansion of the thermal expansion medium (4). The controller is used to calculate the working temperature of the clamped moxibustion stick based on the axial displacement.

4. The moxibustion robotic arm capable of gripping moxa sticks according to claim 3, characterized in that, A release mechanism is also provided between the clamping mechanism and the wrist mechanism. The release mechanism includes a trigger ring (8) composed of several bimetallic strips. A counterweight (17) is fixedly connected to the outer top wall of the drive ring (3). The bimetallic strips are all installed circumferentially at the top of the counterweight (17). A bearing plate (18) is fixedly connected to the wrist mechanism. A wedge-shaped hole is opened at the bottom of the bearing plate (18). The trigger ring (8) is inserted into the wedge-shaped hole at room temperature. When the temperature rises abnormally, the bimetallic strip deforms due to heat, and the trigger ring (8) falls to the outside of the wedge hole.

5. The moxibustion robotic arm capable of gripping moxa sticks according to claim 4, characterized in that, Below the support plate (18) is a collection cover for collecting moxa ash. The collection cover includes a movable cover (9) and a fixed cover (10). The outer wall of the movable cover (9) is hinged to the top of the fixed cover (10). A connecting plate (19) is fixedly connected to the bottom of the support plate (18). The fixed cover (10) is detachably connected to the connecting plate (19). A linkage triggering mechanism is also provided between the movable cover (9) and the fixed cover (10). The linkage triggering mechanism is linked with the release mechanism. When the trigger ring (8) is unlocked, the linkage triggering mechanism causes the movable cover (9) to bounce upward, forming a protective ring to catch the falling moxa sticks and moxa ash.

6. The moxibustion robotic arm capable of gripping moxa sticks according to claim 5, characterized in that, The linkage triggering mechanism includes a latch (11) that slides on the side wall of the fixed cover (10), and a preload spring (12) is fixedly connected to the bottom wall of the fixed cover (10); the latch (11) is located on top of the preload spring (12), and the movable cover (9) is located on top of the latch (11); a connecting rod (13) is also hinged to the bottom of the support plate (18), the bottom end of the connecting rod (13) is hinged to the latch (11), and the top end of the connecting rod (13) extends into the support plate (18) and is fixedly connected to a compression spring (20), the end of the compression spring (20) away from the connecting rod (13) is in contact with the outer wall of the trigger ring (8); a storage chamber is also provided inside the movable cover (9).

7. The moxibustion robotic arm capable of gripping moxa sticks according to claim 6, characterized in that, The wrist mechanism includes a static platform (14) and a moving platform (15). The static platform (14) is fixedly connected to the robotic arm body (1). Several telescopic components (16) are hinged to the top of the static platform (14). The controller is electrically connected to the telescopic components (16). The output shafts of the telescopic components (16) are all hinged to the moving platform (15). The side of the moving platform (15) away from the telescopic components (16) is fixedly connected to the bearing plate (18).

8. The moxibustion robotic arm capable of gripping moxa sticks according to claim 7, characterized in that, Heating elements are provided on the outer side of each sealed chamber. The controller is used to cyclically and / or sequentially control each heating unit, so that each sealed chamber produces differentiated expansion, thereby driving the clamped moxibustion stick to produce micro-movements to simulate specific moxibustion techniques.

9. The moxibustion robotic arm capable of gripping moxa sticks according to claim 8, characterized in that, It also includes a safety control module, which is connected to the controller via signals. The safety control module includes: The temperature inversion unit is used to receive the axial displacement signal from the displacement sensor and invert the working temperature of the moxibustion stick in real time based on the axial displacement. The warning unit is used to set a first threshold and a second threshold for the working temperature. When the working temperature of the moxibustion stick exceeds the preset first threshold, a warning signal is triggered. The trip trigger unit is used to trigger the trip mechanism to bend when the working temperature of the moxibustion stick exceeds the preset second threshold.

10. The moxibustion robotic arm capable of gripping moxa sticks according to claim 9, characterized in that, It also includes a manipulation simulation module, which is connected to the controller signal. The manipulation simulation module includes: The mode selection unit is used to receive the selection signal of the target moxibustion technique mode; The heating control unit is used to drive the heating element to circulate and / or sequentially heat a specific sealed chamber according to the control program corresponding to the preset technique mode. The technique simulation unit is used to drive the moxibustion stick to produce corresponding reciprocating and / or rotating motion trajectories by controlling the differential thermal expansion of each chamber, so as to simulate the preset moxibustion technique.

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