Portable moxa stick moxibustion anti-scald device

Abstract

The invention belongs to the technical field of traditional Chinese medicine physiotherapy equipment, and particularly discloses a portable moxa stick moxibustion anti-scald device which comprises a mechanical arm, an electric clamping jaw, a moxibustion head and an infrared temperature sensor. Wherein the tail end of the mechanical arm is provided with an electric clamping jaw, the electric clamping jaw clamps a moxibustion head, and a moxa stick is vertically inserted into the moxibustion head; and an infrared temperature sensor is arranged below the electric clamping jaw. By means of the multi-joint swing design of the mechanical arm, flexible positioning and accurate operation of the moxibustion head in a three-dimensional space are achieved, meanwhile, by means of the oblique intersection design of the infrared temperature sensor and the axis of the moxa stick, the temperature of the skin surface can be monitored in real time, and when the temperature is close to a safety threshold value, the moxibustion head can be accurately positioned. The controller immediately drives the mechanical arm to automatically lift the height of the moxa stick, a dynamic protection mechanism can be formed, and the scalding risk caused by limb twitching or skin perception disorder of a patient in traditional moxibustion treatment is effectively avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of traditional Chinese medicine physiotherapy equipment, in particular to a portable moxa stick moxibustion anti-scald device. BACKGROUND

[0002] As an important part of external treatment of traditional Chinese medicine, moxa stick moxibustion has a wide effect of warming yang and dispelling cold and dredging meridians in clinical application. Clinical research has found that moxibustion has good warming and rehabilitation effect on patients with sequelae of stroke, paraplegia or nerve damage who have skin sensory disorders.

[0003] However, in the actual moxibustion process, such patients cannot make timely feedback on excessively high temperature due to the lack or dullness of local skin perception, and are prone to clinical scalding accidents. In addition, some patients often have involuntary limb twitching, which may accidentally touch the heat source during moxibustion, further increasing the safety hazard. At present, if the distance between the moxa stick and the affected area is increased for safety, the heat penetration will be weakened, and it is difficult to achieve the expected clinical effect; if the effective distance is maintained, there is an uncontrollable risk of burns.

[0004] Therefore, the present application provides a portable moxa stick moxibustion anti-scald device. SUMMARY

[0005] The purpose of the present application is to provide a portable moxa stick moxibustion anti-scald device that can maintain efficacy while avoiding being scalded.

[0006] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions: A portable moxa stick moxibustion anti-scald device, comprising a mechanical arm, an electric clamp jaw, a moxa stick head and an infrared temperature sensor; The distal end of the mechanical arm is provided with an electric clamp jaw, the electric clamp jaw holds the moxa stick head, and the burning end of the moxa stick is vertically inserted into the inside of the moxa stick head; The moxa stick head is a hollow shell structure with openings on the top and bottom surfaces, comprising an upper cavity and a lower cavity, wherein a plurality of air holes are formed in the side wall of the lower cavity, and a dust separation net is arranged in the inside of the lower cavity, the dust separation net is in an arc shape recessed towards the inside of the upper cavity; An infrared temperature sensor is further arranged below the electric clamp jaw.

[0007] Preferably, the mechanical arm comprises a clamping seat, a first swing arm, a second swing arm and a third swing arm; One end of the first swing arm is rotatably connected to the clamping seat, the other end of the first swing arm is connected to one end of the second swing arm, the other end of the second swing arm is connected to one end of the third swing arm, and the other end of the third swing arm is connected to the electric clamp jaw; The first swing arm can swing along the longitudinal direction relative to the clamping seat, the second swing arm can swing along the longitudinal direction relative to the first swing arm, and the third swing arm can swing along the longitudinal direction relative to the second swing arm.

[0008] Preferably, the electric clamping jaw comprises a base, a first clamping jaw, a second clamping jaw and a driving motor. The output shaft of the driving motor is connected to the middle position of the driving gear, the driving gear is engaged with the intermediate transmission gear, the intermediate transmission gear is engaged with the first execution gear, the first execution gear is connected to the first clamping jaw through the first connecting rod, the first execution gear is engaged with the second execution gear, and the second execution gear is connected to the second clamping jaw through the second connecting rod.

[0009] Preferably, the end of the third swing arm is provided with a ball head, the base of the electric clamping jaw is provided with a ball socket part matched with the ball head, the ball socket part is buckled on the outer periphery of the ball head, and the electric clamping jaw can swing at multiple angles relative to the third swing arm.

[0010] Preferably, the infrared temperature sensor is installed at the bottom of the base of the electric clamping jaw through a support, and the detection center axis of the infrared temperature sensor and the center axis of the moxa stick intersect at the target skin plane below the moxibustion head.

[0011] Preferably, the upper cavity is internally provided with elastic clamping pieces for clamping and fixing the moxa stick.

[0012] Preferably, the clamping seat is provided with a jacking bolt.

[0013] Preferably, the bottom side wall of the lower cavity is provided with a black rubber protection ring.

[0014] Preferably, a controller is further arranged, wherein the control ends of the infrared temperature sensor, the mechanical arm and the electric clamping jaw are connected to the controller through signal cables.

[0015] Preferably, the controller is provided with a display screen, an alarm lamp and a buzzer.

[0016] The beneficial effects of the present application are as follows: The application provides a portable moxa stick moxibustion anti-scald device, which realizes flexible positioning and accurate operation of a moxa stick moxibustion head in a three-dimensional space through multi-joint swing design of a mechanical arm, and enables the moxa stick moxibustion head to flexibly adjust an angle according to treatment requirements through a ball joint connecting structure of an electric clamp jaw and the mechanical arm, so that a burning end of the moxa stick is always vertically aligned with a target acupoint; meanwhile, through oblique intersection design of an infrared temperature sensor and an axis of the moxa stick, the skin surface temperature can be monitored in real time, and when the temperature approaches a safety threshold, the mechanical arm is automatically lifted to increase the height of the moxa stick through a controller, so that a dynamic protection mechanism is formed, and the risk of scalding caused by limb twitching or skin perception disorder of a patient in traditional moxibustion treatment is effectively solved.

[0017] In addition, the moxa stick moxibustion head adopts a double-cavity structure, elastic clamping pieces of an upper cavity can fix moxa sticks of different specifications, and an arc-shaped ash separation net and a black rubber protection ring of a lower cavity constitute a double anti-scald barrier, so that the moxa ash cannot directly contact the skin, and the burning efficiency can be maintained through the air holes. The device is fused with mechanical automation and intelligent temperature control technology, reduces the risk of scalding to a controllable range while maintaining the traditional moxibustion heat penetration force, and is especially suitable for rehabilitation treatment of patients with perception disorders such as post-stroke sequelae and nerve damage, and has significant clinical application value. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a perspective view of the application; Figure 2 It is a front view of the application; Figure 3 It is a structural schematic view of the mechanical arm of the application; Figure 4 It is a structural schematic view of the moxa stick moxibustion head of the application; Figure 5 It is a structural schematic view of the internal structure of the moxa stick moxibustion head of the application; Figure 6 It is a structural schematic view of the bottom structure of the moxa stick moxibustion head of the application; Figure 7 It is a structural schematic view of the electric clamp jaw of the application Figure 1 ; Figure 8 It is a structural schematic view of the electric clamp jaw of the application Figure 2 ; 1-mechanical arm, 111-clamp seat, 112-tightening bolt;

[0019] 121-first swing arm, 122-second swing arm, 123-third swing arm, 1231-ball head; 131-first rotating motor, 132-second rotating motor, 133-third rotating motor; 14 - electric clamping jaw: 140 - base, 141 - first clamping jaw, 142 - second clamping jaw; 143 - driving motor, 144 - driving gear, 145 - intermediate transmission gear, 146 - first execution gear, 147 - second execution gear; 2 - moxa head: 21 - lower cavity, 211 - air hole, 212 - ash screen, 213 - black rubber protection ring; 22 - upper cavity, 221 - elastic clamping piece; 3 - moxa stick, 4 - infrared temperature sensor, 5 - controller. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments.

[0021] In the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixation" and the like should be understood broadly, for example, "fixation" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through intermediate medium; can be internal connection of two elements or interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0022] Combination Figures 1 to 8 As shown in the figure, the present application proposes a portable moxa stick moxibustion anti-scald device, which can ensure the treatment effect and avoid scalding. Among them, the device mainly includes mechanical arm 1, electric clamping jaw 14, moxa head 2, infrared temperature sensor 4 and controller 5 and other structural components.

[0023] Combination Figures 1 to 2 As shown in the figure, the end of the mechanical arm 1 is provided with the electric clamping jaw 14, the electric clamping jaw 14 can hold the moxa head 2, and the burning end of the moxa stick 3 is vertically inserted into the inside of the moxa head 2.

[0024] Combination Figure 3 As shown in the figure, the mechanical arm 1 mainly includes clamping seat 111, first swing arm 121, second swing arm 122 and third swing arm 123 and other structural components.

[0025] Specifically, one end of the first swing arm 121 is rotatably connected to the clamp 111, the other end of the first swing arm 121 is connected to one end of the second swing arm 122, the other end of the second swing arm 122 is connected to one end of the third swing arm 123, and the other end of the third swing arm 123 is connected to the base 140 of the electric gripper 14 via a ball head 1231. The first swing arm 121, the second swing arm 122, and the third swing arm 123 are connected by a hinge structure and are respectively controlled by the first rotary motor 131, the second rotary motor 132, and the third rotary motor 133 to achieve longitudinal swinging. That is, the first swing arm 121 can swing longitudinally relative to the clamp 111, the second swing arm 122 can swing longitudinally relative to the first swing arm 121, and the third swing arm 123 can swing longitudinally relative to the second swing arm 122.

[0026] Combination Figure 3 As shown, the end of the third swing arm 123 is provided with a ball head 1231, and the base 140 of the electric gripper 14 is provided with a ball socket that matches the ball head 1231. The ball socket engages with the outer periphery of the ball head 1231, forming a ball joint connection between the electric gripper 14 and the third swing arm 123, thereby enabling the electric gripper 14 to swing at multiple angles relative to the third swing arm 123 in space. The ball head 1231 and the base 140 of the electric gripper 14 are interference and damping fits, and are equipped with locking screws, so that the electric gripper 14 can reliably hover after being manually or with motor assistance adjusted to the target angle.

[0027] Combination Figure 1 and Figure 2 As shown, a clamping bolt 112 is provided on the clamp 111, which can be used to easily fix the entire device in a suitable position.

[0028] Combination Figures 7 to 8 As shown, the electric gripper 14 mainly includes structural components such as a base 140, a first gripper 141, a second gripper 142, and a drive motor 143.

[0029] Specifically, the output shaft of the drive motor 143 is connected to the middle position of the drive gear 144. The drive gear 144 meshes with the intermediate transmission gear 145, which meshes with the first actuating gear 146. The first actuating gear 146 is connected to the first gripper 141 via the first connecting rod. The first actuating gear 146 meshes with the second actuating gear 147, which is connected to the second gripper 142 via the second connecting rod. The drive motor 143 drives each gear to rotate, thereby realizing the opening and closing action of the first gripper 141 and the second gripper 142 to clamp or release the moxibustion head 2, which is convenient for replacement and ash cleaning operations, and can also be easily adapted to moxibustion heads 2 of different sizes.

[0030] CombinationFigures 4 to 6 As shown, the moxa head 2 is a hollow shell structure with both top and bottom openings, mainly comprising an upper cavity 22 and a lower cavity 21. The upper cavity 22 is internally provided with an elastic clamping piece 221 for clamping and fixing the moxa stick 3, which can prevent the moxa stick 3 from shaking during the burning process.

[0031] In combination Figure 4 As shown, the side wall of the lower cavity 21 is provided with a plurality of air holes 211 to ensure air circulation when the moxa stick 3 is burning, and the inside of the lower cavity 21 is provided with an ash separation net 212, which is an arc-shaped structure recessed into the inside of the upper cavity 22, which can effectively block the falling of moxa ash to scald the skin. The ash separation net 212 is made of 316L stainless steel etching net, with a thickness of 0.2mm-0.5mm and a mesh diameter of 0.3mm-0.8mm. The mesh surface formed by etching process is smooth without intersection, which effectively avoids the physical loading of moxa ash at the intersection of the mesh, thereby realizing the technical effect of "separating ash without separating heat".

[0032] In combination Figure 6 As shown, the bottom side wall of the lower cavity 21 is provided with a black rubber protective ring 213, which further plays a protective role. At the same time, the outer contour of the moxa head 2 is gourd-shaped, and the lower cavity 21 is expanded into a spherical shape, which is used to build a large-capacity infrared radiation heat source space to ensure uniform heat distribution, and the upper cavity 22 is a tapered tube, and the waist part formed by the intersection of the upper cavity 22 and the lower cavity 21 is matched with the electric clamping jaw 14 to form mechanical limiting locking. This structure not only realizes efficient heat accumulation, but also optimizes the flow direction of smoke and dust, and improves the assembly stability of the mechanical execution end.

[0033] In combination Figure 1 And Figure 2As shown, the infrared temperature sensor 4 is mounted on the base 140 of the electric clamping jaw 14 through a bracket, and the detection center axis of the infrared temperature sensor 4 intersects with the center axis of the moxa stick 3 at the target skin plane below the moxibustion head 2, so as to monitor the temperature of the target skin plane in real time. It needs to be explained that no matter the thickness (such as the diameter fluctuating within the range of 10mm-30mm) of the moxa stick 3, the target detected by the infrared temperature sensor 4 is always locked in the skin heating center area with the most concentrated heat energy. The detection end of the infrared temperature sensor 4 is obliquely arranged, so that the detection axis of the infrared temperature sensor 4 forms an angle of 15° to 45° with the vertical center line of the moxa stick 3, and the angle is a golden interval for balancing the temperature measurement accuracy and smoke avoidance effect. Such off-axis monitoring design skillfully avoids the absorption and scattering interference of the rising smoke and hot gas flow generated by the burning of the moxa stick 3 on the infrared radiation signal, effectively prevents the "false heat detection" of the infrared temperature sensor due to direct contact with high-temperature smoke dust and lens pollution, and significantly improves the real-time and accuracy of the skin temperature detection of the moxibustion site, thereby providing a reliable data basis for the stable closed-loop adjustment of the subsequent temperature control process. While maintaining the inclination to avoid smoke, the detection end is made as close as possible to the moxibustion point by adjusting the bracket, so as to ensure that the infrared temperature sensor 4 works within the effective distance coefficient range, thereby obtaining the temperature measurement accuracy close to vertical monitoring.

[0034] In combination Figure 1 and Figure 2 As shown, the controller 5 is further provided with a display screen capable of displaying the current temperature, an alarm lamp and a buzzer. The control end of the infrared temperature sensor 4, the mechanical arm 1 and the electric clamping jaw 14 are all connected with the controller 5 through signal cables, the infrared temperature sensor 4 transmits the monitored temperature signal to the controller 5, when the temperature exceeds the set value, the controller 5 controls the alarm lamp to light up and reminds, and instructs the buzzer to emit a continuous alarm sound, at the same time, the controller 5 rapidly drives the mechanical arm 1 to drive the electric clamping jaw 14 to lift the moxibustion head 2, so that the moxa stick 3 is away from the target skin plane, until the temperature decreases to the safe range; at the same time, if the infrared temperature sensor 4 detects that the skin temperature is too low, the controller 5 controls the mechanical arm 1 to drive the electric clamping jaw 14 to slowly lower the moxibustion head 2 to restore the temperature, and continues to perform the moxibustion treatment, so as to realize the real dynamic constant temperature, and the whole process does not need manual intervention, thereby realizing the automatic anti-scald protection.

[0035] In summary, the application provides a portable moxa stick moxibustion anti-scald device, which realizes flexible positioning and accurate operation of the moxa moxibustion head 2 in three-dimensional space through the multi-joint swing design of the mechanical arm 1, and adjusts the angle of the moxa moxibustion head 2 according to the treatment requirements through the ball joint connection structure of the electric clamping jaw 14 and the mechanical arm 1, so that the burning end of the moxa stick 3 is always vertically aligned with the target acupoint; at the same time, through the oblique intersection design of the infrared temperature sensor 4 and the axis of the moxa stick 3, the skin surface temperature can be monitored in real time, and when the temperature approaches the safety threshold, the controller 5 drives the mechanical arm 1 to automatically lift the height of the moxa stick 3, forming a dynamic protection mechanism, effectively solving the risk of scalding caused by limb twitching or skin perception disorder in traditional moxibustion treatment, and the infrared temperature sensor 4 is installed at a position away from the hot smoke flow rising when the moxa stick 3 is burning, which can further improve the accuracy of temperature measurement. The device combines mechanical automation and intelligent temperature control technology, reduces the risk of scalding to a controllable range while maintaining the traditional moxibustion heat penetration force, and is especially suitable for the rehabilitation treatment of patients with perception disorders such as stroke sequelae and nerve damage, and has significant clinical application value.

[0036] Of course, the above is only the preferred embodiment of the application, and does not limit the patent scope of the application, and any equivalent structural transformation made under the inventive concept of the application, or direct / indirect application in other related technical fields is included in the patent protection scope of the application, and should be protected by the application.

Claims

1. A portable moxibustion anti-scalding device, characterized in that, Includes robotic arms, electric grippers, moxibustion heads, and infrared temperature sensors; The robotic arm is equipped with an electric gripper at its end, which holds the moxibustion head, and the burning end of the moxa stick is vertically inserted into the moxibustion head. The moxibustion head is a hollow shell structure with openings on both the top and bottom sides, including an upper cavity and a lower cavity. The side wall of the lower cavity has multiple ventilation holes, and the interior of the lower cavity is equipped with a dust-proof mesh. The dust-proof mesh has an arc-shaped structure that is concave to the interior of the upper cavity. An infrared temperature sensor is also installed below the electric gripper.

2. The portable moxibustion anti-scalding device according to claim 1, characterized in that, The robotic arm includes a gripper, a first swing arm, a second swing arm, and a third swing arm; One end of the first swing arm is rotatably connected to the clamp, the other end of the first swing arm is connected to one end of the second swing arm, the other end of the second swing arm is connected to one end of the third swing arm, and the other end of the third swing arm is connected to the electric gripper. The first swing arm is capable of swinging longitudinally relative to the clamp, the second swing arm is capable of swinging longitudinally relative to the first swing arm, and the third swing arm is capable of swinging longitudinally relative to the second swing arm.

3. A portable moxibustion anti-scalding device according to claim 2, characterized in that, The electric gripper includes a base, a first gripper, a second gripper, and a drive motor; The output shaft of the drive motor is connected to the middle position of the drive gear. The drive gear meshes with the intermediate transmission gear, and the intermediate transmission gear meshes with the first actuating gear. The first actuating gear is connected to the first gripper via a first connecting rod. The second actuating gear meshes with the first actuating gear, and the second actuating gear is connected to the second gripper via a second connecting rod.

4. A portable moxibustion anti-scalding device according to claim 3, characterized in that, The end of the third swing arm is provided with a ball head, and the base of the electric gripper is provided with a ball socket that is adapted to the ball head; the ball socket is engaged with the outer periphery of the ball head, and the electric gripper can swing at multiple angles relative to the third swing arm.

5. A portable moxibustion anti-scalding device according to claim 3, characterized in that, The infrared temperature sensor is mounted on the bottom of the base of the electric gripper via a bracket, and the detection center axis of the infrared temperature sensor intersects with the center axis of the moxa stick on the target skin plane below the moxibustion head.

6. A portable moxibustion anti-scalding device according to claim 1, characterized in that, The upper cavity is equipped with an elastic clamping plate for holding and fixing the moxa stick.

7. A portable moxibustion anti-scalding device according to claim 1, characterized in that, The clamp is equipped with a tightening bolt.

8. A portable moxibustion anti-scalding device according to claim 1, characterized in that, A black rubber protective ring is provided on the bottom side wall of the lower cavity.

9. A portable moxibustion anti-scalding device according to claim 1, characterized in that, It is also equipped with a controller, wherein the control terminals of the infrared temperature sensor, the robotic arm and the electric gripper are all connected to the controller via signal cables.

10. A portable moxibustion anti-scalding device according to claim 9, characterized in that, The controller is equipped with a display screen, an alarm light, and a buzzer.

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