Moxibustion robot

Abstract

This invention relates to the technical field of physiotherapy equipment, and in particular to a moxibustion robot, comprising a housing, a controller, a lifting platform, a robotic arm, a moxibustion head, a pivot pin, and a cover plate. The controller is fixedly installed at the front end of the housing, and the free end of the robotic arm is provided with a moxibustion head. The left and right sides of the top of the housing are respectively hinged to one end of the cover plate via pivot pins. The robot also includes: a locking assembly, which is installed between the cover plate and the housing for locking the lifting platform; two sets of locking assemblies are symmetrically arranged; a lifting assembly, which is installed inside the housing for lifting the lifting platform; and a support assembly, which is installed on the housing for supporting the bottom end of the raised lifting platform; two sets of support assemblies are symmetrically arranged. The lifting assembly drives the lifting platform, robotic arm, and moxibustion head into the housing. Afterward, the cover plate re-seals the top of the housing while simultaneously operating the locking assembly to re-lock the lifting platform.

Description

Technical Field

[0001] This invention relates to the technical field of physiotherapy equipment, and in particular to a moxibustion robot. Background Technology

[0002] Moxibustion, a traditional Chinese medicine therapy, uses the heat and medicinal properties of burning moxa wool to act on acupoints on the human body, achieving effects such as warming and unblocking meridians, dispelling cold, and relieving pain. In recent years, with the integration of robotics technology and traditional Chinese medicine physiotherapy, moxibustion robots have gradually become a research hotspot in the field of home health management. Driven by a robotic arm, these robots automatically perform operations such as hovering, rotating, and pecking, freeing up manpower while improving the standardization of moxibustion operations.

[0003] Chinese utility model patent (application number: 202422163445.3) discloses a multifunctional moxibustion robot, which includes a moxibustion robot body, a mechanical arm set on the top of the body, and a moxibustion cylinder installed at the end of the mechanical arm. The moxibustion cylinder is equipped with massage mechanisms inside and outside, which can provide massage services while performing moxibustion, effectively improving the user's comfort. This solution adjusts the height of the massage head through an electric push rod, drives the turntable to rotate the massage beads through a motor, and simultaneously uses a smoke outlet and a through hole to divert the moxa smoke, taking into account the synergistic effect of moxibustion and massage functions, and has certain practicality.

[0004] However, existing moxibustion robot solutions, including the aforementioned patents, still have significant limitations in practical home use. Specifically, existing devices generally employ multi-joint robotic arm structures. To ensure coverage of multiple areas such as the back, waist, and abdomen during moxibustion, the robotic arms typically have a large working radius and multiple degrees of freedom. After use, these robotic arms usually cannot be effectively folded or reduced in size, and are mostly left in a fully extended or semi-extended state, resulting in the entire device occupying a significant amount of indoor floor or countertop space. For families with limited living space, this non-compact design greatly affects the convenience of storage and the frequency of use. Although some existing technologies have proposed improvements such as telescopic support arms or detachable moxibustion heads, these solutions are often structurally complex, cumbersome to operate, or fail to achieve a good balance between working range and storage efficiency.

[0005] Therefore, how to significantly reduce the overall size of the moxibustion robot after use through structural optimization, while ensuring that the moxibustion robot has sufficient working space and the ability to perform diverse moxibustion techniques, so as to improve the space utilization and storage convenience in the home, is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention provides a moxibustion robot.

[0007] The present invention provides a moxibustion robot, comprising a housing, a controller, a lifting platform, a robotic arm, a moxibustion head, a pivot pin, and a cover plate. The controller is fixedly installed at the front end of the housing, and the free end of the robotic arm is provided with a moxibustion head. The left and right sides of the top of the housing are respectively hinged to one end of the cover plate via pivot pins. The robot also includes: The locking assembly is installed between the cover plate and the housing to lock the lifting platform in place. There are two sets of locking assemblies, which are arranged symmetrically. The lifting assembly, installed inside the housing, is used to lift the lifting platform. The support components are installed on the housing and are used to support the bottom of the raised lifting platform. There are two sets of support components, which are arranged symmetrically. The robotic arm, moxibustion head, and lifting assembly are all electrically connected to the controller. During storage, the lifting assembly moves the lifting platform, robotic arm, and moxibustion head into the enclosure. Two sets of covers, secured by pivot pins, seal the top of the enclosure while simultaneously locking the lifting platform with a locking mechanism. This prevents accidental contact with the controller when the covers are closed, which could cause the lifting assembly to raise the platform, robotic arm, and moxibustion head, thus improving safety. In use, the seal on the top of the enclosure is released, and the covers are flipped open. The locking mechanism then secures the lifting platform. Users can then control the lifting platform via the controller. The lifting mechanism raises the lifting platform, robotic arm, and moxibustion head. When the cover is released from the top seal of the box, the operating support component provides stable support to the bottom of the raised platform, improving its stability. Then, the moxibustion head is placed inside, and the robotic arm moves the moxibustion head to perform moxibustion on the user. After use, the cover operating support component moves away from the lifting platform. Then, the lifting mechanism moves the lifting platform, robotic arm, and moxibustion head back into the box. Afterward, the cover reseals the top of the box, and the cover operating locking component re-locks the lifting platform.

[0008] Preferably, the lifting assembly includes a slide rail, a guide bar, a slider, a first hinge seat, a second hinge seat, and a servo electric cylinder. Slide rails are provided at both the front and rear ends of the inner side of the housing. A set of guide bars is longitudinally fixed inside each slide rail. Slider blocks are provided at both the front and rear ends of the lifting platform. Each set of sliders slides within a slide rail and is slidably connected to the guide bar. The first ends of the two sets of servo electric cylinders are hinged to the bottom of the inner side of the housing via the first hinge seat, and the second ends are hinged to the bottom of the lifting platform via the second hinge seat. The servo electric cylinders are electrically connected to the controller. During storage, the user operates the two sets of servo electric cylinders to shorten via the controller, causing the lifting platform to slide into the housing under the guidance of the guide bar and slider. The servo electric cylinders adapt to changes in angle with the cooperation of the first and second hinge seats, improving storage convenience.

[0009] Preferably, the locking assembly includes a locking slot, a first fixed pulley, a U-shaped frame, a first limiting plate, a first tension spring, a plug rod, a rope, and a second fixed pulley. The first fixed pulley, the second fixed pulley, and the U-shaped frame are respectively installed on the inner side of the housing. The locking slot is provided on the side of the lifting platform. The first end of the rope is fixedly connected to the bottom end of the cover plate. The second end of the rope passes around the bottom ends of the second fixed pulley and the first fixed pulley and is fixedly connected to the first end of the plug rod. The plug rod passes through the U-shaped frame and is slidably connected to it. The first limiting plate is installed on the plug rod inside the U-shaped frame. A first tension spring is provided between the first limiting plate and the U-shaped frame, and the first tension spring is fitted onto the outside of the plug rod. (Storage configuration) In the initial state, the lifting platform enters the housing, the slot and the insertion rod align, and the operator operates the cover to reseal the top of the housing. The cover no longer pulls on the first end of the rope, causing the first tension spring to pull on the first limit plate, which in turn causes the first limit plate to drive the insertion rod into the slot, locking the lifting platform in the vertical direction. When the cover is reopened, it pulls on the first end of the rope, and the second end of the rope pulls on the insertion rod, causing the insertion rod to move away from the slot and releasing the restriction on the vertical direction of the lifting platform. This prevents the operator from accidentally touching the controller if the cover is not open, which could cause the robotic arm and moxibustion head to rise or fall, and cause wear and tear on the robotic arm and moxibustion head.

[0010] Preferably, the support assembly includes a movable block, a chamber, a second limiting plate, a second tension spring, a side plate, a spring, a support plate, and a beveled end. The movable block passes through the housing and is slidably connected to it. A set of side plates is provided at both the front and rear ends of the movable block. A second tension spring is provided between the side plates and the housing. A chamber is provided inside the movable block. A second limiting plate is slidably installed inside the chamber. A spring is provided inside the chamber. A support plate is provided at the end of the second limiting plate away from the spring. One end of the support plate extends to the outside of the chamber. A beveled end is provided at the bottom of the support plate. When the cover seals the top of the housing, the end of the movable block away from the support plate moves outwards from the housing under the cooperation of the second tension spring and the side plate. When the cover releases the seal on the top of the housing, the cover changes from a horizontal to a vertical state, pushing one end of the movable block, thereby causing the movable block to move the support plate inwards from the housing. The support plate is above the lifting platform. By operating two sets of servo electric cylinders to extend, the top of the lifting platform comes into contact with the inclined end, causing the support plate to move the second tension spring 3 inside the chamber. When the lifting platform moves above the support plate, the second limit plate, under the action of the spring force, drives the support plate to reset, and at the same time, the top of the support plate contacts the bottom of the lifting platform, achieving stable support for the lifting platform. When the robotic arm 3, the robotic arm, and the moxibustion head need to re-enter the box, the user first adjusts the angle of the two sets of cover plates so that the two sets of support plates are away from the lifting platform. Then, the servo electric cylinders are shortened by operating the controller, so that the lifting platform, robotic arm, and moxibustion head descend. After the lifting platform has descended, 31 coincides with the insertion rod. The user changes the cover plate from a vertical state to a horizontal state that seals the top of the box, while the insertion rod is re-inserted into the slot.

[0011] Preferably, it also includes self-locking casters, with a set of self-locking casters provided at each of the four corners of the bottom of the box; the box moves in position with the cooperation of the four sets of self-locking casters, improving the flexibility of movement.

[0012] Preferably, it also includes a first magnetic block and a second magnetic block. A set of second magnetic blocks is provided on each of the left and right sides of the box, and a set of first magnetic blocks is provided on the top of each of the two sets of cover plates. When the two sets of cover plates are released from sealing the top of the box, the two sets of second magnetic blocks are magnetically connected to the two sets of first magnetic blocks respectively, so as to prevent the cover plates from shaking and improve the convenience of operation.

[0013] Preferably, it also includes a push handle, which is provided on the box body; the user holds the push handle and pushes the box body with the help of the self-locking casters, improving the ease of operation.

[0014] Preferably, a sealing gasket is provided at one end of each of the two sets of cover plates that are close to each other; when the two sets of cover plates cooperate to seal the top of the box, the sealing gasket seals the gap between the two sets of cover plates, thereby improving the sealing performance.

[0015] Preferably, the inclined end is provided with a smooth and wear-resistant coating; the inclined end, protected by the smooth and wear-resistant coating, comes into contact with the lifting platform, reducing wear and increasing service life.

[0016] Preferably, it also includes a handle, with a set of grooves provided at the top of each set of cover plates, and a handle provided in each set of grooves; the user opens the cover plate by using the handle, improving the ease of operation.

[0017] Compared with the prior art, the beneficial effects of this invention are as follows: During storage, the lifting assembly drives the lifting platform, robotic arm, and moxibustion head into the box. Two sets of covers, with the cooperation of pivot pins, seal the top of the box while the cover operation locking assembly secures the lifting platform. This prevents accidental contact with the controller when the cover is not open, thus avoiding the lifting assembly from raising the lifting platform, robotic arm, and moxibustion head, improving safety. During use, the seal on the top of the box is released, and as the cover flips, the locking assembly secures the lifting platform. The user operates the controller. The lifting assembly raises the lifting platform, robotic arm, and moxibustion head. When the cover is released from the seal on the top of the box, the operating support assembly provides stable support to the bottom of the raised lifting platform, improving its stability. Then, the moxibustion is placed inside the moxibustion head, and the robotic arm moves the moxibustion head to perform moxibustion on the user. After use, the cover operating support assembly moves away from the lifting platform. Then, the lifting assembly moves the lifting platform, robotic arm, and moxibustion head back into the box. Afterward, the cover reseals the top of the box, and the cover operating locking assembly re-locks the lifting platform. Attached Figure Description

[0018] Figure 1 This is an isometric structural diagram of the present invention in its usage state; Figure 2 This is a front cross-sectional structural diagram of the present invention; Figure 3 This is an exploded structural diagram of the present invention; Figure 4 This is an enlarged structural diagram of structures such as servo electric cylinders and robotic arms; Figure 5 It is an enlarged structural diagram of the cover plate and ropes, etc. Figure 6 yes Figure 5 A partially enlarged structural diagram of section A in the middle; Figure 7 This is an enlarged structural diagram of the movable block and the No. 2 tension spring, etc. Figure 8 This is a cross-sectional structural diagram of the moving block and the second limiting plate, etc. Figure 9 This is an enlarged structural diagram of the controller and optical bar, etc. Figure 10This is an isometric structural diagram of the present invention in its stored state.

[0019] The attached diagram shows the following markings: 101, housing; 102, controller; 103, lifting platform; 104, robotic arm; 105, moxibustion head; 106, pivot pin; 107, cover plate; 108, push handle; 109, first magnetic block; 110, second magnetic block; 112, handle; 113, self-locking caster wheel; 201, slide rail; 202, light bar; 203, slider; 204, first hinge seat; 205, second hinge seat. 206. Servo electric cylinder; 301. Slot; 302. First fixed pulley; 303. U-shaped frame; 304. First limit plate; 305. First tension spring; 306. Insert rod; 307. Rope; 308. Second fixed pulley; 401. Moving block; 402. Chamber; 403. Second limit plate; 404. Second tension spring; 405. Side plate; 406. Spring; 407. Support plate; 408. Inclined end. Detailed Implementation

[0020] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0021] like Figures 1 to 10As shown, a moxibustion robot of the present invention includes a housing 101, a controller 102, a lifting platform 103, a robotic arm 104, a moxibustion head 105, a pivot pin 106, and a cover plate 107. The housing 101 is generally a rectangular box structure and is formed by welding metal plates. Its interior has a storage cavity for accommodating the lifting platform 103, the robotic arm 104, and the moxibustion head 105. The controller 102 is fixedly installed on the front end face of the housing 101. The controller 102 is an intelligent control terminal integrating a touch screen and a main control circuit board, and its internal preset... The system includes a moxibustion path control program to issue action commands to all electrically driven components of the machine. The robotic arm 104 is a multi-joint, serially connected industrial robotic arm structure. The fixed end of the robotic arm 104 is mounted on the upper surface of the lifting platform 103. The free end of the robotic arm 104 is equipped with a moxibustion head 105, which is a cylindrical moxibustion actuator with a built-in moxa stick combustion chamber and smoke exhaust channel. Shaft pin seats are fixedly installed on the left and right edges of the top of the housing 101. Two sets of cover plates 107 are hinged to the housing 101 via shaft pins 106, thereby allowing the two sets of cover plates to... The cover plate 107 can rotate between a horizontal sealed position and a vertical open position around the pivot pin 106. The cover plate 107 is made of lightweight aluminum alloy sheet and has a sealing gasket on its inner edge to seal the top of the housing 101 when closed. A set of self-locking casters 113 are respectively provided at the four corners of the bottom of the housing 101. A push handle 108 is fixedly provided on the rear side wall of the housing 101 to facilitate the user to push the whole machine. The invention also includes a locking assembly, a lifting assembly, and a support assembly. The locking assembly is installed between the cover plate 107 and the housing 101 and is used to lock the top of the housing 101. The lifting platform 103 is fixed by a clamping mechanism. There are two sets of clamping components, which are symmetrically arranged on the left and right sides inside the housing 101. The lifting component is installed inside the housing 101 and is used to drive the lifting platform 103 to rise and fall. The support component is installed on the housing 101 and is used to support the bottom of the raised lifting platform 103. There are two sets of support components, which are symmetrically arranged on the left and right side walls of the housing 101. The robotic arm 104, the moxibustion head 105 and the lifting component are all electrically connected to the controller 102 and are centrally controlled by the controller 102.

[0022] Furthermore, the lifting assembly includes a slide groove 201, a guide bar 202, a slider 203, a first hinge seat 204, a second hinge seat 205, and a servo electric cylinder 206. A set of slide grooves 201 are vertically formed at both the front and rear ends of the inner side of the housing 101. A set of guide bars 202 is fixedly installed longitudinally inside each slide groove 201. The guide bars 202 are cylindrical stainless steel guide rods with ground surfaces. Slider blocks 203 are fixedly installed at both the front and rear ends of the lifting platform 103. Each set of sliders 203 is slidably installed in a corresponding set of slide grooves 201 and slidably engaged with the corresponding guide bar 202. A linear bearing is provided between the slider 203 and the guide bar 202 to reduce sliding friction and improve the smoothness of the lifting movement. The first ends of the two sets of servo electric cylinders 206 are respectively hinged to the bottom inner side of the housing 101 through the first hinge seat 204, and the second ends of the two sets of servo electric cylinders 206 are respectively hinged to the bottom of the lifting platform 103 through the second hinge seat 205. The servo electric cylinders 206 are electrically connected to the controller 102 and their extension and retraction actions are controlled by the controller 102. When the push rod of the servo electric cylinder 206 extends, it pushes the lifting platform 103 to move upward. When the push rod retracts, it drives the lifting platform 103 to move downward. During the lifting process, the slide groove 201 and the light bar 202 provide vertical guiding constraints for the slider 203. The first hinge seat 204 and the second hinge seat 205 adapt to the angle changes of the servo electric cylinder 206 during the extension and retraction of the push rod to avoid jamming.

[0023] Furthermore, the securing assembly includes a slot 301, a first fixed pulley 302, a U-shaped frame 303, a first limiting plate 304, a first tension spring 305, an insert rod 306, a rope 307, and a second fixed pulley 308. The first fixed pulley 302, the second fixed pulley 308, and the U-shaped frame 303 are fixedly installed on the inner side of the housing 101. Both the first fixed pulley 302 and the second fixed pulley 308 are nylon pulleys with rolling bearings, and their outer circumferential surfaces have annular grooves for the rope 307 to be inserted, guiding the rope 307 and reducing friction. To reduce wear and tear, the U-shaped frame 303 is a U-shaped metal bracket and is fixedly installed on the inner wall of the housing 101. The left and right sides of the lifting platform 103 are respectively provided with slots 301, which are either circular or conical blind holes. The first end of the rope 307 is fixedly connected to the bottom end of the cover plate 107. The second end of the rope 307 passes sequentially around the bottom ends of the second fixed pulley 308 and the first fixed pulley 302 and is fixedly connected to the first end of the insertion rod 306. The insertion rod 306 passes through the two side walls of the U-shaped frame 303 and slides against the U-shaped frame 303. Next, the second end of the insertion rod 306 is a cylindrical insertion end adapted to the slot 301. The first limiting plate 304 is fixedly installed on the insertion rod 306 on the inner side of the U-shaped frame 303. The first limiting plate 304 is close to the first end of the insertion rod 306. The first tension spring 305 is disposed between the first limiting plate 304 and the corresponding side wall of the U-shaped frame 303 and is sleeved on the outer side of the insertion rod 306. The first tension spring 305 always applies an elastic tension force to the first limiting plate 304 in the direction close to the lifting plate 103. When the cover plate 107 moves from the vertical opening position to the horizontal position... When the sealed position is flipped, the first end of the rope 307 relaxes as the cover plate 107 descends. The first tension spring 305 pulls the first limiting plate 304, thereby driving the second end of the insertion rod 306 to insert into the slot 301, thus locking the lifting platform 103 in the vertical direction. When the cover plate 107 flips from the horizontal sealed position to the vertical open position, the cover plate 107 pulls the first end of the rope 307. The second end of the rope 307 overcomes the elasticity of the first tension spring 305 and pulls the insertion rod 306 out of the slot 301, releasing the lock on the lifting platform 103.

[0024] Furthermore, the support assembly includes a movable block 401, a chamber 402, a second limiting plate 403, a second tension spring 404, a side plate 405, a spring 406, a support plate 407, and an inclined end 408. The movable block 401 is a rectangular metal block that horizontally passes through the side wall of the housing 101 and is slidably connected to the housing 101. The outer end of the movable block 401 is located on the outer side of the housing 101, and its inner end is located on the inner side of the housing 101. A set of side plates 405 are fixedly installed at the front and rear ends of the movable block 401, respectively. The side plates 405 are located on the outer side of the housing 101 and are parallel to and spaced apart from the outer wall of the housing 101. Two supports are provided between the side plates 405 and the housing 101. Tension spring 404 has one end fixedly connected to side plate 405 and the other end fixedly connected to the outer wall of housing 101. Tension spring 404 always applies an elastic tension to side plate 405 away from housing 101, thereby causing moving block 401 to return to its original position when not in operation. A chamber 402 is formed inside moving block 401 along its length. Chamber 402 has a square cavity structure. A second limiting plate 403 is slidably arranged inside chamber 402. The second limiting plate 403 is a square plate adapted to the cross-section of chamber 402. A spring 406 is arranged inside chamber 402 on the side of the second limiting plate 403 away from lifting platform 103. One end of spring 406 abuts against the inner wall of chamber 402 and the other end abuts against the second limiting plate 403. A support plate 407 is fixedly connected to the end of the second limiting plate 403 away from spring 406. The support plate 407 is a strip-shaped plate structure with one end extending to the outside of chamber 402. The bottom end of the support plate 407 is provided with a beveled end 408, which is a beveled cut surface that slopes inward and upward from the bottom edge of the support plate 407. Under normal conditions, the second tension spring 404 moves the moving block 401 away from the lifting platform 103, and the operating cover 107 releases the seal on the top of the housing 101. The cover 107 is in a vertical state and moves the outer end of the moving block 401. The movement causes the moving block 401 to move inward toward the inside of the housing 101. When the lifting platform 103 moves upward from below, the top edge of the lifting platform 103 contacts the inclined end 408 and pushes the support plate 407 outward under the guidance of the inclined surface. When the lifting platform 103 moves above the support plate 407, the spring 406 pushes the second limit plate 403 to reset, causing the support plate 407 to extend inward. This causes the top surface of the support plate 407 to contact the bottom surface of the lifting platform 103 to support the bottom of the lifting platform 103. The inclined end 408 is coated with a smooth and wear-resistant coating to reduce sliding friction wear between the lifting platform 103 and the inclined end 408.

[0025] Furthermore, a set of second magnetic blocks 110 are fixedly installed on the left and right sides of the box 101, and a set of first magnetic blocks 109 are fixedly installed on the top of the two sets of cover plates 107. The first magnetic block 109 and the second magnetic block 110 are both permanent magnets and their magnetic poles are configured to attract each other. When the cover plate 107 is flipped to the vertical opening position, the first magnetic block 109 and the corresponding second magnetic block 110 are magnetically attracted to keep the cover plate 107 in a vertical state, so as to prevent the cover plate 107 from accidentally shaking or falling back under the action of gravity. Furthermore, each set of cover plates 107 has a set of grooves at its top, and each set of grooves is provided with a handle 112. The handle 112 is an embedded rotating handle or a fixed pull handle. Users can apply a flipping force to the cover plate 107 by pulling the handle 112 in order to open or close the cover plate 107.

[0026] like Figures 1 to 10As shown, the moxibustion robot of the present invention, in its initial state during operation, is in a retracted state, with the lifting platform 103, robotic arm 104, and moxibustion head 105 all submerged inside the housing 101. Two sets of cover plates 107 are in a horizontally sealed position, sealing the top of the housing 101. At this time, the bottom of the cover plate 107 no longer pulls the rope 307. The first tension spring 305 of the locking component pushes the insertion rod 306 into the slot 301 on the side of the lifting platform 103 through the first limiting plate 304, thus locking the lifting platform 103 vertically. Simultaneously, the moving block 401 of the support component is reset outwards under the tension of the second tension spring 404. The support plate 407 is outside the housing 101 and does not interfere with the lifting platform 103. 3. When the user needs to activate the moxibustion robot, firstly, the two sets of cover plates 107 are flipped outward around the pivot pin 106 using the handle 112. The cover plates 107 gradually change from a horizontal sealed position to a vertical open position. During this flipping process, the bottom end of the cover plate 107 pulls the first end of the rope 307. After being guided by the second fixed pulley 308 and the first fixed pulley 302, the second end of the rope 307 overcomes the elastic force of the first tension spring 305 and pulls the insertion rod 306 away from the slot 301, thereby releasing the lock on the lifting platform 103. At the same time, after the cover plate 107 is flipped to the vertical position, the first magnetic block 109 and the second magnetic block 110 magnetically attract each other, keeping the cover plate 107 vertical and stable. During the flipping process, the side of the cover plate 107 pushes the moving block 401. The outer end of the sliding block 401 slides into the housing 101, and the second tension spring 404 is stretched. The sliding block 401 drives the support plate 407 into the housing 101 and positions it above the lifting path of the lifting platform 103. Then, the user activates the two sets of servo electric cylinders 206 of the lifting assembly through the controller 102. The push rods of the servo electric cylinders 206 extend and push the lifting platform 103 upward through the second hinge seat 205. The lifting platform 103 rises smoothly under the guidance of the slider 203 and the light bar 202. When the top edge of the lifting platform 103 contacts the inclined end 408 of the bottom of the support plate 407, the support plate 407 retracts into the cavity 402 under the guidance of the inclined surface, thus lifting the platform. The lowering platform 103 continues to rise until its top passes the support plate 407. At this time, the spring 406 pushes the second limit plate 403 to reset, causing the support plate 407 to extend inward. The top surface of the support plate 407 is exactly against the bottom surface of the lifting platform 103, thus supporting the bottom of the lifting platform 103 and preventing the lifting platform 103 from tilting or shaking due to the unbalanced torque generated by the movement of the robotic arm 104 during moxibustion. After the lifting platform 103 is raised to the correct position, the user lights the moxa stick and places it inside the moxibustion head 105. The controller 102 operates the robotic arm 104 to move the moxibustion head 105 above the user's acupoints according to the preset moxibustion path, performing moxibustion techniques such as hovering, rotating, or pecking to conduct moxibustion therapy.When the moxibustion therapy is finished and the equipment needs to be stored, the user first slightly lifts the two sets of cover plates 107 from their vertical position to release the push of the cover plates 107 on the moving block 401. Under the tension of the second tension spring 404, the moving block 401 returns to its original position outward, thereby moving the support plate 407 away from the lifting platform 103. Then, the servo electric cylinder 206 is shortened by the controller 102. The servo electric cylinder 206 pulls the lifting platform 103 downward, so that the lifting platform 103 descends smoothly into the housing 101 under the guidance of the light bar 202 and the slider 203. After the lifting platform 103 descends to its final position, the slot 301 on its side and the insertion rod 306 are at the same horizontal level. The user flips the two sets of cover plates 107 from the vertically open position to the horizontally sealed position. The bottom of the cover plate 107 releases the pull on the rope 307, and the first tension spring 305 pushes the insertion rod 306 back into the slot 301 through the first limiting plate 304, thereby relocking the lifting platform 103. At the same time, the sealing gaskets at the edges of the two sets of cover plates 107 press against each other to seal the top of the housing 101, and the entire machine returns to its stored state.

[0027] The main functions achieved by this invention are as follows: through the cooperation of the housing 101, the lifting assembly, and the cover plate 107, the robotic arm 104 and the moxibustion head 105 can be extended for use in the working state and completely retracted in the idle state, significantly reducing the space occupied by the whole machine in the non-working state; through the linkage between the cover plate 107 and the locking assembly, the lifting platform 103 is automatically locked when the cover plate 107 is closed, preventing the user from accidentally touching the controller 102 and causing the lifting platform 103 to rise unexpectedly, which would lead to the robotic arm 104 colliding and being damaged by the cover plate 107, effectively improving the safety of use.

[0028] The moxibustion robot of this invention uses common mechanical methods for installation, connection, or setup, and can be implemented as long as it achieves the beneficial effects. All sliding surfaces between the moving parts are equipped with lubrication structures to reduce wear. For example, a graphite bushing or oil injection hole is provided between the light bar 202 and the slider 203, a wear-resistant copper sleeve is provided between the insertion rod 306 and the U-shaped frame 303, and a polytetrafluoroethylene sliding sleeve is provided between the moving block 401 and the side wall of the housing 101. Simultaneously, electrical components such as the servo electric cylinder 206 and the controller 102 are equipped with corresponding waterproof and dustproof structures. For example, the controller 102's panel uses membrane buttons and its interface is equipped with a sealing rubber plug, and the extension end of the push rod of the servo electric cylinder 206 is equipped with... Dustproof telescopic sleeves are used to protect the internal lead screw and seals. Furthermore, the wiring between the controller 102 and the robotic arm 104 and servo electric cylinder 206 uses flexible drag chain cables laid along the cable trays on the inner wall of the housing 101. During the lifting process of the lifting platform 103, the cables bend with the drag chain without tangling or pulling. The above wiring and control schemes are conventional techniques in the field and will not be described in detail here. The controller 102, robotic arm 104, moxibustion head 105, servo electric cylinder 206, first magnetic block 109, and second magnetic block 110 of the moxibustion robot of this invention are commercially available. Those skilled in the art only need to install and operate them according to the accompanying instruction manual, without requiring any creative effort from those skilled in the art.

[0029] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A moxibustion robot, characterized in that, The system includes a housing (101), a controller (102), a lifting platform (103), a robotic arm (104), a moxibustion head (105), a pivot pin (106), and a cover plate (107). The controller (102) is fixedly installed at the front end of the housing (101). The free end of the robotic arm (104) is provided with a moxibustion head (105). The top left and right sides of the housing (101) are respectively hinged to one end of the cover plate (107) through the pivot pin (106). The system also includes: The clamping assembly is installed between the cover plate (107) and the housing (101) to clamp the lifting platform (103). There are two sets of clamping assemblies, which are symmetrically arranged. The lifting assembly is installed inside the housing (101) and is used to lift the lifting platform (103); The support assembly is installed on the housing (101) and is used to support the bottom of the raised lifting platform (103). There are two sets of support assemblies, which are arranged symmetrically. The robotic arm (104), the moxibustion head (105), and the lifting assembly are all electrically connected to the controller (102).

2. The moxibustion robot as described in claim 1, characterized in that, The lifting assembly includes a slide rail (201), a light bar (202), a slider (203), a first hinge seat (204), a second hinge seat (205), and a servo electric cylinder (206). The front and rear ends of the inner side of the housing (101) are respectively provided with slide rails (201). A set of light bars (202) is longitudinally fixed inside each set of slide rails (201). The front and rear ends of the lifting platform (103) are respectively provided with sliders (203). Each set of sliders (203) is slidably set in a set of slide rails (201) and slidably connected to the light bar (202). The first ends of the two sets of servo electric cylinders (206) are respectively hinged to the bottom end of the inner side of the housing (101) through the first hinge seat (204). The second ends of the two sets of servo electric cylinders (206) are respectively hinged to the bottom end of the lifting platform (103) through the second hinge seat (205). The servo electric cylinders (206) are electrically connected to the controller (102).

3. The moxibustion robot as described in claim 1, characterized in that, The locking assembly includes a locking slot (301), a first fixed pulley (302), a U-shaped frame (303), a first limiting plate (304), a first tension spring (305), a plug rod (306), a rope (307), and a second fixed pulley (308). The inner side of the housing (101) is respectively equipped with a first fixed pulley (302), a second fixed pulley (308), and a U-shaped frame (303). The side of the lifting platform (103) is equipped with a locking slot (301). The first end of the rope (307) is fixedly connected to the bottom end of the cover plate (107). The second end of the cable (307) passes over the bottom ends of the second fixed pulley (308) and the first fixed pulley (302) respectively and is fixedly connected to the first end of the insertion rod (306). The insertion rod (306) passes through the U-shaped frame (303) and is slidably connected to the U-shaped frame (303). The first limiting plate (304) is installed on the insertion rod (306) on the inner side of the U-shaped frame (303). A first tension spring (305) is provided between the first limiting plate (304) and the U-shaped frame (303). The first tension spring (305) is fitted on the outer side of the insertion rod (306).

4. The moxibustion robot as described in claim 1, characterized in that, The support assembly includes a movable block (401), a chamber (402), a second limiting plate (403), a second tension spring (404), a side plate (405), a spring (406), a support plate (407), and an inclined end (408). The movable block (401) passes through the housing (101) and is slidably connected to the housing (101). A set of side plates (405) is provided at the front and rear ends of the movable block (401), and a space is provided between the side plates (405) and the housing (101). There is a second tension spring (404), a chamber (402) is provided inside the moving block (401), a second limiting plate (403) is slidably provided inside the chamber (402), a spring (406) is provided inside the chamber (402), a support plate (407) is provided at the end of the second limiting plate (403) away from the spring (406), one end of the support plate (407) extends to the outside of the chamber (402), and a slope end (408) is provided at the bottom of the support plate (407).

5. The moxibustion robot as described in claim 4, characterized in that, It also includes self-locking casters (113), and a set of self-locking casters (113) is provided at each of the four corners of the bottom of the box (101).

6. The moxibustion robot as described in claim 1, characterized in that, It also includes a first magnetic block (109) and a second magnetic block (110). A set of second magnetic blocks (110) is provided on the left and right sides of the box (101), and a set of first magnetic blocks (109) is provided on the top of the two sets of cover plates (107).

7. The moxibustion robot as described in claim 5, characterized in that, It also includes a push handle (108), which is provided on the housing (101).

8. The moxibustion robot as described in claim 1, characterized in that, A sealing gasket is provided at the close end of the two sets of cover plates (107).

9. The moxibustion robot as described in claim 4, characterized in that, A smooth, wear-resistant coating is provided on the beveled end (408).

10. The moxibustion robot as described in claim 1, characterized in that, It also includes a handle (112), and each set of cover plates (107) has a set of grooves at the top, and each set of grooves has a handle (112).

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