Intelligent automatic moxibustion robot

Abstract

The utility model relates to an intelligent automatic moxibustion robot which comprises a clamp, a mechanical arm, a visual camera, a temperature sensor and a central control system. The central control system is used for controlling the operation of the whole robot; the clamp is used for clamping and fixing moxa sticks, the clamp is connected to the execution end of the mechanical arm, and the mechanical arm can drive the clamp to move in the space; the clamp is composed of two clamping heads, and the two clamping heads are driven by a driving mechanism to get close to each other or get away from each other. The visual camera is connected to the execution end of the mechanical arm and used for recognizing moxibustion acupuncture points of the human body, and the mechanical arm is controlled by the central control system to move moxa sticks on the clamp to the corresponding position; the temperature sensor is connected to the lower portion of the mechanical arm and used for monitoring the temperature of the moxibustion acupuncture point of the human body in real time. Based on visual identification of the depth camera, movement of the moxa sticks can be automatically controlled, and therefore the problem that manual accurate positioning cannot be achieved for a long time is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic moxibustion, in particular to an intelligent automatic moxibustion robot. Background Art

[0002] At present, most moxibustion in China is done manually. During the moxibustion process, professional moxibustion practitioners need to select appropriate acupoints according to the patient's physical condition and perform long-term, repetitive operations. However, the temperature of moxibustion is difficult to control, and the long-term moxibustion process will reduce the physical strength and attention of the practitioners, and it is impossible to ensure long-term accurate positioning, which will lead to poor moxibustion effects. Summary of the invention

[0003] The purpose of the utility model is to overcome the deficiencies of the prior art and provide an intelligent automatic moxibustion robot to solve the problem that manual labor cannot accurately position the moxibustion robot for a long time.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] Intelligent automatic moxibustion robot, including clamps, robotic arms, visual cameras, temperature sensors and central control system;

[0006] The central control system is used to control the operation of the entire robot;

[0007] The clamp is used to clamp and fix the moxa stick, and the clamp is connected to the execution end of the mechanical arm, and the mechanical arm can drive the clamp to move in space; the clamp is composed of two clamps, and the two clamps are driven by a driving mechanism to move closer to each other or away from each other, and the two clamps are clamped when they are close to each other, and the moxa stick is released when the two clamps are away from each other;

[0008] The visual camera is connected to the execution end of the robotic arm, and the visual camera is used to identify the acupuncture points of the human body, and the central control system controls the robotic arm to move the moxa stick on the fixture to the corresponding position;

[0009] The temperature sensor is connected to the lower part of the robotic arm and is used to monitor the temperature of the moxibustion acupoints on the human body in real time. If the temperature is higher than the set warning temperature, the central control system controls the robotic arm to move the moxa stick away from the acupoint. If the temperature is lower than the set warning temperature, the robotic arm moves closer to the acupoint.

[0010] Furthermore, a mesh plate is fixed below the clamp.

[0011] Furthermore, the driving mechanism includes a seat body, a motor, a slide and a screw. The motor is fixed at the rear end of the seat body, the output shaft of the motor is connected to the screw by transmission, the slide and the screw are connected by threaded transmission, the rear ends of the two chucks are hinged to the two sides of the seat body through connecting rods, and the rear ends of the two chucks are also hinged to the two sides of the slide through rocker arms.

[0012] Furthermore, the chuck is a flexible chuck, and a middle portion of the chuck has an arc-shaped groove.

[0013] Furthermore, the temperature sensor is an infrared temperature sensor.

[0014] The utility model adopts the above technical solution, based on the visual recognition of the depth camera, and can automatically control the movement of the moxa stick, thereby solving the problem that manual positioning cannot be accurately performed for a long time. A temperature sensor is used for real-time temperature monitoring. If the temperature of the moxibustion point is higher than the set temperature, the moxa stick is automatically clamped away from the acupuncture point; if the temperature is too low, it is moved closer to the acupuncture point to achieve a constant temperature effect and avoid burns to the patient. At the same time, a mesh plate is provided at the bottom of the clamp to prevent ashes from falling on the skin, improving the patient's good moxibustion experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention is further described in detail below with reference to the accompanying drawings and specific implementations:

[0016] Figure 1 It is a schematic diagram of the structure of the utility model;

[0017] Figure 2 is a schematic diagram of the structure of the fixture;

[0018] Figure 3 Schematic diagram of the mesh plate. DETAILED DESCRIPTION

[0019] like Figure 1-3 As shown, the intelligent automatic moxibustion robot of the utility model includes a clamp 1, a mechanical arm 4, a visual camera 3, a temperature sensor 5 and a central control system.

[0020] The central control system is used to control the operation of the entire robot, and the central control system can adopt a plc controller.

[0021] The clamp 1 is used to clamp and fix the moxa stick. The clamp 1 is connected to the execution end of the mechanical arm 4, and the mechanical arm 4 can drive the clamp 1 to move in space.

[0022] The visual camera 3 adopts the ROS system. The visual camera 3 is connected to the execution end of the robot arm 4. The visual camera 3 is used to identify the acupuncture points of the human body, and the central control system controls the robot arm 4 to move the moxa stick on the fixture 1 to the corresponding position.

[0023] The temperature sensor 5 is connected to the lower part of the mechanical arm 4. The mechanical arm 4 drives the temperature sensor 5 to aim at the moxibustion acupoints of the human body to monitor the temperature of the moxibustion acupoints of the human body in real time. If the temperature is higher than the set warning temperature, the central control system controls the mechanical arm 4 to move the moxa stick away from the acupoints. If the temperature is lower than the set warning temperature, the moxa stick is moved closer to the acupoints. Among them, the temperature sensor 5 can be an infrared temperature sensor, which can realize non-contact accurate temperature measurement of the moxibustion acupoints of the human body.

[0024] A mesh plate 2 is fixed under the clamp 1 to prevent ashes from falling onto the skin, thereby improving the patient's moxibustion experience.

[0025] The clamp 1 is composed of two clamps 11, which are driven by a driving mechanism to move closer to or farther from each other. When the two clamps 11 move closer to each other, the moxa stick is clamped, and when the two clamps 11 move away from each other, the moxa stick is released; the driving mechanism includes a seat 12, a motor 13, a slide 14 and a screw 15. The motor 13 is fixed to the rear end of the seat 12, the output shaft of the motor 13 is connected to the screw 15 by transmission, the slide 14 is connected to the screw 15 by threaded transmission, the rear ends of the two clamps 11 are respectively hinged to the two sides of the seat 12 by connecting rods 16, and the rear ends of the two clamps 11 are also respectively hinged to the two sides of the slide 14 by rocker arms 17. With the above structure, the clamping and loosening actions of the two clamps 11 can be driven by the forward and reverse rotation of the motor 13.

[0026] The chuck 11 is a flexible chuck, and the middle part of the chuck 11 has an arcuate groove, which can be adapted to the shape of the moxa stick, so that the moxa stick can be effectively clamped. In addition, due to the fragile nature of the moxa stick, the moxa stick is clamped by a flexible chuck, which is not easy to deform.

[0027] The robot arm 4 may be a six-axis robot.

[0028] The working principle of this utility model:

[0029] 1. Medical staff formulate a moxibustion plan based on the patient's condition, input it into the host computer, and mark the acupoints to be moxibustioned;

[0030] 2. After the visual camera 3 recognizes the marked point, it converts it into point cloud coordinates and plans the motion trajectory;

[0031] 3. The central control system sends a signal to control the robot to hold the moxa stick and move to the corresponding position to start moxibustion;

[0032] 4. The temperature sensor 5 sets the warning temperature. The temperature sensor 5 monitors the temperature in real time. If the temperature is higher than the set warning temperature, the clamp 1 automatically clamps the moxa stick away from the acupuncture point. If the temperature is too low, the clamp moves closer to the acupuncture point.

[0033] 5. During the moxibustion process, the visual camera 3 monitors the patient's position changes in real time, and controls the robotic arm 4 through the host computer to move the moxa stick to the appropriate position.

[0034] To replace the moxa stick, just operate the gripping clamp to loosen the clamp 1, then the clamp can be removed and replaced with a new moxa stick.

[0035] The above describes the specific implementation of the present invention, but those skilled in the art should understand that this is only an example. Those skilled in the art can make various changes or modifications to this implementation without departing from the principle and essence of the present invention, but these changes and modifications are all within the scope of protection of the present invention.

Claims

1. Intelligent automatic moxibustion robot, characterized by: Including fixtures, robotic arms, visual cameras, temperature sensors and central control systems; The central control system is used to control the operation of the entire robot; The clamp is used to clamp and fix the moxa stick, and the clamp is connected to the execution end of the mechanical arm, and the mechanical arm can drive the clamp to move in space; the clamp is composed of two clamps, and the two clamps are driven by a driving mechanism to move closer to each other or away from each other, and the two clamps are clamped when they are close to each other, and the moxa stick is released when the two clamps are away from each other; The visual camera is connected to the execution end of the robotic arm, and the visual camera is used to identify the acupuncture points of the human body, and the central control system controls the robotic arm to move the moxa stick on the fixture to the corresponding position; The temperature sensor is connected to the lower part of the robotic arm and is used to monitor the temperature of the moxibustion acupoints on the human body in real time. If the temperature is higher than the set warning temperature, the central control system controls the robotic arm to move the moxa stick away from the acupoint. If the temperature is lower than the set warning temperature, the robotic arm moves closer to the acupoint.

2. The intelligent automatic moxibustion robot according to claim 1, characterized in that: A mesh plate is fixed below the clamp.

3. The intelligent automatic moxibustion robot according to claim 1, characterized in that: The driving mechanism includes a seat body, a motor, a slide and a screw. The motor is fixed at the rear end of the seat body, the output shaft of the motor is connected to the screw by transmission, the slide and the screw are connected by threaded transmission, the rear ends of the two chucks are hinged to the two sides of the seat body through connecting rods, and the rear ends of the two chucks are also hinged to the two sides of the slide through rocker arms.

4. The intelligent automatic moxibustion robot according to claim 1, characterized in that: The clamp is a flexible clamp, and a curved groove is provided in the middle of the clamp.

5. The intelligent automatic moxibustion robot according to claim 1, characterized in that: The temperature sensor is an infrared temperature sensor.

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