Moxibustion equipment

Abstract

According to the scheme, the moxibustion equipment comprises a moxibustion box, a mechanical arm, an ignition bin, an ash removal bin and a main machine, and the moxibustion box is arranged at the tail end of the mechanical arm; the head end of the mechanical arm, the ignition bin and the ash removal bin are all arranged on the main machine, and the mechanical arm can drive the moxibustion box to be in butt joint with the ignition bin and the ash removal bin and execute moxibustion action under the control of the main machine. By the adoption of the moxibustion equipment, the main machine can control the mechanical arm to enable the moxibustion box to ignite in the ignition bin and remove ash in the ash removal bin, and moxibustion operation is carried out under driving of the mechanical arm. Therefore, the physician only needs to operate the host in the process, so that the labor intensity of the physician is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of moxibustion equipment, and in particular to a moxibustion equipment. Background Art

[0002] As people's understanding of moxibustion deepens, it has become a popular choice for modern health and wellness. Moxibustion uses moxa leaves to generate heat to stimulate acupuncture points or specific areas on the body surface, stimulating the flow of qi in the meridians and regulating disrupted body functions. Traditional moxibustion therapy typically involves a practitioner igniting the moxa stick with a handheld lighter and manually scraping off the ash after burning for a period of time, which increases the practitioner's workload.

[0003] Therefore, how to reduce the labor intensity of doctors has become a technical problem that needs to be solved urgently by those skilled in the art. Utility Model Content

[0004] This application proposes a moxibustion device to reduce the labor intensity of doctors.

[0005] In order to achieve the above objectives, this application discloses the following technical solutions:

[0006] A moxibustion device includes a moxibustion box, a robotic arm, an ignition chamber, an ash removal chamber and a main unit, wherein: the moxibustion box is arranged at the end of the robotic arm; the head end of the robotic arm, the ignition chamber and the ash removal chamber are all arranged on the main unit. Under the control of the main unit, the robotic arm can drive the moxibustion box to dock with the ignition chamber, dock with the ash removal chamber, and perform moxibustion actions.

[0007] In some embodiments, the ignition chamber includes an ignition cup and an ignition rod. The ignition cup has an ignition port that docks with the moxibustion box and a receiving cavity. The ignition rod is disposed in the receiving cavity and is electrically connected to the host.

[0008] In some embodiments, the ignition chamber further includes an in-place switch for detecting that the moxa stick is in place, and the in-place switch is electrically connected to the host.

[0009] In some embodiments, the ash removal bin includes an ash removal tank and an ash removal shrapnel, wherein the ash removal tank has an ash removal port and a storage cavity docked with the moxibustion box; the ash removal shrapnel is arranged in the ash removal tank and can abut against the moxa stick extended into the ash removal port.

[0010] In some embodiments, the dust removal bin further includes a dust cleaning drawer disposed on the dust removal tank and being pullable relative to the dust removal tank.

[0011] In some embodiments, the moxibustion box includes a moxibustion shell, a moxa stick fixing assembly, a feed drive assembly and a cover opening assembly. The moxibustion shell includes a moxibustion port. The moxa stick fixing assembly, the feed drive assembly and the cover opening assembly are all arranged on the moxibustion shell; the feed drive assembly is transmission-connected to the moxa stick fixing assembly to drive the moxa stick fixing assembly to feed toward the moxibustion port; the bottom cover of the cover opening assembly is located at the moxibustion port.

[0012] In some embodiments, the cover opening assembly includes a servo, a guide rail, multiple sliders, multiple bottom covers and a transmission rod mechanism, wherein the slider is slidably set on the guide rail; the multiple bottom covers are connected to the corresponding sliders, and are configured with a closed state in which they are close to each other and spliced ​​into one body, and an open state in which they are far away from each other to form a dust drop opening in the area between them; the transmission rod mechanism is connected to the slider and the servo, and under the drive of the servo, the multiple bottom covers are in a closed state when the multiple sliders are close to each other, and are in an open state when the multiple sliders are far away from each other.

[0013] In some embodiments, the number of the bottom cover is two, namely a first bottom cover and a second bottom cover, and the first bottom cover and the second bottom cover move in a first preset direction to switch between a closed state and an open state;

[0014] There are two sliders, namely a first slider and a second slider, which are arranged side by side on the same guide rail or different guide rails; the first slider is connected to the first bottom cover, and the second slider is connected to the second bottom cover; the guide rail extends in a first preset direction;

[0015] The first slider is connected to the first bottom cover via a first connecting rod; the second slider is connected to the second bottom cover via a second connecting rod.

[0016] In some embodiments, the transmission rod mechanism includes a first transmission rod, a second transmission rod, and a third transmission rod, wherein a middle portion of the first transmission rod is transmission-connected to an output shaft of the servo; a first end of the first transmission rod is hinged to a first end of the second transmission rod, and a second end of the second transmission rod is hinged to a first slider to drive the first slider to slide on a guide rail; a second end of the first transmission rod is hinged to a first end of the third transmission rod, and a second end of the third transmission rod is hinged to a second slider to drive the second slider to slide on the guide rail;

[0017] The distance between the two hinge points of the second transmission rod is equal to the distance between the two hinge points of the third transmission rod; the distance between the two hinge points of the first transmission rod and the rotation center of the output shaft is equal.

[0018] In some embodiments, the feed drive assembly includes a motor, a screw-nut mechanism, and a mounting plate. The motor is disposed on the first moxibustion housing. The screw-nut mechanism is in transmission connection with the motor. The nut of the screw-nut mechanism is connected to the mounting plate and can drive the mounting plate to move along the second preset direction. The moxa stick fixing assembly is fixed to the mounting plate.

[0019] The moxa stick fixing assembly includes a handle, a base and a moxa stick clamp which are connected in sequence. The base is used to be detachably mounted on the mounting plate to move with the mounting plate.

[0020] As can be seen from the above technical solution, with the moxibustion device of the present application, the host can control the robotic arm to ignite the moxibustion box in the ignition bin, remove ash in the ash removal bin, and then perform the moxibustion operation under the control of the robotic arm. Therefore, the doctor only needs to operate the host during the above process, thereby reducing the doctor's labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the embodiments or prior art descriptions. Obviously, the drawings described below are only some examples or embodiments of the present application. For those of ordinary skill in the art, without paying any creative work, other drawings can be obtained based on the provided drawings, and the present application can also be applied to other similar scenarios based on the provided drawings. Unless it is obvious from the language context or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0022] Figure 1 A three-dimensional diagram of a moxibustion device provided in an embodiment of the present application;

[0023] Figure 2 This is an external structural diagram of an ignition chamber provided in an embodiment of the present application;

[0024] Figure 3 This is an external structural diagram of an ash removal bin provided in an embodiment of the present application;

[0025] Figure 4 This is a diagram of the internal structure of an ash removal bin provided in an embodiment of the present application;

[0026] Figure 5 This is a diagram of the external structure of a moxibustion box provided in an embodiment of the present application;

[0027] Figure 6 A diagram showing the internal structure of a moxibustion box provided in an embodiment of the present application;

[0028] Figure 7 A three-dimensional diagram of a cover opening assembly provided in an embodiment of the present application;

[0029] In the figure: 10-moxibustion box; 20-robotic arm; 30-ignition chamber; 40-ash removal chamber; 50-host;

[0030] 100-opening assembly; 200-moxibustion housing; 300-moxa stick fixing assembly; 400-feed drive assembly;

[0031] 110 - Servo; 111 - Servo fixing plate; 120 - Guide rail; 130 - Slider; 131 - First slider; 132 - Second slider; 140 - Bottom cover; 141 - First bottom cover; 142 - Second bottom cover; 150 - Transmission rod mechanism; 151 - First transmission rod; 152 - Second transmission rod; 153 - Third transmission rod; 160 - Connecting rod; 161 - First connecting rod; 162 - Second connecting rod;

[0032] 210 - first moxibustion shell; 220 - second moxibustion shell; 230 - top cover; 240 - top plate; 250 - bottom plate; 251 - first guide hole; 252 - moxa stick channel;

[0033] 310-handle; 320-base; 330-moxa stick clamp;

[0034] 410-motor; 420-screw nut mechanism; 430-mounting plate;

[0035] 31 - ignition pot, 32 - ignition rod, 33 - ignition support, 34 - position switch, 35 - position support; 31a - accommodating cavity, 31b - ignition port; 33a - first mounting hole, 33b - first fastener; 35a - second mounting hole, 35b - second fastener;

[0036] 41 - ash removal tank, 42 ​​- ash removal spring, 43 - spring support, 44 - drawer; 41a - storage cavity, 41b - ash removal port; 43a - third mounting hole, 43b - third fastener. DETAILED DESCRIPTION

[0037] The present application will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are merely for explaining the related application and are not intended to limit the application. The described embodiments are merely a portion of the embodiments of the present application and are not intended to be exhaustive. All other embodiments derived by persons of ordinary skill in the art based on the embodiments in the present application without creative effort are intended to fall within the scope of protection of the present application.

[0038] See also Figure 1 The moxibustion device of the embodiment of the present application includes a moxibustion box 10, a robotic arm 20, an ignition bin 30, an ash removal bin 40 and a main unit 50, wherein: the moxibustion box 10 is arranged at the end of the robotic arm 20; the head end of the robotic arm 20, the ignition bin 30 and the ash removal bin 40 are all arranged on the main unit 50. Under the control of the main unit 50, the robotic arm 20 can drive the moxibustion box 10 to dock with the ignition bin 30, dock with the ash removal bin 40, and perform moxibustion actions.

[0039] With the moxibustion device of the present application, the host 50 can control the robotic arm 20 to ignite the moxibustion box 10 in the ignition chamber 30, remove ash in the ash removal chamber 40, and perform the moxibustion operation under the control of the robotic arm 20. Therefore, the doctor only needs to operate the host 50 during the above process, thereby reducing the doctor's labor intensity.

[0040] The function of the ignition chamber 30 is to ignite the moxibustion column in the moxibustion box 10. Figure 2 As shown, the ignition chamber 30 includes an ignition cup 31 and an ignition rod 32. The ignition cup 31 has an ignition port 31b docking with the moxibustion box 10 and a receiving cavity 31a; the ignition rod 32 is arranged in the receiving cavity 31a and is electrically connected to the host 50.

[0041] It should be noted that there are two ignition rods 32, which are arranged opposite each other. These ignition rods 32 are mounted on the inner wall of the ignition pot 31 via an ignition support 33. Specifically, the ignition support 33 is secured to the ignition pot 31 via a first fastener 33b. To facilitate adjustment of the distance between the ignition rods 32, the first mounting hole 33a of the ignition support 33, which receives the first fastener 33b, is an elongated hole, enabling stepless adjustment.

[0042] When the moxibustion box 10 is docked with the ignition chamber 30, the host 50 controls the ignition rod 32 to ignite to complete the ignition operation. The success of the docking can be detected by setting a sensor. In some examples of the present application, the ignition chamber 30 also includes a position switch 34 for detecting the position of the moxa stick. The position switch 34 is electrically connected to the host 50.

[0043] When the in-position switch 34 generates an in-position signal, the moxibustion box 10 is successfully docked with the ignition chamber 30 , and the ignition rod 32 performs an ignition action.

[0044] The in-position switch 34 is mounted on the ignition pot 31 via a in-position support 35. Specifically, the ignition pot 31 is mounted on the ignition pot 31 via a second fastener 35b. To facilitate adjustment of the position of the in-position switch 34, the position of the in-position support 35 relative to the ignition pot 31 is adjustable. Specifically, the second mounting hole 35a of the in-position support 35 for mounting the second fastener 35b is an elongated hole to achieve stepless adjustment.

[0045] The function of the ash removal bin 40 is to remove the ash from the moxibustion column in the moxibustion box 10. Figure 3 and Figure 4As shown, the ash removal bin 40 includes an ash removal tank 41 and an ash removal spring 42. The ash removal tank 41 has an ash removal port 41b that docks with the moxa box 10 and a storage cavity. The ash removal spring 42 is located within the ash removal tank 41 and is capable of contacting a moxa stick inserted into the ash removal port 41b. When ash removal is required, the host 50 controls the robotic arm 20 to dock the moxa box 10 with the ash removal bin 40. The ash removal spring 42 then contacts the ash on the moxa stick, removing the ash and storing it in the storage cavity 41a.

[0046] It should be noted that the ash removal spring 42 is mounted on the ash removal canister 41 via a spring support 43. In the figure, there are three ash removal springs 42, each mounted on the ignition canister 31 via a spring support 43. Specifically, the spring support 43 is provided with a third mounting hole 43a, which is connected to the ignition canister 31 by installing a third fastener 43b. To facilitate adjusting the distance between the ash removal spring 42 and the ash removal port 41b, the spring support 43 is height-adjustable relative to the ignition canister 31, and the third mounting hole 43a is an elongated hole.

[0047] In addition, to facilitate the cleaning of the dust in the storage cavity 41a, the dust removal bin 40 of the present embodiment may further include a dust removal drawer 44 disposed on the dust removal tank 41 and retractable relative to the dust removal tank 41. When dust needs to be cleaned, the dust removal drawer 44 can be removed and discarded, and the drawer 44 can be installed in the dust removal tank 41 before use.

[0048] The host 50 can control the moxibustion box 10, the robotic arm 20 and the ignition chamber 30 to perform the following steps:

[0049] Step 1: After receiving the operation instruction input by the operator, the host 50 controls the robotic arm 20 to drive the moxibustion box 10 and dock it with the ignition port 31b of the ignition chamber 30;

[0050] Step 2: If the in-position switch 34 generates an in-position signal, the ignition rod 32 of the ignition chamber 30 performs an ignition action;

[0051] Step 3: The host 50 controls the robotic arm 20 to move the moxibustion box 10 to perform the moxibustion action;

[0052] Step 4: At preset intervals, the robotic arm 20 is controlled to drive the moxibustion box 10 and dock with the ash removal port 41b of the ash removal bin 40 to perform ash removal;

[0053] Repeat steps 3 and 4 until the moxa cone 10a is completely burned.

[0054] See also Figures 5 to 7The above-mentioned moxibustion box 10 of the present application includes a cover opening assembly 100, a moxibustion shell 200, a moxa stick fixing assembly 300 and a feed drive assembly 400; the moxibustion shell 200 includes a moxibustion port, and the moxa stick fixing assembly 300, the feed drive assembly 400 and the cover opening assembly 100 are all arranged on the moxibustion shell 200; the feed drive assembly 400 is transmission-connected with the moxa stick fixing assembly 300 to drive the moxa stick fixing assembly 300 to feed toward the moxibustion port; the bottom cover 140 of the cover opening assembly 100 is located at the moxibustion port, and when the bottom cover 140 of the cover opening assembly 110 is in a closed state, the moxibustion port is closed, and when the bottom cover 140 of the cover opening assembly 110 is in an open state, a dust drop port is formed at the moxibustion port.

[0055] Since the above-mentioned opening cover assembly 100 has the above-mentioned beneficial effects, the moxibustion device including the opening cover assembly 100 has corresponding effects and will not be described in detail here.

[0056] To facilitate understanding of the above technical solutions of the present application, the present application describes the relationship between the above components and the moxibustion shell 200. To this end, the structure of the moxibustion shell 200 is first introduced in detail. The moxibustion shell 200 includes a first moxibustion shell 210 and a second moxibustion shell 220 arranged along a second preset direction, wherein a moxibustion column channel 252 for accommodating the movement of the moxibustion column is provided between the first moxibustion shell 210 and the second moxibustion shell 220; the moxibustion port is arranged on the second moxibustion shell 220 and corresponds to the moxibustion channel; the transmission structure of the moxa column fixing assembly 300, the ash spring assembly 500, and the feed drive assembly 400, as well as the servo 110, the guide rail 120 and the multiple sliders 130 of the cover opening assembly 100 are arranged in the first moxibustion shell 210; the bottom cover 140 of the cover opening assembly 100 is located in the second moxibustion shell 220.

[0057] It should be noted that the above-mentioned second preset direction is only for the convenience of description compared with the first preset direction, wherein the second preset direction and the first preset direction can be the same direction or different directions. Of course, in the structure expressed in the figure, the first preset direction and the second preset direction are different directions, wherein the second preset direction is substantially perpendicular to the first preset direction. The second preset direction substantially corresponds to the height direction of the moxibustion box 10. In this way, the moxibustion shell 200 is divided into two moxibustion shells 200 in the height direction, wherein the first moxibustion shell 210 is used to arrange the main functional structures, for example, part of the transmission structure of the moxa column fixing assembly 300 and the feed drive assembly 400, and part of the structure of the cover opening assembly 110, and the second moxibustion shell 220 is used to arrange the heat-resistant structure.

[0058] To improve the efficiency of installing the moxa stick 10a, in some embodiments, the moxa housing 200 further includes a top cover 230 that is removably connected to the first moxa housing 210. The top cover 230 is positioned at the mounting opening of the first moxa housing 210. Specifically, the mounting opening is located at the top of the first moxa housing 210, and the top cover 230 is removably connected to the mounting opening via a threaded connection. To replace the moxa stick 10a, the top cover 230 is opened, and the moxa stick fixing assembly 300, with the moxa stick 10a mounted, is installed on the feed drive assembly 400. The top cover 230 is then installed and ready for use.

[0059] In some embodiments, the feed drive assembly 400 includes a motor 410, a screw-nut mechanism 420 and a mounting plate 430. The motor 410 is arranged on the first moxibustion shell 210, the screw-nut mechanism 420 is transmission-connected to the motor 410, the nut of the screw-nut mechanism 420 is connected to the mounting plate 430 and can drive the mounting plate 430 to move along the second preset direction; the moxa column fixing assembly 300 is fixed on the mounting plate 430.

[0060] The motor 410 drives the screw nut mechanism 420 to rotate in the third direction, and the screw nut mechanism 420 drives the mounting plate 430 to move toward the direction close to the moxa column channel 252; the motor 410 drives the screw nut mechanism 420 to rotate in the fourth direction, and the screw nut mechanism 420 drives the mounting plate 430 to move away from the moxa column channel 252.

[0061] Combine Figure 5 , see Figure 6 In some examples, the moxa stick fixing assembly 300 may include a handle 310, a base 320, and a moxa stick clamp 330 connected in sequence. The base 320 is detachably mounted on a mounting plate 430 so as to move with the mounting plate 430. During use, the moxa stick 10a is fixed in the moxa stick clamp 330, and the moxa stick fixing assembly 300 is mounted on the mounting plate 430 via the base 320, completing the installation of the moxa stick 10a and the moxibustion box 10.

[0062] As described above, in this application, the feed drive assembly 400 and the cover opening assembly 100 are both arranged on the moxibustion shell 200, and the above structure can be arranged on the top, side or bottom of the first moxibustion shell 210, or the top or side of the second moxibustion shell 220.

[0063] Specifically, the moxibustion shell 200 also includes a top plate 240 and a bottom plate 250, wherein, in the height direction, the top plate 240 is formed on the top of the first moxibustion shell 210; the bottom plate 250 forms the bottom of the first moxibustion shell 210 and the top of the second moxibustion shell 220, and the function of the bottom plate 250 is to separate the first moxibustion shell 210 and the second moxibustion shell 220.

[0064] The sides of the first moxibustion shell 210 are surrounded by side panels, and the sides of the second moxibustion shell 220 are surrounded by side panels. In the example of this application, the above components can be fixed on the top, bottom or side of the first moxibustion shell 210, or the top or side of the second moxibustion shell 220.

[0065] The top cover 230 is disposed on the top plate 240 , and the motor 410 of the feed drive assembly 400 is fixed on the top cover 230 .

[0066] The servo 110 of the dust removal device of the cover opening assembly 100 is fixed to the bottom plate 250 via a servo fixing plate 111 , and the guide rail 120 is directly fixed to the bottom plate 250 .

[0067] In order to facilitate the connection between the connecting rod 160 and the slider 130 and the bottom cover 140 , a guide hole 251 is formed on the bottom plate 250 to accommodate the movement of the connecting rod 160 .

[0068] The bottom plate 250 forms a moxa stick channel 252 to accommodate the moxa stick 10 a fed from the first moxibustion housing 210 to the second moxibustion housing 220 .

[0069] Combine Figure 5 and Figure 6 , see Figure 7 The cover opening assembly 100 disclosed in the present application includes a servo 110, a guide rail 120, a plurality of sliders 130, a plurality of bottom covers 140 and a transmission rod mechanism 150, wherein the sliders 130 are slidably arranged on the guide rails 120; the plurality of bottom covers 140 are connected to the corresponding sliders 130, and are configured with a closed state in which they are close to each other and spliced ​​into one body, and an open state in which they are away from each other to form a dust drop opening in the area between them; the transmission rod mechanism 150 is transmission-connected to the sliders 130 and the servo 110, and under the drive of the servo 110, the plurality of bottom covers 140 are in a closed state when the plurality of sliders 130 are close to each other, and are in an open state when the plurality of sliders 130 are away from each other.

[0070] When the lid opening assembly 100 of the present application is used, when dust removal is required, the servo 110 rotates in a first direction, and the transmission rod mechanism 150 drives the multiple sliders 130 away from each other, and the multiple sliders 130 drive the corresponding bottom covers 140 away from each other and into an open state, thereby completing dust removal; when dust removal is not required, the servo 110 rotates in a second direction, and the transmission rod mechanism 150 drives the multiple sliders 130 toward each other, and the multiple sliders 130 drive the corresponding bottom covers 140 toward each other and into a closed state for use. Due to the use of the lid opening assembly 100 of the present application, manual dust removal is no longer required, thereby improving dust removal efficiency.

[0071] It should be noted that the first direction and the second direction are two opposite directions to illustrate that the steering engine 110 has a two-directional driving function. One of the first direction and the second direction is a reverse direction, and the other is a forward direction.

[0072] The area where the multiple bottom covers 140 are spliced ​​together can form an ash drop opening, wherein when the multiple bottom covers 140 are in a closed state, the ash drop opening is closed, and when the multiple bottom covers 140 are in an open state, the ash drop opening is open.

[0073] Multiple bottom covers 140 can be understood as more than one. Figure 1 In the embodiment, there are two bottom covers 140, and the two bottom covers 140 move in a first predetermined direction to switch between the closed state and the open state. The number of bottom covers 140 can also be three, and the three bottom covers 140 move in multiple directions to switch between the closed state and the open state. Of course, the number of bottom covers 140 can also be four, five, etc., which are not specifically described in some examples of this application. The number of bottom covers 140 corresponds one-to-one to the number of sliders 130, and the movement direction of the sliders 130 is consistent with the movement direction of the bottom covers 140. Therefore, the purpose of constraining the movement direction of the bottom covers 140 can be achieved by constraining the movement direction of the sliders 130.

[0074] Multiple sliders 130 can be coupled with the same guide rail 120 or with different guide rails 120 to achieve smooth operation. The extending direction of the guide rail 120 is a first predetermined direction, which can be understood as the opening direction (closing direction) of the bottom cover 140. For example, if there are two bottom covers 140, the first predetermined direction can be the width direction or length direction of the bottom cover 140.

[0075] To facilitate readers' understanding of this technical solution, the following is a specific introduction using two bottom covers 140 as an example:

[0076] There are two bottom covers 140, namely a first bottom cover 141 and a second bottom cover 142. The first bottom cover 141 and the second bottom cover 142 move in a first predetermined direction to switch between a closed state and an open state. In the figure, the first predetermined direction is the width direction of the first bottom cover 141 and the second bottom cover 142.

[0077] When the first bottom cover 141 and the second bottom cover 142 are assembled, the two are closed. When the first bottom cover 141 and the second bottom cover 142 are separated, the two are opened, and an ash outlet is formed between the opposite sides of the first bottom cover 141 and the second bottom cover 142.

[0078] The switching between the above-mentioned open state and closed state can be achieved by moving one bottom cover 140, or by moving both bottom covers 140. For example, the first bottom cover 141 is stationary, and the second bottom cover 142 is moved in the first preset direction to achieve the switching between the open state and the closed state; or, the first bottom cover 141 and the second bottom cover 142 are both moved in the first preset direction, and the two are moved closer to each other to be in the closed state, and the two are moved away from each other to be in the open state.

[0079] Taking the two moving closer to each other and farther away from each other as an example, there are two sliders 130 connected to the two, namely the first slider 131 and the second slider 132. The first slider 131 and the second slider 132 are arranged side by side on the same guide rail 120 or different guide rails 120; the first slider 131 is connected to the first bottom cover 141, and the second slider 132 is connected to the second bottom cover 142; the guide rail 120 extends in a first preset direction.

[0080] When the first slider 131 and the second slider 132 approach each other, the first bottom cover 141 and the second bottom cover 142 approach each other. When the first slider 131 and the second slider 132 move away from each other, the first bottom cover 141 and the second bottom cover 142 move away from each other.

[0081] The slider 130 and the bottom cover 140 can be directly connected, which can reduce the layout of parts; or, in order to avoid positioning requirements, the slider 130 and the bottom cover 140 are connected by a connecting rod 160. In the figure, the first slider 131 and the first bottom cover 141 are connected by a first connecting rod 161; the second slider 132 and the second bottom cover 142 are connected by a second connecting rod 162.

[0082] The first connecting rod 161 and the second connecting rod 162 are L-shaped structures. One end of the first connecting rod 161 is connected to the first slider 131, and the other end of the first connecting rod 161 is connected to the first bottom cover 141. In this way, the bottom cover 140 can be extended toward the moxa stick 10a, and the corresponding servo 110, guide rail 120, slider 130 and transmission rod mechanism 150 can be arranged on one side, reducing the effective space occupied by the moxa stick 10a due to the arrangement of the above structures; in addition, since the moxa stick 10a is in a ignited state when in use, extending the distance between the above structures and the moxa stick 10a can improve the safety of the entire device.

[0083] The connection relationship between the above-mentioned connecting rod 160 and the slider 130 and the bottom cover 140 can be a non-detachable connection or a detachable connection. In the preferred case, the connecting rod 160 and the bottom cover 140 are detachably connected. Since the bottom cover 140 will inevitably have moxa ash or tar, the bottom cover 140 may be blocked after a long period of use. In order not to affect the use effect of the device, the bottom cover 140 and the connecting rod 160 are designed to be detachably connected, which can effectively extend the overall service life and use effect of the device.

[0084] Because the power output by the servo 110 of the present application is transmitted by the transmission rod mechanism 150, the transmission rod mechanism 150 and the slider 130 form a crank slider mechanism. Specifically, the transmission rod mechanism 150 includes a first transmission rod 151, a second transmission rod 152, and a third transmission rod 153. The middle portion of the first transmission rod 151 is transmission-connected to the output shaft of the servo 110; the first end of the first transmission rod 151 is hinged to the first end of the second transmission rod 152, and the second end of the second transmission rod 152 is hinged to the first slider 131 to drive the first slider 131 to slide on the guide rail 120; the second end of the first transmission rod 151 is hinged to the first end of the third transmission rod 153, and the second end of the third transmission rod 153 is hinged to the second slider 132 to drive the second slider 132 to slide on the guide rail 120.

[0085] When the above-mentioned opening cover assembly 100 of the present application is used, when dust removal is required, the servo 110 rotates in the first direction, the first transmission rod 151 rotates in the first direction, and the first transmission rod 151 drives the second transmission rod 152 and the third transmission rod 153 to rotate in the first direction respectively. Since the first slider 131 and the second slider 132 slide with the guide rail 120, the rotational motion of the first transmission rod 151 is converted into a linear motion of the first slider 131 and the second slider 132 moving away from each other in the first preset direction. The first slider 131 and the second slider 132 respectively drive the first bottom cover 141 and the second bottom cover 142 to move away from each other in the first preset direction, and the first bottom cover 141 and the second bottom cover 142 are in the open state. , so that dust removal can be completed; when dust removal is not needed, the servo 110 rotates in the second direction, the first transmission rod 151 rotates in the second direction, the first transmission rod 151 drives the second transmission rod 152 and the third transmission rod 153 to rotate in the second direction respectively, and since the first slider 131 and the second slider 132 slide with the guide rail 120, the rotational motion of the first transmission rod 151 is converted into a linear motion of the first slider 131 and the second slider 132 approaching each other in the first preset direction, and the first slider 131 and the second slider 132 respectively drive the first bottom cover 141 and the second bottom cover 142 to approach each other in the first preset direction, and the first bottom cover 141 and the second bottom cover 142 are in a closed state for use. Due to the use of the cover opening assembly 100 of the present application, there is no need for manual dust removal, which can improve the dust removal efficiency.

[0086] In order to further reduce human intervention, a position sensor can be set to determine whether dust removal is required. When the position sensor generates a signal, the steering gear 110 rotates in the first direction. Of course, other methods can be used to determine whether dust removal is required, which will be described in detail later in this article.

[0087] In order to ensure the smoothness of the operation of the first slider 131 and the second slider 132 and reduce the existence of dead points, in some examples, the distance between the two hinge points of the second transmission rod 152 is equal to the distance between the two hinge points of the third transmission rod 153; the two hinge points of the first transmission rod 151 are at the same distance from the rotation center of the output shaft.

[0088] The servo 110 is fixed to the corresponding position of the moxibustion box 10 through the servo fixing plate 111 , and the guide rail 120 can also be installed to the corresponding position of the moxibustion box 10 through the mounting holes arranged thereon.

[0089] The terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features.

[0090] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is merely a way to describe the association relationship of associated objects, indicating that three relationships can exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0091] It should be noted that, for ease of description, only the parts related to the relevant applications are shown in the drawings. In the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0092] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used, and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. The scope of application involved in this application is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but should also cover other technical solutions formed by any combination of the above-mentioned technical features or their equivalent features without departing from the above-mentioned application concept. For example, the above-mentioned features are replaced with (but not limited to) technical features with similar functions disclosed in this application to form a technical solution.

Claims

1. A moxibustion device, characterized in that: It includes a moxibustion box, a robotic arm, an ignition bin, an ash removal bin and a main unit, wherein: the moxibustion box is arranged at the end of the robotic arm; the head end of the robotic arm, the ignition bin and the ash removal bin are all arranged on the main unit, and the robotic arm, under the control of the main unit, can drive the moxibustion box to dock with the ignition bin, dock with the ash removal bin, and perform moxibustion actions.

2. The moxibustion device according to claim 1, characterized in that: The ignition chamber includes an ignition cup and an ignition rod. The ignition cup has an ignition port connected to the moxibustion box and a receiving cavity. The ignition rod is arranged in the receiving cavity and is electrically connected to the host.

3. The moxibustion device according to claim 2, characterized in that: The ignition chamber further includes an in-place switch for detecting that the moxa stick is in place, and the in-place switch is electrically connected to the host.

4. The moxibustion device according to claim 1, characterized in that: The ash removal bin includes an ash removal tank and an ash removal shrapnel, wherein the ash removal tank has an ash removal port and a storage cavity docked with the moxibustion box; the ash removal shrapnel is arranged in the ash removal tank and can abut against the moxa stick extended into the ash removal port.

5. The moxibustion device according to claim 4, characterized in that: The ash removal bin further includes a ash cleaning drawer which is arranged on the ash removal tank and can be pulled out relative to the ash removal tank.

6. The moxibustion device according to any one of claims 1 to 5, characterized in that: The moxibustion box includes a moxibustion shell, a moxa stick fixing assembly, a feed drive assembly and a cover opening assembly. The moxibustion shell includes a moxibustion port. The moxa stick fixing assembly, the feed drive assembly and the cover opening assembly are all arranged on the moxibustion shell; the feed drive assembly is transmission-connected to the moxa stick fixing assembly to drive the moxa stick fixing assembly to feed toward the moxibustion port; the bottom cover of the cover opening assembly is located at the moxibustion port.

7. The moxibustion device according to claim 6, characterized in that: The cover opening assembly includes a servo, a guide rail, a plurality of sliders, a plurality of bottom covers and a transmission rod mechanism, wherein the slider is slidably arranged on the guide rail; the plurality of bottom covers are connected to the corresponding sliders, and are configured with a closed state in which they are close to each other and spliced ​​into one body, and an open state in which they are away from each other to form a dust drop opening in the area between them; the transmission rod mechanism is connected to the slider and the servo, and under the drive of the servo, the plurality of bottom covers are in a closed state when the plurality of sliders are close to each other, and are in an open state when the plurality of sliders are away from each other.

8. The moxibustion device according to claim 7, characterized in that: There are two bottom covers, namely a first bottom cover and a second bottom cover, and the first bottom cover and the second bottom cover move in a first preset direction to switch between a closed state and an open state; There are two sliders, namely a first slider and a second slider, which are arranged side by side on the same guide rail or different guide rails; the first slider is connected to the first bottom cover, and the second slider is connected to the second bottom cover; the guide rail extends in the first preset direction; The first slider is connected to the first bottom cover via a first connecting rod; the second slider is connected to the second bottom cover via a second connecting rod.

9. The moxibustion device according to claim 8, characterized in that: The transmission rod mechanism includes a first transmission rod, a second transmission rod, and a third transmission rod, wherein the middle portion of the first transmission rod is transmission-connected to the output shaft of the steering gear; the first end of the first transmission rod is hinged to the first end of the second transmission rod, and the second end of the second transmission rod is hinged to the first slider to drive the first slider to slide on the guide rail; the second end of the first transmission rod is hinged to the first end of the third transmission rod, and the second end of the third transmission rod is hinged to the second slider to drive the second slider to slide on the guide rail; The distance between the two hinge points of the second transmission rod is equal to the distance between the two hinge points of the third transmission rod; the distance between the two hinge points of the first transmission rod and the rotation center of the output shaft is equal.

10. The moxibustion device according to claim 6, characterized in that: The feed drive assembly includes a motor, a screw-nut mechanism and a mounting plate, wherein the motor is arranged on the moxibustion housing, the screw-nut mechanism is in transmission connection with the motor, the nut of the screw-nut mechanism is connected to the mounting plate and can drive the mounting plate to move along the second preset direction; the moxa stick fixing assembly is fixed to the mounting plate; The moxa stick fixing assembly includes a handle, a base and a moxa stick clamp that are connected in sequence. The base is used to be detachably mounted on the mounting plate to move with the mounting plate.

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