Moxibustion robot

Abstract

The utility model relates to a moxibustion robot which comprises a trolley (1), a display screen (24), an ash removal component (2) and a moxibustion head (4), the display screen (24), the ash removal component (2) and the moxibustion head (4) are located on the top of the trolley (1), and the moxibustion head (4) is connected with the trolley (1) through a three-axis mechanical arm (3). A control system (25) is arranged in the three-axis mechanical arm (3), the control system (25) controls the mechanical arm to complete a specific moxibustion action, the displacement amount from an affected part is judged through a displacement sensor in the moxibustion head (4) at the tail end, and the accurate relative positions of the moxibustion head (4) and the affected part are guaranteed; the ash removal component (2) automatically removes ash of the moxibustion head (4) within a specific time, and the smoke removal component is arranged to filter moxa smoke, so that the thermal therapy effect is achieved. The moxibustion robot has the advantages of being easy to operate, high in safety and good in moxibustion thermal therapy effect. And the device has the functions of autonomously simulating the moxibustion technique, automatically removing ash and smoke and detecting the dynamic distance of the moxibustion head.

Description

TECHNICAL FIELD

[0001] The utility model relates to moxa -moxibustion robot technical field, specifically, relate to a moxa -moxibustion robot. BACKGROUND

[0002] Moxibustion is a traditional Chinese medicine external treatment method with thousands of years of history, and its curative effect has been proved by numerous clinical medical scientists. Moxibustion is to heat the active parts of patients by the infrared heat released by a burning moxa stick, which has the effects of promoting blood circulation to dissipate blood stasis, warming meridians to unblock collaterals and promoting blood circulation.

[0003] Traditional moxa -moxibustion physiotherapy needs to clean the surface of moxa stick at irregular times, which can easily cause burns to physiotherapists during the cleaning process. The moxa -moxibustion robot can clean the moxa ash in time to ensure the heat of the moxa stick. Therefore, the moxa -moxibustion robot is derived, but the moxa -moxibustion robot in the prior art has the problems of complex operation and affecting customer experience.

[0004] For example, the Chinese invention patent application with publication number CN 118163109 A discloses a moxa -moxibustion physiotherapy robot, which includes a device main body, a mechanical arm, a moxa -moxibustion physiotherapy head, and a dust cleaning mechanism. The moxa -moxibustion physiotherapy head includes a physiotherapy head main body, a control panel, a liquid collecting box, an automatic ignition moxa -moxibustion box, and a plurality of detection sensor groups. The detection sensor groups are electrically connected to the control panel. The device main body is provided with a control system, and the control system is electrically connected to the mechanical arm and the control panel. The invention can input the position of the patient needing heat therapy in the control system, identify and track the affected area through the detection sensor group, so that the moxa -moxibustion physiotherapy head can be moved in real time through the mechanical arm to ensure that the moxa -moxibustion physiotherapy head and the affected area maintain a relative position relationship, and ensure that the moxa -moxibustion physiotherapy head can continuously and effectively heat the affected area of the patient. However, the structure of the moxa -moxibustion physiotherapy head, the mechanical arm and the dust cleaning mechanism of the moxa -moxibustion physiotherapy robot is relatively complex, and the use and maintenance are difficult. SUMMARY

[0005] In order to solve the above technical defects existing in the prior art, the purpose of the utility model is to provide a moxa -moxibustion robot to solve the problems of complex structure and complicated operation steps in the prior art.

[0006] In order to achieve the above design purpose, the utility model adopts the following scheme:

[0007] The moxibustion robot has the advantages of simple operation, high safety, good moxibustion heat treatment effect, autonomous simulation of moxibustion methods, automatic dust removal, automatic smoke removal and dynamic distance detection of the moxibustion head.

[0008] Preferably, the three-axis mechanical arm comprises a first shaft moving up and down in a straight line and a second shaft and a third shaft having rotary joints, the dust removal component is located behind the first shaft of the three-axis mechanical arm, so that the length of the first shaft and the second shaft of the three-axis mechanical arm is shortened, the accurate positioning of the moxibustion head by the control system is more conducive, and the moxa dust generated by the moxibustion head can be effectively prevented from scattering to the outside and falling on the patient; the moxibustion head is fixedly installed at the front end of the third shaft of the three-axis mechanical arm and is used for loading and unloading moxa sticks.

[0009] Preferably in any of the above schemes, the moxibustion head comprises a smoke outlet shell and a moxibustion head fixing seat installed at the lower end of the smoke outlet shell; the upper end of the smoke outlet shell is provided with an upper shell; the side surface of the smoke outlet shell is provided with a moxibustion head support, and the moxibustion head support is provided with an oil collecting box.

[0010] Preferably in any of the above schemes, the moxibustion head is internally provided with a laser head and a distance measuring sensor, the laser head is used for acupoint location, and the distance measuring sensor is used for dynamic detection of the straight-line distance between the moxibustion head and the patient's affected area.

[0011] Preferably in any of the above schemes, the first shaft of the three-axis mechanical arm is connected with a motor; the second shaft of the three-axis mechanical arm is connected with a second shaft motor; the third shaft of the three-axis mechanical arm is connected with a third shaft motor; the motor is electrically connected with a linear module; the third shaft motor is fixed at the starting end of the second shaft mechanical arm and is installed in a cylinder, the third shaft mechanical arm is driven to rotate through a synchronous belt, and the moxibustion head is installed at the end of the third shaft mechanical arm and is used for loading and unloading moxa.

[0012] Preferably in any of the above schemes, the bottom of the trolley is provided with four medical universal casters, has good mute effect and flexible steering; the inside of the trolley is provided with an electrical control mechanism, a three-way catalytic module and a base for fixing the three-axis mechanical arm.

[0013] In any of the above embodiments, it is preferred that the ash removal component includes an ash removal hopper, an ash removal motor and a movable joint located at the bottom of the ash removal hopper, and an ash-covering plate located at the top of the ash removal hopper. When the moxibustion head is being ashed, the three-axis robotic arm moves the moxibustion head above the ash removal component, the combustion chamber in the moxibustion head extends into the ash removal hopper, the ash removal motor is activated, and the movable joint moves up and down reciprocatingly, thereby causing the moxa ash in the moxibustion head to fall into the ash removal hopper for unified cleaning.

[0014] In summary, the moxibustion robot of this utility model has the following advantages: the control system controls the three-axis robotic arm to rotate in the up-down and horizontal directions to complete specific moxibustion actions, and the displacement sensor in the moxibustion head at the end determines the displacement from the affected area, which can ensure the precise relative position of the moxibustion head and the affected area; the ash removal component automatically removes ash from the moxibustion head within a specific time, and the smoke removal component filters the moxa smoke, thereby achieving the heat therapy effect. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of a preferred embodiment of the moxibustion robot according to the present invention.

[0016] Figure 2 For the moxibustion robot according to this utility model Figure 1 A schematic diagram of the internal skeleton structure of the preferred embodiment is shown.

[0017] Figure 3 For the moxibustion robot according to this utility model Figure 1 The diagram shows a structural schematic of the ash removal hopper in the preferred embodiment.

[0018] Figure 4 For the moxibustion robot according to this utility model Figure 1 A schematic diagram of the internal structure of the moxibustion head in the preferred embodiment is shown.

[0019] Part numbering explanation:

[0020] 1. Trolley; 2. Ash removal component; 3. Three-axis robotic arm; 4. Moxibustion head; 5. Ash removal motor; 6. Movable joint; 7. Ash removal hopper; 8. Ash shield; 9. Motor; 10. Linear module; 11. Second-axis motor; 12. Cylinder; 13. Third-axis motor; 14. Second-axis robotic arm; 15. Third-axis robotic arm; 16. Distance sensor; 17. Moxibustion head mounting base; 18. Laser head; 19. Smoke exhaust shell; 20. Upper shell; 21. Oil collection box; 22. Moxibustion head bracket; 23. Three-way catalytic converter module; 24. Display screen; 25. Control system. Detailed Implementation

[0021] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses. The machine for moxibustion robot of the present application is further described below in conjunction with the accompanying drawings.

[0022] As shown in the whole structure schematic diagram of the machine for moxibustion robot according to the present application. Figure 1

[0023] The machine for moxibustion robot of the present application comprises a trolley 1, a display screen 24, an ash removal component 2 and a moxibustion head 4 located at the top of the trolley 1, the moxibustion head 4 is connected with the trolley 1 through a three-axis mechanical arm 3, a control system 25 is arranged in the three-axis mechanical arm 3, the control system 25 controls the mechanical arm to complete a specific moxibustion action, the displacement sensor in the end moxibustion head 4 judges the displacement amount from the affected part, which can ensure the accurate relative position between the moxibustion head 4 and the affected part; the ash removal component 2 automatically removes the ash on the moxibustion head 4 at a specific time, and the smoke removal component is arranged to filter the moxa smoke, so as to achieve the effect of heat therapy. The machine for moxibustion robot of the present application has the advantages of simple operation, high safety, good moxibustion heat therapy effect, and the like; and has the functions of autonomous simulation of moxibustion method, automatic ash removal, automatic smoke removal and dynamic distance detection of the moxibustion head.

[0024] In the present embodiment, the three-axis mechanical arm 3 comprises a first axis for up-down linear motion and a second axis and a third axis with rotary joints, the ash removal component 2 is located behind the first axis of the three-axis mechanical arm 3, so as to shorten the lengths of the first axis and the second axis of the three-axis mechanical arm 3, which is more conducive to the accurate positioning of the moxibustion head 4 by the control system 25, and can also effectively prevent the moxa ash generated by the moxibustion head 4 from drifting to the outside and falling on the patient; the third axis of the three-axis mechanical arm 3 is fixedly installed with the moxibustion head 4 at the front end, which is used for loading and unloading moxa sticks. During work, the first axis is responsible for controlling the height of the moxibustion head 4 from the affected part, and the second axis and the third axis are responsible for the position of the moxibustion head 4 in the horizontal direction from the affected part.

[0025] In the present embodiment, the bottom of the trolley 1 is provided with four medical universal casters, which have good mute effect and flexible steering; the inside of the trolley 1 is provided with an electrical control mechanism, a three-way catalytic module 23 and a base for fixing the three-axis mechanical arm 3.

[0026] Referring to Figure 2 As shown in the preferred embodiment of the machine for moxibustion robot of the present application. Figure 1 As shown in the internal skeleton structure schematic diagram of the preferred embodiment of the machine for moxibustion robot of the present application.

[0027] ​In this embodiment, a motor 9 is connected to the first axis of the three-axis robotic arm 3; a second-axis motor 11 is connected to the second axis of the three-axis robotic arm 3; a third-axis motor 13 is connected to the third axis of the three-axis robotic arm 3; the motor 9 is electrically connected to the linear module 10; the third-axis motor 13 is fixed to the starting end of the second-axis robotic arm 14 and installed inside the cylinder 12, and drives the third-axis robotic arm 15 to rotate through synchronous belt transmission; the end of the third-axis robotic arm 15 is equipped with a moxibustion head 4 for loading and unloading moxibustion.

[0028] like Figure 3 As shown, the moxibustion robot according to this utility model Figure 1 The diagram shows a structural schematic of the ash removal hopper in the preferred embodiment.

[0029] In this embodiment, the ash removal component 2 includes an ash removal hopper 7, an ash removal motor 5 and a movable joint 6 located at the bottom of the ash removal hopper 7, and an ash-covering plate 8 located at the top of the ash removal hopper 7. When the moxibustion head 4 is removing ash, the three-axis robotic arm 3 moves the moxibustion head 4 above the ash removal component 2, the combustion chamber in the moxibustion head 4 extends into the ash removal hopper 7, the ash removal motor 5 is started, and the movable joint 6 moves up and down reciprocally, so that the moxa ash in the moxibustion head 4 falls into the ash removal hopper 7 for unified cleaning.

[0030] See last for reference. Figure 4 As shown, the moxibustion robot according to this utility model Figure 1 A schematic diagram of the internal structure of the moxibustion head in the preferred embodiment is shown.

[0031] In this embodiment, the moxibustion head 4 includes a smoke-emitting outer shell 19 and a moxibustion head fixing seat 17 installed at the lower end of the smoke-emitting outer shell 19; an upper outer shell 20 is provided at the upper end of the smoke-emitting outer shell 19; a moxibustion head support 22 is provided on the side of the smoke-emitting outer shell 19, and an oil collection box 21 is provided in the moxibustion head support 22. During operation, the moxa smoke generated by the moxa stick inside the moxibustion head 4 enters the three-way catalytic module 23 (moxa smoke filter cotton module) through the smoke pipe on the oil collection box 21 for smoke removal.

[0032] In this embodiment, the moxibustion head 4 is equipped with a laser head 18 and a distance sensor 16. The laser head is used to locate acupoints, and the distance sensor is used to dynamically detect the straight-line distance between the moxibustion head and the patient's affected area.

[0033] It will be readily understood by those skilled in the art that the moxibustion robot of this utility model comprises any combination of the parts described in this specification. Due to space limitations and for the sake of brevity, these combinations are not described in detail here, but after reading this specification, the scope of this utility model, which consists of any combination of the parts described in this specification, is self-evident.

Claims

1. A moxa robot, comprising a trolley (1) and a display screen (24), a dust removal component (2) and a moxa head (4) located on the top of the trolley (1), characterized in that: The moxa head (4) is connected with the trolley (1) through the three-axis mechanical arm (3); the three-axis mechanical arm (3) is provided with a control system (25).

2. The moxibustion robot of claim 1, wherein: The three-axis mechanical arm (3) comprises a first axis moving up and down, a second axis and a third axis with rotary joints, and the ash removal component (2) is located behind the first axis of the three-axis mechanical arm (3); the front end of the third axis of the three-axis mechanical arm (3) is fixedly installed with the moxa head (4).

3. The moxibustion robot of claim 1, wherein: The moxa head (4) comprises a smoke outlet shell (19) and a moxa head fixing seat (17) installed at the lower end of the smoke outlet shell (19); the upper end of the smoke outlet shell (19) is provided with an upper shell (20); the side of the smoke outlet shell (19) is provided with a moxa head support (22), and the moxa head support (22) is provided with an oil collecting box (21).

4. The moxibustion robot according to claim 1 or 3, characterized by: The inside of the moxa head (4) is provided with a laser head (18) and a distance measuring sensor (16).

5. The moxibustion robot of claim 2, wherein: The first axis of the three-axis mechanical arm (3) is connected with a motor (9); the second axis of the three-axis mechanical arm (3) is connected with a second-axis motor (11); the third axis of the three-axis mechanical arm (3) is connected with a third-axis motor (13); the motor (9) is electrically connected with a linear module (10); the third-axis motor (13) is fixed at the starting end of the second-axis mechanical arm (14) and installed in a cylinder (12), drives the third-axis mechanical arm (15) to rotate through a synchronous belt, and the end of the third-axis mechanical arm (15) is installed with the moxa head (4).

6. The moxibustion robot of claim 1, wherein: The bottom of the trolley (1) is provided with four medical universal casters; the inside of the trolley (1) is provided with an electrical control mechanism, a three-way catalytic module (23) and a base for fixing the three-axis mechanical arm (3).

7. The moxibustion robot of claim 1, wherein: The ash removal component (2) comprises an ash removal hopper (7), an ash removal motor (5) and a movable joint (6) located at the bottom of the ash removal hopper (7), and a dust cover (8) located at the top of the ash removal hopper (7).

Images