Moxibustion robot

Abstract

The utility model discloses a moxibustion robot and a temperature control method. The device comprises a machine body and a mechanical arm, a fan, a filter unit and a smoke treatment box are arranged in the machine body, and a phototherapy module and a moxibustion module can be hung at the tail end of the mechanical arm; the tail end moxibustion module comprises a moxibustion shell, a primary filter element arranged in the moxibustion shell, a moxa stick arranged in the center of the primary filter element, a moxa stick combustion cavity located at the bottom of the primary filter element and matched with the primary filter element, an exhaust fan arranged in a primary exhaust port and an anti-scalding baffle, and a smoke conveying pipe connector can be connected to an air inlet of a fan. The device has the advantages that the device can be quickly disassembled and assembled in a fire-free state, flexible switching between manual hand holding and robot automatic moxibustion applying is achieved, and quick and safe butt joint is guaranteed in a buckle or slot mode; a dual-mode smoke removal structure is adopted, so that portable smoke removal and oxygenation can be completed by using an exhaust fan and a primary filter screen which are arranged at the tail end; in a large smoke amount occasion, more powerful two-stage smoke discharge and smell removal are realized.

Description

Technical Field

[0001] This invention relates to a moxibustion robot, belonging to the fields of medical robots and traditional Chinese medicine moxibustion therapy. Background Technology

[0002] Traditional Chinese medicine moxibustion has gained importance in rehabilitation and physiotherapy due to its wide clinical application. However, traditional manual moxibustion relies heavily on operator experience, and it is difficult to maintain a constant temperature and distance during the burning of the moxa stick, making the safety and efficacy of treatment susceptible to human factors. In recent years, with the continuous development of robotics technology, some research institutions and enterprises have begun to combine moxibustion with robotic arms to create various "moxibustion robots" or automated devices to reduce manual labor and improve the consistency of moxibustion. However, these products or prototypes still face the following shortcomings in practical use:

[0003] (1) Insufficient temperature control accuracy: Traditional threshold or simple PID adjustment is difficult to adapt to the unstable combustion environment, and temperature overshoot or underfire is easy to occur. That is, temperature control is lagging or overshooting. Traditional threshold and PID algorithm are difficult to cope with the fluctuation of moxa stick combustion, and burns or insufficient temperature are easy to occur. (2) Single smoke exhaust method: Only small fans or high-power smoke exhaust pipes are used, which is difficult to take into account both "portability" and "high smoke volume" scenarios. (3) Integrated end structure design, lack of detachable end: Most robots can only replace parts after the fire is turned off or the system is stopped, which affects the continuity and flexibility of moxibustion. (4) Disconnection between trajectory and temperature control: Often can only perform fixed back and forth or rotation, and lacks the ability to adjust the distance or trajectory radius in real time according to temperature changes. Therefore, it is impossible to dynamically adjust the distance between the end of the robotic arm and the skin according to the real-time temperature, which poses a risk of burns. (5) Limited safety monitoring capability, lack of comprehensive processing of multimodal data such as body movement and smoke concentration, and difficulty in timely linkage to avoid abnormalities. In response to the above technical problems, some patents have been published to propose solutions from different angles. However, there are still limitations in terms of temperature control model, smoke removal method or end structure. For example, the utility model patent with publication number CN219763951U discloses a method to reduce smoke by using heating / combustion aids in the upper and lower shells to achieve secondary combustion. This structure reduces smoke to some extent, but its effect is still poor and it cannot predict the temperature. Another example is the invention patent application with publication number CN117085498A, which discloses the use of high-temperature catalytic secondary combustion to purify flue gas. This also only achieves a certain level of flue gas purification and does not have temperature predictability. It is evident that in the existing technology, various moxibustion robots still struggle to achieve a balance in terms of "temperature control," "smoke extraction efficiency," and "human-machine collaboration," and urgently require better technical solutions for improvement. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an intelligent moxibustion robot that can use multimodal sensor data (body surface temperature, distance, smoke concentration, human posture, etc.) for predictive temperature control, and combine "dual-mode smoke removal" and "detachable end module" to achieve a comprehensive improvement in high-precision temperature control, flexible smoke removal and human-machine collaboration capabilities.

[0005] To solve the above-mentioned technical problems, the intelligent moxibustion robot of the present invention includes a body and a robotic arm. The body is equipped with a fan, a filter unit located at the air outlet of the fan, and a smoke treatment box connected to the filter unit via a smoke pipe. The end of the robotic arm can be equipped with a phototherapy module and a moxibustion module. The end moxibustion module includes a moxibustion shell with a smoke supply pipe interface and a primary exhaust port, a primary filter element located inside the moxibustion shell, an moxa stick located at the center of the primary filter element, a moxa stick combustion chamber located at the bottom of the primary filter element and installed in conjunction with the primary filter element, an exhaust fan installed in the primary exhaust port and in conjunction with the primary filter element, and an anti-scalding baffle located at the bottom of the moxibustion shell. The smoke supply pipe interface can be connected to the air inlet of the fan through a smoke supply pipe to achieve deep suction and filtration of smoke.

[0006] The end of the robotic arm is provided with a slot, and the moxibustion shell is provided with a buckle that cooperates with the slot. The end moxibustion module can be snapped into the slot of the robotic arm through the buckle.

[0007] The outer shell of the moxibustion device is made of heat-insulating material.

[0008] The primary filter element is a multi-layer filter screen, and the exhaust fan is a DC brushless fan.

[0009] The body (1) is equipped with a smoke sensor for monitoring smoke concentration information. The control signals of the smoke sensor and the fan are both input to the control unit located inside the body. When the smoke sensor detects the upper limit of the smoke volume or odor concentration, it can trigger the fan to run in order to enhance the smoke exhaust efficiency.

[0010] The smoke delivery duct is made of flame-retardant material.

[0011] The bottom of the machine body is equipped with casters.

[0012] The advantages of this utility model are:

[0013] First, the integrated moxibustion module, comprising a fan, primary filter, and other components, allows for quick assembly and disassembly without interrupting the moxibustion process, enabling flexible switching between manual handheld and automated robotic moxibustion. The snap-fit ​​or slot-based design ensures fast and safe connection. Second, a dual-mode smoke removal structure is employed: in general medical or home settings, the built-in fan and primary filter provide portable smoke removal and oxygenation; in high-smoke environments, a flexible duct connects to a high-powered filter within the unit for more powerful secondary smoke extraction and odor removal. These two modes can be switched manually or automatically based on sensor data, balancing portability with high-efficiency filtration. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the moxibustion robot of the present invention;

[0015] Figure 2 This is a schematic diagram of the main body structure of the moxibustion robot of the present invention;

[0016] Figure 3 This is a schematic diagram of the moxibustion module in this invention;

[0017] Figure 4 This is a partial structural diagram of the moxibustion module in this invention;

[0018] Figure 5 This is a schematic diagram of the split structure of the moxibustion module in this invention. Detailed Implementation

[0019] The moxibustion robot of this utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] This invention addresses bottlenecks in traditional Chinese medicine moxibustion therapy, such as temperature control precision, smoke emission, and human-machine collaboration. It proposes a comprehensive moxibustion robot solution to achieve efficient, safe, and flexible moxibustion. The invention aims to achieve the following objectives: First, by utilizing two smoke removal modes—an integrated smoke removal system combining an exhaust fan and a primary smoke filter, and a centralized smoke removal system consisting of a built-in high-power smoke removal module and an exhaust pipe—it can flexibly switch between portable scenarios and situations with high smoke volumes, improving smoke removal efficiency and usability. Second, the detachable end supports disassembly without interrupting the heating process and quick docking, allowing medical personnel to seamlessly switch between manual and automatic moxibustion at specific acupoints. Its specific structure is as follows:

[0021] As shown in the figure, the moxibustion robot of the present invention includes a body 1 and a robotic arm 2 (which can be a multi-degree-of-freedom robotic arm, such as a 4-axis, 6-axis, or 7-axis robotic arm). The robotic arm 2 (axis-cooperative type) is equipped with a high-power exhaust fan 3, a filter unit 4 located at the exhaust fan outlet, and a flue gas treatment box 5 connected to the filter unit via a flue pipe. The filter unit can be a multi-stage filter (HEPA, activated carbon, etc.) and a deodorization module. It may also include a main power supply for continuous operation, suitable for hospitals or multi-bed continuous physiotherapy scenarios. The robotic arm 2 can be fixed to the side of the body 1 or treatment bed to adapt to hospital, clinic, or home environments. The end of the robotic arm 2 can be equipped with a phototherapy module 6 and a moxibustion module 7. The moxibustion module 7 includes a moxibustion shell 10 with a flue pipe interface 8 and a primary exhaust port 9, a primary filter element 11 inside the moxibustion shell, a moxa stick 12 at the center of the primary filter element, a moxa stick combustion chamber 13 located at the bottom of the primary filter element and installed in conjunction with it, and a combustion chamber 13 located inside the primary exhaust port and installed in conjunction with the primary filter element. The core is equipped with an exhaust fan 14 and an anti-scalding baffle 15 at the bottom of the moxibustion shell. Of course, the moxibustion shell can also have a battery to power various electrical components and several sensors (such as smoke and temperature). That is to say, the moxibustion module can be equipped with a microcontroller unit (MCU) and sensor interface to monitor the combustion temperature and smoke concentration, or communicate with the controller of the machine. When the moxibustion module is disassembled, the control board of the moxibustion module adjusts the fan speed to ensure that the smoke does not spread disorderly. The exhaust fan can be powered by the battery. In particular, a built-in rechargeable battery is sufficient to support the micro fan and control circuit to work continuously in independent mode. It can also operate independently when the robotic arm is disassembled or away from the main body, forming a local negative pressure adsorption. After the smoke is sucked in, it is initially filtered inside the module and then discharged through the smoke supply pipe interface 8. The fan can provide auxiliary oxygen supply to the thick moxa stick, effectively maintaining the combustion rate and improving the heat release efficiency of the flame.

[0022] The smoke supply pipe interface 8 can be connected to the air inlet of the exhaust fan 3 through a smoke supply pipe 16 (as shown in the figure, the top of the machine body is provided with a serial port for the smoke supply pipe 16) to achieve deep smoke extraction and filtration. The primary filter element is a multi-layer filter screen (activated carbon filter element, etc.), and the exhaust fan 14 is a micro fan with adjustable speed (such as a DC brushless fan). The position of the fan 14 corresponds to the primary filter element. When in use, even if the end is removed and held by hand, if the flexible pipe is still connected to the machine body, centralized smoke removal will continue as usual; if the pipe is not connected, it will automatically return to independent fan smoke exhaust. The machine body-end decoupling coupling scheme of this utility model meets the dual requirements of "uninterrupted artificial moxibustion + efficient smoke exhaust / oxygenation".

[0023] Further, a card slot can be provided at the end of the robotic arm 2, and a buckle cooperating with the card slot is provided on the moxibustion shell 10. The end moxibustion module 7 can be clamped at the card slot of the robotic arm 2 through the buckle. Of course, electrical / signal interfaces are provided at the card slot and the buckle, enabling it to work in the automatic moxibustion state of the robotic arm and also be disassembled for manual holding and use.

[0024] Furthermore, a smoke sensor for monitoring smoke concentration information is provided inside the body 1. The control signals of the smoke sensor and the exhaust fan are both input to the control unit located inside the body. When the upper limit value of the smoke volume or odor concentration is detected by the smoke sensor (such as when using thunder-fire moxibustion or thick moxa sticks), the exhaust fan can be triggered to operate to enhance the smoke exhaust efficiency.

[0025] Furthermore, the moxibustion shell 10 is made of heat-insulating materials to protect the internal circuit and prevent the risk of scalding during manual operation; in addition, a heat-insulating metal mesh or ceramic heat-insulating layer can be provided on the inner wall of the moxibustion shell 10 to further prevent the high-temperature fire head from causing harm to the battery, fan, and the holding part; the smoke delivery pipe 16 is made of flame-retardant materials and has a certain degree of flexibility to adapt to the movement range of the robotic arm. After the smoke is initially adsorbed, it is deeply exhausted by the exhaust fan through the smoke delivery pipe, achieving secondary smoke removal and odor removal. When the centralized mode is not required, the pipeline connection can be disconnected to return to the "integrated independent smoke removal", greatly enhancing the environmental adaptability. If the fan and the exhaust fan are turned on simultaneously, a more significant negative pressure can be generated at the end port, and appropriate oxygen can be provided when approaching the fire head to ensure the stable fire power of high-heat moxibustion such as thunder-fire moxibustion. The entire robot body will not lose flexibility due to excessive pipeline volume or rigidity, overcoming the defects of the limited movement radius and slow movement of the traditional large pipeline smoking system. It is difficult for those skilled in the art to associate this integrated design of double-layer smoke exhaust and oxygen-aided combustion from a simple pipeline smoking solution. Universal wheels 20 are provided at the bottom of the body. In addition, a handle can be provided on the moxibustion shell 10, and an outer heat insulation strip or heat dissipation fins can be provided near the hand-held part to prevent high-temperature conduction to the operator's hand. During manual operation, the fan speed can be set on the moxibustion module through a simple button or knob 21, or remotely controlled on the upper computer interface; greatly reducing the manual working hours and physical burden.

[0026] By respectively configuring a filtering and fan device on the robot body and the moxibustion module, and supplementing with a decoupling / coupling flexible pipeline, the present utility model achieves a flexible switching solution between an independent integrated type and centralized deep filtering, realizing:

[0027] 1. High mobility (detachable end and independent power supply and oxygen supply of the end fan)

[0028] 2. High-efficiency smoke exhaust (double superposition of the high-power filter element of the main unit and the end fan)

[0029] 3. Medical-grade cleanliness (smoke concentration can be monitored and automatically adjusted in real time)

[0030] 4. (Non-obviously simultaneously satisfying the requirements of portability in small venues and high-load smoke extraction)

[0031] This invention features a detachable moxibustion module at the end of a robotic arm, supporting disassembly without interruption of combustion and modular expansion, thus creating a novel human-machine collaborative operating mode. This module can be seamlessly connected to or separated from the robot's main unit, allowing medical personnel to independently perform moxibustion while maintaining continuous moxa stick combustion and smoke removal functions. This overcomes the limitations of traditional equipment that requires "integrated packaging and shutdown for disassembly." In the field of TCM therapy robots, this innovation completely breaks through the previous approach of simple smoke extraction arms or single-fan end-effectors, solving long-standing problems such as large smoke emissions from thick moxa sticks and continuous combustion for oxygenation. It represents a significant technological advancement and has broad clinical application prospects.

[0032] Furthermore, this invention addresses the high safety requirements of traditional Chinese medicine moxibustion scenarios by configuring a multimodal data fusion and automated safety monitoring mechanism. This mechanism fully utilizes information from human posture sensors, smoke sensors, temperature and distance detection, etc., to provide the moxibustion robot with real-time closed-loop dynamic scheduling capabilities, ensuring that the treatment process is controllable, effective, and compliant with medical device regulations. The specific structure is as follows:

[0033] (1) An infrared array temperature sensor, laser / ultrasound ranging, etc. can be built into the moxibustion module or the body to accurately obtain the surface temperature distribution or the distance between the burner and the skin; in the nonlinear temperature control model, these sensor information will be used as key inputs to trigger differential equation iteration or numerical integration; unlike the traditional solution that only uses single-point temperature measurement, the present invention can collect multiple temperature points, identify local overheating and locally retreat Δh, etc., with a higher safety margin;

[0034] (2) A smoke sensor is installed on the moxibustion module to detect the smoke concentration. When the concentration exceeds the set threshold (e.g., greater than the ppm standard), the host computer will immediately issue an alarm and can automatically switch to the centralized smoke removal mode, or increase the fan speed to enhance smoke removal. Compared with similar devices that are only equipped with an external large smoke extraction machine and have no concentration detection, the multi-level smoke removal + sensor fusion of this invention greatly improves the smoke removal efficiency and medical comfort.

[0035] (3) Set up corresponding human posture / body movement sensors, such as visual depth cameras, infrared stereo sensors or body radar, to cover the moxibustion area; once a large body movement (such as turning over or local movement) is detected, the system can issue a prompt and automatically pause the movement of the robotic arm or retreat to a safe distance to prevent burns or collisions; this kind of active body movement detection is not yet common in traditional Chinese medicine moxibustion robots, which reflects the deep consideration of safety requirements in this invention.

[0036] To improve reliability, temperature / smoke sensors can be placed on both the end-point moxibustion module and the main body to form dual redundancy detection. If a sensor malfunctions or its data is abnormal, the system can still maintain basic safety monitoring functions.

[0037] The fusion strategy method is as follows:

[0038] ① Transmit temperature and distance data to the nonlinear predictive temperature controller to update Δ h Δ r Equal trajectory correction value;

[0039] ② Link smoke concentration information with dual-mode smoke removal, and automatically switch to centralized smoke removal when necessary;

[0040] ③ Combine the body motion detection results with the detachable end effector or trajectory dynamic correction. If the patient or module has left the expected moxibustion area, stop the robotic arm movement or trigger an alarm.

[0041] The functions of its main components are as follows:

[0042] Moxa stick combustion chamber: holds the moxa stick and maintains stable combustion; Ash-proof metal mesh: prevents ash from falling into the fan or electrical circuit area; Exhaust port & smoke supply pipe interface: can directly discharge treated gas, or connect a flexible tube to send smoke into the machine body for secondary filtration; Fan & replaceable smoke filter module: achieves primary filtration and oxygenation to aid combustion, and the filter element can be quickly replaced; The fan and primary filter element inside the moxibustion terminal module can complete the primary treatment of smoke, and the clean gas can be directly discharged through the exhaust port; Centralized smoke removal: in situations with large amounts of smoke or odors, the smoke is introduced into the high-power fan + multi-stage filter element of the machine body through the flexible pipe of the machine body for deep filtration.

[0043] Temperature Prediction and Motion Control Implementation Steps

[0044] Dual-mode smoke removal implementation process

[0045] 1. Independent integrated smoke exhaust

[0046] By default, the miniature fan and preliminary filter of the end-point moxibustion module create a local negative pressure to initially filter the smoke generated during moxibustion; the filtered gas is then discharged through the exhaust port.

[0047] This mode eliminates the need for connecting pipes to the main unit, making it suitable for portable scenarios such as homes or small clinics, reducing system space requirements and assembly burden.

[0048] 2. Centralized deep filtration

[0049] If the smoke sensor detects a continuous increase in concentration or the use of moxa sticks with high smoke output, such as those used in Lei Huo Jiu, the host computer can issue a prompt or automatically enter centralized mode.

[0050] The flexible pipe is connected to the end of the moxibustion device. After the smoke is initially drawn in by the fan, it is further guided through the pipe to the high-power filter unit in the main body, thereby achieving two-stage smoke exhaust and odor removal.

[0051] In centralized mode, the large fan and the small terminal fan can work together to accelerate smoke extraction on the one hand, and provide a certain oxygen flow for the moxa sticks on the other hand, thereby improving combustion efficiency.

[0052] Therefore, the moxibustion robot of this utility model mainly includes: a body, which is equipped with a high-power filtration unit and a main control unit, and the main control unit is electrically connected to an external power supply and a multi-degree-of-freedom robotic arm; a multi-degree-of-freedom robotic arm, which is installed on the body or its base and is used for spatial positioning and moxibustion actions; a moxibustion module, which is detachably installed at the end effector of the robotic arm through a snap-fit ​​or slot structure, and the end moxibustion module has a built-in micro fan and a primary filtration unit for primary filtration of moxibustion smoke and maintaining the burning of the moxa stick; a multimodal sensor, including at least a temperature sensor, a distance sensor and a smoke sensor, for collecting information such as body surface temperature, distance between the flame and the skin, and smoke concentration; and a nonlinear predictive temperature control system, in which the main control unit predicts the burning of the moxa stick and the heat dissipation process of the body surface based on the collected multimodal sensor data using nonlinear differential equations, and adjusts the position or movement trajectory of the end effector of the robotic arm in real time to keep the body surface temperature within a safe threshold range;

[0053] The moxibustion module has a built-in independent battery to continuously power the micro fan even after separation from the robotic arm, ensuring uninterrupted moxa burning and smoke removal. The module features an anti-scalding structure and a heat insulation layer, and an ash-proof mesh outside the moxa burning chamber to prevent ash or high-temperature flames from directly contacting internal electronic components or the operator's hands. The high-power filtration unit inside the machine includes multi-stage filters and a fan. When the smoke concentration exceeds a preset threshold, it automatically switches or increases the exhaust speed, working in conjunction with the fan of the end-effector moxibustion module to form a two-stage smoke removal system. The multimodal sensors also include a human posture detection sensor or an infrared / depth camera to monitor patient movement or posture changes in real time. If a significant displacement is detected, the main control unit will automatically retract the robotic arm to a safe distance or pause the moxibustion operation.

[0054] Finally, the basic control method of the present invention is as follows:

[0055] The control method includes:

[0056] (1) Data acquisition: Periodically acquire sensor data such as temperature, distance, smoke concentration and human posture;

[0057] (2) Prediction calculation: Input the temperature and distance data into the nonlinear temperature model for numerical integration or discrete iteration to predict the change in body surface temperature after several steps;

[0058] (3) Trajectory correction: Based on the comparison results between the predicted temperature and the safety threshold, calculate the correction amount of the height or trajectory radius between the end of the robotic arm and the skin;

[0059] (4) Motion execution: The correction amount is superimposed on the predetermined TCM moxibustion technique trajectory, and real-time dynamic moxibustion is achieved through inverse kinematics solution and velocity interpolation;

[0060] (5) Smoke control: Automatically switch between "integrated terminal smoke exhaust" or "centralized filtration" mode based on smoke concentration data. When a large amount of smoke is detected, the high-power filtration unit is activated.

[0061] (6) Safety monitoring: If the patient’s body movement, temperature or smoke exceeds the limit, the robotic arm shall immediately avoid or stop, and the end fan shall continue to run until the hazard is eliminated;

[0062] (7) Detachable operation: The end moxibustion module can be detached for manual hand-held moxibustion while the fire is not interrupted. After the moxibustion is completed, it can be reconnected to the robotic arm and the system will automatically restore the original trajectory and temperature control logic.

[0063] In addition, during the nonlinear temperature prediction in step 2, the system adapts to different types of moxibustion consumables such as Lei Huo Jiu and thin moxa sticks by using customized combustion rate coefficients and heat dissipation parameters to achieve more precise temperature control. During the smoke removal control in step 5, the system automatically adjusts the air volume of the terminal small fan and the main fan of the machine according to the smoke sensor concentration value, thereby dynamically switching between portable mode and high load mode, and issuing replacement or maintenance prompts when the filter is clogged or the temperature is too high.

[0064] Of course, the above description is not intended to limit the present utility model, and the present utility model is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present utility model should also fall within the protection scope of the present utility model.

Claims

1. A moxibustion robot, comprising a body (1) and a robotic arm (2), characterized in that: The body (1) is equipped with a fan (3), a filter unit (4) located at the air outlet of the fan, and a flue gas treatment box (5) connected to the filter unit via a section of smoke pipe. The end of the robotic arm (2) can be equipped with a phototherapy module (6) and a moxibustion module (7). The moxibustion module (7) includes a moxibustion shell (10) with a smoke pipe interface (8) and a primary exhaust port (9), a primary filter element (11) located inside the moxibustion shell, a moxa stick (12) located in the center of the primary filter element, a moxa stick combustion chamber (13) located at the bottom of the primary filter element and installed in conjunction with the primary filter element, an exhaust fan (14) installed in the primary exhaust port and in conjunction with the primary filter element, and an anti-scalding baffle (15) located at the bottom of the moxibustion shell. The smoke pipe interface (8) can be connected to the air inlet of the fan (3) through a smoke pipe (16) to achieve deep smoke extraction and filtration.

2. The moxibustion robot according to claim 1, characterized in that: The end of the robotic arm (2) is provided with a slot, and the moxibustion shell (10) is provided with a buckle that cooperates with the slot. The end moxibustion module (7) can be snapped into the slot of the robotic arm (2) through the buckle.

3. The moxibustion robot according to claim 1 or 2, characterized in that: The outer shell (10) of the moxibustion device is made of heat-insulating material.

4. The moxibustion robot according to claim 3, characterized in that: The primary filter element is a multi-layer filter screen, and the exhaust fan (14) is a DC brushless fan.

5. The moxibustion robot according to claim 1, 2 or 4, characterized in that: The body (1) is equipped with a smoke sensor for monitoring smoke concentration information. The control signals of the smoke sensor and the fan are both input to the control unit located inside the body. When the smoke sensor detects the upper limit of the smoke volume or odor concentration, it can trigger the fan to run in order to enhance the smoke exhaust efficiency.

6. The moxibustion robot according to claim 5, characterized in that: The smoke supply pipe (16) is made of flame-retardant material.

7. The moxibustion robot according to claim 1, 2, 4 or 6, characterized in that: The bottom of the machine body is equipped with casters (20).

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