Moxibustion devices and moxibustion robots

Abstract

This utility model discloses a moxibustion device and a moxibustion robot, belonging to the field of moxibustion robot technology. When moxa sticks need to be installed, the placement cylinder is removed from the mounting hole of the shell, and then the moxa stick is placed into the conical hole. The moxa stick is manually pressed into the placement hole, and the placement cylinder is installed into the mounting hole of the shell. The linear drive mechanism drives the pusher to move towards the placement cylinder, so that the pusher pushes the moxa stick from the conical hole into the placement hole, thereby pressing the outer edge of the moxa stick into the placement hole, sealing the outer edge of the moxa stick with the inner wall of the placement hole, reducing the contact area between the outer edge of the moxa stick and the air. After the moxa stick is lit, the outer edge and the middle of the burning end of the moxa stick have similar burning rates, making the heat radiated outward from the burning end of the moxa stick more uniform and improving the moxibustion treatment effect.

Description

Technical Field

[0001] This utility model relates to the field of moxibustion robot technology, and in particular to a moxibustion device and a moxibustion robot. Background Technology

[0002] The moxibustion device in a moxibustion robot uses the heat generated by burning moxa sticks to apply to the human body. The robot's robotic arm moves the device along a specific trajectory or motion, allowing the heat generated to act on specific parts of the body, thus achieving the moxibustion effect. Currently, the moxibustion device in moxibustion robots holds the burning moxa stick. Because the outer edge of the burning end of the moxa stick has a larger contact area with the air, the burning rate at the outer edge is easily greater than that at the center of the burning end. This results in a conical burning end, causing uneven heat radiation and reducing the therapeutic effect of moxibustion. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a moxibustion device and a moxibustion robot, in which the outer edge and the middle of the burning end of the moxa stick have similar burning rates, making the heat radiated outward from the burning end of the moxa stick more uniform and improving the therapeutic effect of moxibustion.

[0004] The moxibustion device according to a first aspect embodiment of the present invention includes:

[0005] The housing has mounting holes;

[0006] A linear drive mechanism is disposed in the housing, and the linear drive mechanism is located above the mounting hole;

[0007] A push block is connected to the linear drive mechanism, which drives the push block to move up and down along the mounting hole.

[0008] A placement cylinder is detachably connected to the mounting hole. The placement cylinder is located below the linear drive mechanism. The placement cylinder has a tapered hole and a placement hole that are connected vertically. The diameter of the tapered hole gradually decreases from top to bottom.

[0009] The moxa cone is used to make an interference fit with the placement hole;

[0010] The linear drive mechanism drives the pusher to push the moxibustion column from the conical hole into the placement hole.

[0011] The moxibustion device according to the embodiments of this utility model has at least the following beneficial effects: When it is necessary to install the moxa stick, the placement cylinder is removed from the mounting hole of the shell, and then the moxa stick is placed into the conical hole. The moxa stick is manually pressed into the placement hole, and the placement cylinder is installed into the mounting hole of the shell. The linear drive mechanism drives the push block to move towards the placement cylinder, so that the push block pushes the moxa stick from the conical hole into the placement hole, thereby making the placement hole press against the outer edge of the moxa stick, sealing the outer edge of the moxa stick with the inner wall of the placement hole, reducing the contact area between the outer edge of the moxa stick and the air. After the moxa stick is lit, the burning rate of the outer edge and the middle of the burning end of the moxa stick is similar, so that the heat radiated outward from the burning end of the moxa stick is more uniform, improving the moxibustion treatment effect.

[0012] According to some embodiments of this utility model, the moxibustion device further includes:

[0013] The mounting tube is detachably connected to the bottom of the housing and is arranged around the periphery of the placement tube. The bottom end of the mounting tube is lower than the bottom end of the moxibustion stick.

[0014] According to some embodiments of the present invention, the top of the mounting cylinder is provided with a through-hole, the bottom of the housing is provided with a screw hole, and the moxibustion device also includes a screw, which passes through the through-hole and is screwed into the screw hole.

[0015] According to some embodiments of the present invention, the outer wall of the placement cylinder is provided with an outwardly extending protruding edge, the protruding edge is connected to the mounting cylinder, and the protruding edge is provided with a plurality of vertically penetrating vent holes.

[0016] According to some embodiments of this utility model, the moxibustion device further includes:

[0017] A sealing gasket is disposed between the placement cylinder and the linear drive mechanism, and the sealing gasket seals the gap between the top of the tapered hole and the linear drive mechanism.

[0018] According to some embodiments of the present invention, the linear drive mechanism drives the pusher block to move at a constant speed.

[0019] According to some embodiments of this utility model, the moxibustion device further includes:

[0020] An exhaust pipe is connected to the housing, and the exhaust pipe is connected to the mounting hole.

[0021] The moxibustion robot according to a second aspect embodiment of the present invention includes:

[0022] robotic arm;

[0023] The moxibustion device described in the above embodiment is connected to the robotic arm.

[0024] The moxibustion robot according to the embodiments of this utility model has at least the following beneficial effects: When it is necessary to install moxa sticks, the placement cylinder is removed from the mounting hole of the shell, and then the moxa stick is placed into the conical hole. The moxa stick is manually pressed into the placement hole, and the placement cylinder is installed into the mounting hole of the shell. The linear drive mechanism drives the pusher to move towards the placement cylinder, so that the pusher pushes the moxa stick from the conical hole into the placement hole, thereby pressing the outer edge of the moxa stick into the placement hole, sealing the outer edge of the moxa stick with the inner wall of the placement hole, reducing the contact area between the outer edge of the moxa stick and the air. After the moxa stick is lit, the outer edge of the burning end of the moxa stick has a similar burning rate to the middle part, so that the heat radiated outward from the burning end of the moxa stick is more uniform, thus improving the moxibustion treatment effect.

[0025] According to some embodiments of this utility model, the moxibustion robot further includes:

[0026] A 3D camera is located at the bottom of the housing;

[0027] An infrared camera, having a bottom portion of the housing;

[0028] A wiring conduit connects to the housing, and the electrical connection wires of the linear drive mechanism, the 3D camera, and the infrared camera are laid in the wiring conduit.

[0029] According to some embodiments of this utility model, the infrared camera is used to acquire infrared images of the moxibustion location, and the measured temperature of the moxibustion location is obtained based on the infrared images;

[0030] When the measured temperature is greater than the upper limit of the preset temperature range, the robotic arm moves the moxibustion device away from the moxibustion position.

[0031] When the measured temperature is less than the lower limit of the preset temperature range, the robotic arm moves the moxibustion device closer to the moxibustion position. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the structure of a moxibustion device according to an embodiment of the present invention;

[0033] Figure 2 This is a cross-sectional schematic diagram of a moxibustion device according to an embodiment of the present invention;

[0034] Figure 3 This is a bottom view schematic diagram of a moxibustion device according to an embodiment of the present invention;

[0035] Figure 4 This is a schematic diagram of the structure of a moxibustion robot according to an embodiment of the present invention.

[0036] Reference numerals: housing 100, mounting hole 110, wiring hole 120, linear drive mechanism 200, push block 210, placement cylinder 300, conical hole 310, placement hole 320, protruding edge 330, vent hole 331, moxibustion column 400, mounting cylinder 500, connecting hole 510, protective net 520, screw 600, heat insulation pad 700, exhaust pipe 800, robotic arm 900, 3D camera 910, wiring conduit 920, infrared camera 930. Detailed Implementation

[0037] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0038] In the description of this utility model, it should be understood that the terms front, back, up, down, axial, circumferential, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0039] In the description of this utility model, "multiple" means two or more; "greater than," "less than," and "exceeding" are understood to exclude the stated number; "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly specifying the number of indicated technical features or their sequential relationship.

[0040] In the description of this utility model, it should be noted that terms such as "setting," "installing," and "connecting" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0041] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are some embodiments of this utility model, not all embodiments.

[0042] Reference Figures 1 to 3 As shown, this utility model provides a moxibustion device.

[0043] The moxibustion device includes a housing 100, a linear drive mechanism 200, a pusher 210, a placement cylinder 300, and a moxa stick 400.

[0044] The housing 100 is provided with a through mounting hole 110. The linear drive mechanism 200 is mounted on the housing 100 and is located above the mounting hole 110. The linear drive mechanism 200 is connected to the push block 210 and drives the push block 210 to move up and down along the mounting hole 110.

[0045] The placement cylinder 300 is installed in the mounting hole 110. The placement cylinder 300 is detachably connected to the housing 100. The placement cylinder 300 is located below the linear drive mechanism 200. The placement cylinder 300 is provided with a tapered hole 310 and a placement hole 320 from top to bottom. The bottom of the tapered hole 310 is connected to the top of the placement hole 320. The diameter of the tapered hole 310 gradually decreases from top to bottom.

[0046] The outer diameter of the moxa stick 400 is interference-fitted with the diameter of the placement hole 320.

[0047] When the moxa stick 400 is inserted into the placement hole 320 through the conical hole 310, the linear drive mechanism 200 is activated and drives the push block 210 to move downward. The push block 210 pushes the moxa stick 400 from the conical hole 310 into the placement hole 320.

[0048] When the moxa stick 400 needs to be installed, remove the placement cylinder 300 from the mounting hole 110 of the housing 100, then place the moxa stick 400 into the conical hole 310, manually press part of the moxa stick 400 into the placement hole 300, install the placement cylinder 300 into the mounting hole 110 of the housing 100, and the linear drive mechanism 200 drives the push block 210 to move towards the placement cylinder 300, so that the push block 210 pushes the moxa stick 400 from the conical hole 310 into the placement hole 320, thereby making the placement hole 320 press the outer edge of the moxa stick 400, so that the outer edge of the moxa stick 400 is sealed with the inner wall of the placement hole 320, reducing the contact area between the outer edge of the moxa stick 400 and the air. After the moxa stick 400 is lit, the burning rate of the outer edge and the middle of the burning end of the moxa stick 400 is similar, so that the heat radiated outward from the burning end of the moxa stick 400 is more uniform, improving the moxibustion treatment effect.

[0049] In some embodiments, refer to Figures 1 to 3 As shown, the moxibustion device also includes an installation cylinder 500, with a placement cylinder 300 located inside the installation cylinder 500. The top of the installation cylinder 500 has a connecting hole 510 that runs vertically through it. The housing 100 has a screw hole around the bottom of the installation hole 110, with the screw hole matching the position of the connecting hole 510. A screw 600 passes through the connecting hole 510 and connects to the screw hole, allowing the installation cylinder 500 to be detachably connected to the bottom of the housing 100. The installation cylinder 500 runs vertically through it, and the bottom of the installation cylinder 500 is lower than the bottom of the moxa stick 400. A protective net 520 is provided at the bottom of the installation cylinder 500, and the protective net 520 is located below the moxa stick 400.

[0050] The mounting cylinder 500 is detachably threaded to the housing 100 to facilitate the assembly and disassembly of the placement cylinder 300. During the assembly and disassembly process, the placement cylinder 300 will not be deformed or damaged, ensuring that the shape of the placement cylinder 300 remains unchanged. This allows the moxa stick 400 to be inserted into the placement hole 320 of the placement cylinder 300, so that the inner wall of the placement hole 320 fits tightly against the outer edge of the moxa stick 400, ensuring a sealing performance.

[0051] In some embodiments, refer to Figure 2 and Figure 3 As shown, the top of the mounting cylinder 500 is provided with an outwardly extending flange, and the connecting hole 510 is provided on the flange, and the connecting hole 510 runs through the flange vertically.

[0052] In some embodiments, refer to Figure 2 As shown, the outer wall of the placement cylinder 300 is provided with a protruding edge 330, which extends horizontally outward. The inner wall of the mounting cylinder 500 is provided with a step. The placement cylinder 300 is placed inside the mounting cylinder 500. The protruding edge 330 abuts against the step. The protruding edge 330 is provided with multiple vent holes 331, and each vent hole 331 passes through the protruding edge 330 vertically.

[0053] The inner wall of the mounting cylinder 500 is provided with a step to support the protruding edge 330 of the outer wall of the placement cylinder 300, making the connection between the mounting cylinder 500 and the placement cylinder 300 more convenient.

[0054] In some embodiments, refer to Figure 2 As shown, the mounting cylinder 500 is also equipped with a heat insulation ring, the heat insulation ring is steppedly connected, and then the protruding edge 330 abuts against the heat insulation ring, and the protruding edge 330 and the heat insulation ring are connected together by screws.

[0055] A heat insulation ring is installed to separate the installation cylinder 500 and the placement cylinder 300, reducing the heat generated by the burning moxa stick 400 in the placement cylinder 300 from being directly transferred to the installation cylinder 500, thus preventing the installation cylinder 500 from overheating and causing burns.

[0056] Furthermore, a heat-insulating filling material is provided between the inner wall of the mounting cylinder 500 and the outer wall of the placement cylinder 300. The heat-insulating filling material reduces the direct transfer of heat released by the burning moxa stick 400 in the placement cylinder 300 to the mounting cylinder 500.

[0057] Furthermore, a heat-insulating filling material is provided between the inner wall of the mounting hole 110 and the outer wall of the placement cylinder 300. The heat-insulating filling material reduces the heat released by the burning moxa stick 400 in the placement cylinder 300 from being directly transferred to the housing 100.

[0058] In some embodiments, refer to Figure 2As shown, the moxibustion device is also equipped with a heat insulation pad 700, which is circular and located at the bottom of the mounting cylinder 500.

[0059] A heat insulation pad 700 is installed at the bottom of the mounting cylinder 500 to prevent users from being burned by direct contact with the high-temperature mounting cylinder 500.

[0060] In some embodiments, the moxibustion device is further provided with a sealing gasket, which is disposed between the top end of the placement cylinder 300 and the linear drive mechanism 200. A through hole is provided in the middle of the sealing gasket, which avoids the push block 210. The sealing gasket seals the gap between the top end of the conical hole 310 of the placement cylinder 300 and the bottom of the linear drive mechanism 200.

[0061] The sealing gasket is installed at the bottom of the linear drive mechanism 200. The shape of the sealing gasket matches the shape of the conical hole 310 of the placement cylinder 300. When the placement cylinder 300 is installed into the housing 100, the sealing gasket presses against the top edge of the conical hole 310, thereby sealing the top of the conical hole 310 of the placement cylinder 300.

[0062] The sealing gasket seals the top of the conical hole 310 to prevent external air from entering the placement cylinder 300 from the top of the conical hole 310. When the remaining thickness of the moxa stick 400 is small after burning, the sealing gasket can prevent airflow from forming above the placement cylinder 300, which would cause the top of the moxa stick 400 to be ignited, thereby preventing uneven burning of the moxa stick 400.

[0063] In some embodiments, the linear drive mechanism 200 drives the pusher block 210 to move at a constant speed.

[0064] The linear drive mechanism 200 drives the pusher block 210 to move the moxa stick 400 at a constant speed, which helps to ensure that the moxa stick 400 burns evenly throughout the moxibustion process and improves the therapeutic effect of moxibustion.

[0065] In order to improve the driving accuracy of the linear drive mechanism 200, in this embodiment, the linear drive mechanism 200 adopts a lead screw transmission mechanism.

[0066] In some embodiments, refer to Figure 2 As shown, the moxibustion device is also equipped with an exhaust pipe 800, which is connected to the housing 100. One end of the exhaust pipe 800 is connected to the mounting hole 110, and the other end of the exhaust pipe 800 is connected to the exhaust gas treatment device, which can purify the exhaust gas generated after the moxa stick 400 is burned.

[0067] The exhaust pipe 800 draws the exhaust gas produced after the burning of the moxa stick 400 to the exhaust gas treatment device to prevent the exhaust gas from directly spreading into the user's environment and affecting health.

[0068] In this embodiment, the exhaust gas treatment device includes a heater, a three-way catalytic filter, and a radiator connected in sequence. The exhaust gas enters the heater and is heated, so that the residual harmful gases in the exhaust gas are oxidized into harmless gases after passing through the three-way catalytic filter. Then, the exhaust gas is cooled down by the radiator before being discharged, so as to avoid the exhaust gas temperature being too high.

[0069] Reference Figure 4 As shown, this utility model also provides a moxibustion robot.

[0070] The moxibustion robot includes a robotic arm 900 and a moxibustion device as described in the above embodiment. The moxibustion device is installed on the movable end of the robotic arm 900, and the robotic arm 900 drives the moxibustion device to move so as to perform moxibustion on the user.

[0071] When the moxa stick 400 needs to be installed, the robotic arm 900 drives the moxibustion device back to its original position. The user removes the placement cylinder 300 from the mounting hole 110 of the housing 100, and then places the moxa stick 400 into the conical hole 310. The placement cylinder 300 is then installed into the mounting hole 110 of the housing 100. The linear drive mechanism 200 drives the pusher block 210 to move towards the placement cylinder 300, causing the pusher block 210 to push the moxa stick 400 from the conical hole 310 into the placement hole 320. This causes the placement hole 320 to press against the outer edge of the moxa stick 400, sealing the outer edge of the moxa stick 400 with the inner wall of the placement hole 320, reducing the contact area between the outer edge of the moxa stick 400 and the air. After the moxa stick 400 is lit, the burning rate of the outer edge and the middle of the burning end of the moxa stick 400 is similar, making the heat radiated outward from the burning end of the moxa stick 400 more uniform and improving the moxibustion treatment effect.

[0072] In some embodiments, refer to Figure 2 and Figure 3 As shown. The moxibustion robot is also equipped with a 3D camera 910, an infrared camera 930, and a wiring conduit 920. The 3D camera 910 and the infrared camera 930 are located at the bottom of the housing 100. The wiring conduit 920 connects to the housing 100 and extends outward into the electrical control box of the moxibustion robot. The electrical connection wires of the 3D camera 910 and the infrared camera 930, as well as the electrical connection wires of the linear drive mechanism 200, are all laid in the wiring conduit 920, so that the electrical connection wires of the 3D camera 910, the infrared camera 930, and the linear drive mechanism 200 can be protected by the wiring conduit 920.

[0073] In some embodiments, refer to Figure 2As shown, the housing 100 is also provided with a wiring hole 120, which connects the mounting hole 110 and the wiring pipe 920. The electrical connection wire of the linear drive mechanism 200 passes through the wiring hole 120 and extends into the wiring pipe 920. The exhaust pipe 800 is separated from the wiring hole 120, so that the smoke generated by moxibustion is discharged from the exhaust pipe 800, avoiding the high temperature smoke from entering the wiring hole 120 or the wiring pipe 920 and affecting the electrical connection wire.

[0074] In some embodiments, refer to Figure 2 As shown, an infrared camera 930 is installed at the bottom of the housing 100. The infrared camera 930 is used to measure the temperature of the moxibustion site so that the robot can adjust the moxibustion distance based on the temperature of the moxibustion site. Furthermore, the infrared camera 930 can be used to perform infrared diagnosis, locate thermosensitive acupoints, and locate meridians based on the images provided by the infrared camera 930.

[0075] The infrared camera 930 is mounted on a rotatable rotating mechanism, which is installed at the bottom of the housing 100. The rotating mechanism can drive the infrared camera 930 to rotate so that the infrared camera 930 is perpendicular to the bottom surface of the housing 100 or tilted and aligned directly below the molar 400.

[0076] When it is necessary to take a picture of the moxibustion site, the rotating mechanism drives the infrared camera 930 to rotate and tilt so that it is directly below the moxa stick 400, thereby obtaining an infrared image of the moxibustion site.

[0077] When it is necessary to take pictures of the whole human body, the rotating mechanism drives the infrared camera 930 to rotate and be perpendicular to the bottom surface of the housing 100. The moxibustion robot drives the infrared camera 930 to move to the part of the human body that needs moxibustion treatment so that the infrared camera 930 can face the treatment area and thus obtain the infrared image of the human body.

[0078] During the moxibustion process, the moxibustion robot can point an infrared camera 930 at the moxibustion site and use the infrared camera 930 to acquire infrared images of the moxibustion site. Based on the infrared images of the moxibustion site, the temperature of the moxibustion site can be obtained. Based on the principle that the temperature field of heat-sensitive acupoints is different from that of ordinary acupoints, the temperature field contains temperature information and temperature change information. By identifying the temperature change information, heat-sensitive acupoints can be quickly located.

[0079] When the infrared camera 930 is aimed at the acupoint, it can precisely control the distance between the moxibustion device and the human body through temperature field detection, thereby accurately controlling the moxibustion temperature. The infrared camera 930 acquires infrared images of the acupoint and obtains the measured temperature of the acupoint based on the infrared images. When the measured temperature exceeds the upper limit of the preset temperature range, the moxibustion robot controls the moxibustion device to move away from the acupoint, so that the temperature of the acupoint drops to the preset temperature range and is maintained. When the measured temperature is less than the lower limit of the preset temperature range, the moxibustion robot controls the moxibustion device to move closer to the acupoint, so that the temperature of the acupoint rises to the preset temperature range and is maintained.

[0080] In the process of finding meridians in traditional Chinese medicine, the infrared camera 930 can accurately locate the meridians through temperature field images, thus assisting in the positioning of the meridians. In this embodiment, the moxibustion robot moves along the user's body parts with the moxibustion device and the infrared camera 930. During the process of performing moxibustion on the human body using the moxibustion device, the infrared camera 930 captures infrared images of the human body. Temperature field images can be obtained through the human body infrared images, and then the location of the meridians can be found based on the influence of the temperature field.

[0081] When the rotating mechanism drives the moxibustion camera to a vertical position, it can take pictures of the entire human body and capture temperature distribution images. These images are then input into an AI deep learning system, which uses infrared diagnostic technology to assess the human body's health status and generate a rapid diagnostic report. This report is generated by AI deep learning from a large number of infrared medical diagnostic reports, enabling the moxibustion robot to generate reports autonomously and assisting in the implementation of moxibustion.

[0082] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A moxibustion device, characterized in that, include: The housing has mounting holes; A linear drive mechanism is disposed in the housing, and the linear drive mechanism is located above the mounting hole; A push block is connected to the linear drive mechanism, which drives the push block to move up and down along the mounting hole. A placement cylinder is detachably connected to the mounting hole. The placement cylinder is located below the linear drive mechanism. The placement cylinder has a tapered hole and a placement hole that are connected vertically. The diameter of the tapered hole gradually decreases from top to bottom. The moxa cone is used to make an interference fit with the placement hole; The linear drive mechanism drives the pusher to push the moxibustion column from the conical hole into the placement hole.

2. The moxibustion device according to claim 1, characterized in that, The moxibustion device also includes: The mounting tube is detachably connected to the bottom of the housing and is arranged around the periphery of the placement tube. The bottom end of the mounting tube is lower than the bottom end of the moxibustion stick.

3. The moxibustion device according to claim 2, characterized in that, The top of the mounting cylinder is provided with a through-hole, and the bottom of the housing is provided with a screw hole. The moxibustion device also includes a screw, which passes through the through-hole and is screwed into the screw hole.

4. The moxibustion device according to claim 2, characterized in that, The outer wall of the placement cylinder is provided with an outwardly extending protruding edge, which is connected to the mounting cylinder. The protruding edge is provided with multiple vertically penetrating vent holes.

5. The moxibustion device according to claim 1, characterized in that, The moxibustion device also includes: A sealing gasket is disposed between the placement cylinder and the linear drive mechanism, and the sealing gasket seals the gap between the top of the tapered hole and the linear drive mechanism.

6. The moxibustion device according to claim 1, characterized in that, The linear drive mechanism drives the pusher block to move at a constant speed.

7. The moxibustion device according to claim 1, characterized in that, The moxibustion device also includes: An exhaust pipe is connected to the housing, and the exhaust pipe is connected to the mounting hole.

8. A moxibustion robot, characterized in that, include: robotic arm; The moxibustion device according to any one of claims 1 to 7, wherein the moxibustion device is connected to the robotic arm.

9. The moxibustion robot according to claim 8, characterized in that, The moxibustion robot also includes: A 3D camera is located at the bottom of the housing; An infrared camera, having a bottom portion of the housing; A wiring conduit connects to the housing, and the electrical connection wires of the linear drive mechanism, the 3D camera, and the infrared camera are laid in the wiring conduit.

10. The moxibustion robot according to claim 9, characterized in that, The infrared camera is used to acquire infrared images of the moxibustion location, and the measured temperature of the moxibustion location is obtained based on the infrared images. When the measured temperature is greater than the upper limit of the preset temperature range, the robotic arm moves the moxibustion device away from the moxibustion position. When the measured temperature is less than the lower limit of the preset temperature range, the robotic arm moves the moxibustion device closer to the moxibustion position.

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