A heat therapy moxibustion mechanical arm

Abstract

The utility model relates to a kind of thermotherapy moxa-burning mechanical arms, including mechanical arm and thermotherapy head, the thermotherapy head includes shell and the head cover main body being set to the shell inside, the outside of shell is provided with outer baffle net, the outer baffle net is integrally fixed with the guide hopper for intercommunication outer baffle net both sides, outer baffle net middle part is concave downward, and the recessed portion is equipped with material gathering mouth, the guide hopper is above the head cover main body, the head cover main body is provided with several clamping assemblies, using above-mentioned technical scheme, the utility model is accurately positioned by the flexible movement of multi-arm mechanical arm, cooperate the innovative structural design of thermotherapy head, wherein guide hopper and material gathering mouth realize the convenient installation of moxa stick and the automatic collection of moxa ash, bowl-shaped heat-collecting cover effectively focuses heat energy and improves thermotherapy efficiency, and the design of leakage cavity ensures that heat is reasonably emitted to avoid accumulation, while retaining traditional moxa-burning curative effect, the overall structure solves the problem of insufficient manual operation precision, poor safety.

Description

Technical Field

[0001] This utility model belongs to the field of physiotherapy instrument technology, and specifically relates to a thermotherapy moxibustion robotic arm. Background Technology

[0002] Moxibustion, a characteristic therapy of traditional Chinese medicine, uses the heat stimulation and medicinal effects produced by burning moxa wool to warm the meridians, promote blood circulation, and invigorate qi. Modern thermotherapy equipment mainly includes physical therapy equipment such as infrared physiotherapy instruments, microwave thermotherapy machines, and ultrasonic therapy instruments.

[0003] While traditional moxibustion therapy is remarkably effective, it faces several limitations in practice. Firstly, relying entirely on the practitioner's hand-held manipulation is not only physically demanding but also makes it difficult to precisely control the distance, angle, and temperature of the moxibustion application, potentially leading to burns or insufficient therapeutic effect. Secondly, the ash produced by burning moxa sticks easily scatters, affecting both treatment efficacy and safety. Currently available auxiliary devices, such as fixed moxibustion frames, are inconvenient to adjust, while simple robotic arms lack intelligent temperature control systems and safety features, failing to meet the demands of modern precision medicine. Summary of the Invention

[0004] The purpose of this utility model is to overcome the defects of the prior art by providing a thermotherapy moxibustion robotic arm that retains the therapeutic advantages of traditional moxibustion while solving the problems of inconvenient operation and poor safety.

[0005] The technical solution of this utility model is as follows: A thermotherapy moxibustion robotic arm, comprising a robotic arm and a thermotherapy head. The robotic arm comprises several arm sections connected in sequence. The thermotherapy head comprises a shell and a head cover body disposed inside the shell. An outer baffle is disposed on the outer side of the shell. The thermotherapy head is mounted on the arm section at the end of the robotic arm. A guide bucket for connecting the two sides of the outer baffle is integrally fixed on the outer baffle. The middle of the outer baffle is concave downward, and a material collection port is provided at the concave part. The guide bucket is located above the head cover body. Several clamping components are disposed on the head cover body. The moxa stick passes through the guide bucket or the material collection port through the outer baffle and is clamped by the corresponding clamping components. A heat-gathering hood is provided on the outside of the main body of the headgear. The heat-gathering hood has a bowl-shaped concave structure. The heat-gathering hood is located inside the outer shell and there are leakage cavities between them. The bottom of the outer shell is connected to the robotic arm.

[0006] By adopting the above technical solution, precise positioning is achieved through the flexible movement of the multi-arm robotic arm. Combined with the innovative structural design of the heat therapy head, the guide bucket and material collection port enable convenient installation of moxa sticks and automatic collection of moxa ash. The outer baffle provides safety protection, the bowl-shaped heat-gathering cover effectively focuses heat energy to improve the efficiency of heat therapy, and the design of the leakage cavity ensures reasonable heat dissipation and avoids accumulation. The overall structure retains the efficacy of traditional moxibustion while solving the problems of insufficient precision, poor safety, and low efficiency of manual operation, and realizes intelligent, safe and precise moxibustion treatment.

[0007] A further feature of this invention is that the clamping assembly includes two symmetrically arranged clamping mouths, which are rotatably connected to the head cover body via rotating shafts. Each rotating shaft is provided with an opening coil spring for squeezing the corresponding clamping mouth to put it in a clamped state.

[0008] With the aforementioned further design, the clamping assembly in this solution achieves automatic clamping and quick replacement of moxa sticks through symmetrically arranged clamping mouths and an open-mouth coil spring structure. When the moxa stick is inserted through the guide hopper, the two clamping mouths automatically open and elastically return to their original position under the action of the rotating shaft, ensuring that the moxa stick is stably clamped and will not loosen. The open-mouth coil spring design gives the clamping mouths an automatic return capability, which not only facilitates the operator to replace the moxa stick with one hand, but also adaptively adjusts the clamping force according to the different diameters of moxa sticks, ensuring the stability of the moxa stick during moxibustion and improving the convenience and safety of use.

[0009] A further feature of this invention is that multiple guide buckets can be provided, each guide bucket being symmetrically distributed around the center of the material outlet, and each material outlet and each guide bucket having a corresponding clamping component.

[0010] By further configuring the above-mentioned components, multiple guide hoppers and corresponding clamping components symmetrically distributed around the center of the polymer material inlet are used to achieve a highly efficient treatment mode that allows multiple moxa sticks to be applied simultaneously. This structural design not only significantly improves treatment efficiency, enabling multiple acupoints to be heated synchronously, but also ensures uniform heat distribution through the symmetrical layout. The independent correspondence between each guide hopper and clamping component allows each moxa stick to be installed and replaced individually without interference. This not only meets the needs of simultaneous multi-point moxibustion in clinical treatment but also maintains the flexibility and convenience of use, making it particularly suitable for rehabilitation scenarios that require treatment of large areas or multiple acupoints.

[0011] A further improvement of this invention is that the guide bucket has holes evenly distributed on its wall surface.

[0012] With the above-mentioned further design, the perforated structure effectively promotes the circulation of combustion air, ensuring that the moxa stick burns fully to improve the thermal efficiency, and can evenly disperse the smoke generated when the moxa stick burns, avoiding local accumulation that affects the treatment environment; at the same time, the uniform distribution of the perforations maintains the structural strength of the guide hopper and realizes the secondary filtration function of the moxa ash, so that larger particles of ash can be effectively blocked in the guide hopper.

[0013] A further feature of this invention is that adjacent arms can rotate relative to each other via an electric assembly. Each arm has a mounting cavity, and the electric assembly includes a drive motor installed in the mounting cavity. The output shaft of the drive motor is fixedly connected to the adjacent arm.

[0014] By adopting the above-mentioned further design, the structural layout of the drive motor built into the arm mounting cavity not only saves external space, but also improves the overall integrity and aesthetics of the robotic arm; the connection method of the motor directly driving the adjacent arm ensures the high efficiency of power transmission and response speed, enabling the robotic arm to quickly and accurately adjust the position and angle of the heat therapy head to meet the position requirements of moxibustion at different acupoints.

[0015] A further feature of this invention is that the output shaft of the drive motor extends along the axial direction of the corresponding arm or is arranged tangentially to the axis of the arm.

[0016] By adopting the above-mentioned further settings, the arrangement of the drive motor output shaft is flexibly configured to give the robotic arm a higher degree of adaptability. The tangential arrangement of the axis allows the robotic arm to achieve more direct joint bending movements, which is particularly suitable for moxibustion scenarios that require a large range of swings; while the axial arrangement can adjust the direction of the robotic arm bending, achieving a high degree of freedom of adjustment, so that the heat therapy head can be quickly and smoothly adjusted to the optimal moxibustion position.

[0017] A further feature of this invention is that at least one output shaft of the drive motor is arranged along the axial extension direction of the corresponding arm and tangentially to the axis of the arm.

[0018] By further configuring the above-mentioned components and drive motors, if a single motor fails, another motor can maintain control over the swing of the heat therapy head in all directions. Moreover, the two swing joints are connected in series and can compensate for each other in the vertical direction, maintaining the horizontal height of the heat therapy head and controlling the extension distance.

[0019] A further feature of this invention is that the outer shell is rotatably arranged relative to the last stage arm and is fixedly connected to the output shaft of the drive motor mounted thereon.

[0020] With the above-mentioned further configuration, the outer shell is directly connected to the output shaft of the drive motor on the arm. Driven by the motor, the heat therapy head can rotate, allowing the position of the guide bucket to be adjusted on a plane to achieve a more accurate moxibustion position.

[0021] A further feature of this invention is that the robotic arm also includes a mounting base for fixing the robotic arm. The mounting base is rotatably connected to an arm portion. A base motor is provided in the mounting base. The output shaft of the base motor is fixedly connected to the corresponding arm portion and is arranged along the axial direction of the arm portion.

[0022] With the above-mentioned further configuration, the mounting base can be used to fix the entire robotic arm, allowing the robotic arm to be used on equipment in various fields. Furthermore, the relative rotation between the mounting base and the arm is achieved through a base motor drive, further enhancing the rotational flexibility of the robotic arm. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of a specific embodiment of the present utility model; Figure 2 This is a schematic diagram of the overall structure of the robotic arm in a specific embodiment of this utility model; Figure 3 This is a schematic diagram of the overall structure of the heat therapy head in a specific embodiment of this utility model; Figure 4 This is a schematic diagram of the front cross-sectional structure of the heat therapy head in a specific embodiment of this utility model; Figure 5 This is a side cross-sectional view of the heat therapy head in a specific embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of the hidden outer mesh of the heat therapy head in a specific embodiment of this utility model; Figure 7 This is a schematic diagram of the hidden portion of the robotic arm in a specific embodiment of the present invention; Figure 8 This is a schematic diagram of the clamping component in the thermotherapy head in a specific embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of the clamping mouth and the opening spring in a specific embodiment of this utility model.

[0024] In the diagram: 1. Robotic arm; 2. Heat therapy head; 11. Arm section; 12. Mounting cavity; 13. Drive motor; 14. Mounting base; 15. Base motor; 21. Outer shell; 211. Dust exhaust port; 22. Head cover body; 23. Outer baffle; 24. Guide hopper; 241. Hole; 25. Material collection port; 26. Heat collection cover; 27. Leakage cavity; 28. Clamping nozzle; 29. ​​Opening spring. Detailed Implementation

[0025] The technical solutions in this embodiment will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0026] It should be noted that in the description of this utility model, all directional indicators (such as up, down, forward, backward, etc.) are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0027] Furthermore, in this utility model, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. In the description of this utility model, "a number" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0028] Furthermore, the technical solutions of the various embodiments of this utility model can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0029] like Figure 1-9 As shown, this embodiment provides a thermotherapy moxibustion robotic arm, including a robotic arm 1 and a thermotherapy head 2.

[0030] Thermotherapy head 2 structure: Thermotherapy head 2 is installed on the arm 11 at the end of the robotic arm 1, including a shell 21 and a head cover body 22 disposed inside the shell 21. An outer baffle 23 is provided on the outer side of the shell 21. The outer baffle 23 is recessed in the middle and has a material collection port 25 at the recess. A guide bucket 24 is integrally fixed on the outer baffle 23. The guide bucket 24 connects the two sides of the outer baffle 23 and is located above the head cover body 22. In this embodiment, three guide buckets 24 are used. The three guide buckets 24 are evenly distributed around the material collection port 25. Holes 241 are evenly provided on the wall surface of the guide bucket 24 to promote air circulation and disperse smoke. The head cover body 22 is equipped with a clamping assembly for fixing the moxa stick. Each guide hopper 24 and material collection port 25 has a corresponding set of clamping assemblies. The clamping assembly includes two symmetrically arranged clamping mouths 28. The clamping mouths 28 are rotatably connected to the head cover body 22 via a rotating shaft. Each rotating shaft is equipped with an opening coil spring 29 for squeezing the corresponding clamping mouth 28 to make it clamped. After the moxa stick passes through the guide hopper 24 through the outer baffle 23 or the material collection port 25, it is clamped by the corresponding two opening coil springs 29. Furthermore, the clamping mouth 28 has a shell structure, and the opening spring 29 is located on the back of the shell. One pin of the opening spring 29 abuts against the lower end of the back of the clamping mouth 28, so that the bottoms of the two symmetrically arranged clamping mouths 28 move towards the middle, so that the two clamping mouths 28 are in the normally open clamping state.

[0031] Therefore, when the moxa stick is not inserted, the spring force of the opening spring 29 keeps the clamping mouth 28 in a normally open state with a clamp, but there is a gap between the two clamping mouths 28 of the same clamping component, which allows the user to quickly insert the moxa stick; when the moxa stick is inserted, the clamping mouth 5 is subjected to pressure and rotates inward, and the opening spring 29 provides a reverse spring force, so that the clamping mouth 28 always fits against the surface of the moxa stick, ensuring a stable clamp and preventing loosening or falling off; after the moxa stick is removed, the opening spring 29 squeezes the clamping mouth 28 to the normally open position, without the need for manual adjustment, improving the convenience of operation.

[0032] A heat-gathering cover 26 is provided on the outer side of the head cover body 22. The heat-gathering cover 26 has a bowl-shaped concave structure. The heat-gathering cover 26 is located inside the outer shell 21 and has a leakage cavity 27 between it. It should be noted that the heat-gathering cover 26 has an opening below the clamping component for the residue of the moxa stick to pass through. During the burning of the moxa stick, the ash produced by the burning falls into the leakage cavity 27 for collection. When the moxa stick has finished burning or is about to finish burning, the user can use a tool to push the moxa stick residue still clamped on the clamping component into the leakage cavity 27. The user does not need to clamp the residual moxa stick outward, making the operation simpler.

[0033] The outer shell 21 is provided with a dust exhaust port 211 for connecting the leakage cavity 27 and the outside. After each appropriate course of moxibustion, the user pushes the residual part of the burning moxa stick into the leakage cavity 27. The residue of the moxa stick or the end of the moxa stick can be collected through the dust exhaust port 211. The dust exhaust port 211 can be connected to the outside through a hose or other pipe, and can be connected to a vacuum cleaner or a water tank to collect the products of the burning moxa stick, so as to avoid the ash from flying and burning customers and to keep the place clean. At the same time, it can also remove the gas produced by combustion to avoid the phenomenon of excessive moxa smoke choking on the scene.

[0034] The structure of the robotic arm 1: The robotic arm 1 includes several arms 11 connected in sequence. The adjacent arms 11 can rotate relative to each other through an electric assembly. The arm 11 is provided with a mounting cavity 12. The electric assembly includes a drive motor 13 installed in the mounting cavity 12. The output shaft of the drive motor 13 is fixedly connected to the adjacent arm 11. Furthermore, the outer shell 21 of the thermotherapy device 2 is rotatably set with the last stage arm 11 and fixedly connected to the output shaft of the drive motor 13 installed on it. The output shaft of the drive motor 13 can be arranged along the axial extension direction of the corresponding arm 11 or tangentially with the axis of the arm 11. In this embodiment, a drive motor 13 for control transmission connection is used at the connection of the first arm 11, the second arm 11, the third arm 11, the fourth arm 11, the fifth arm 11, and the sixth arm 11. Its output shaft is set in a tangential direction along the axis, so as to realize the continuous series connection of the two swinging joints. The drive motor 13 used for control transmission connection at the connection between the second arm 11, the third arm 11, the fourth arm 11, the fifth arm 11, and the sixth arm 11 and the housing 21 has its output shaft set along the axial extension direction of the arm 11, so that its secondary arm 11 or housing 21 can rotate around the previous arm 11 in the circumferential direction. It should be noted that the connection of the arm 11 of the robotic arm does not need to be the same as that in this solution. It is only necessary that at least one axial drive motor and one tangential drive motor can be configured at all the connection points of the arm 11. This combination method significantly enhances the overall motion freedom of the robotic arm and enables complex spatial pose adjustments.

[0035] The robotic arm includes a control motherboard that controls each drive motor 13, which can be programmed and debugged. The robotic arm has flexible programming and teaching functions, and can be programmed and debugged through offline programming, pre-planning paths in computer software, and online teaching (operator manually guides and records the trajectory). This greatly improves its adaptability and flexibility, enabling it to easily adapt to different moxibustion tasks, body shapes, and complex acupoint stimulation path requirements. At the same time, it significantly reduces the technical threshold and time cost for users to operate and program, and improves the efficiency of use.

[0036] In addition, to ensure the safety of operators and the equipment itself, this multi-joint moxibustion robotic arm is equipped with comprehensive safety protection devices and an emergency stop function, including an emergency stop button, movement range limit, joint torque / current overload detection, and proximity sensors for possible collision detection. The proximity sensors can be set on the heat therapy head 2. Once an abnormal situation is detected, such as any human limb or other foreign object approaching the heat therapy head 2 and exceeding the preset safe distance, the robotic arm will automatically avoid it and recalculate a new movement trajectory, effectively preventing accidental injury to personnel or equipment, ensuring a safe and reliable treatment environment, and meeting the high safety standards required for medical equipment. At the same time, a voice alarm module can be added to the robotic arm to issue an alarm sound and flashing LED signal lights to provide auditory and visual prompts when an abnormal situation is detected.

[0037] Furthermore, the arm 11 on the robotic arm 1 can be configured as an arc-shaped protruding structure. In this embodiment, the arm 11 is located in the sixth section, and the surface of the connection point of the arm 11 corresponding to the fifth level has a corresponding concave arc-shaped structure. The drive motor 13 between the adjacent arm 11 drives the arm 11 with the arc-shaped protruding structure to move along the surface of the concave arc-shaped structure through belt transmission. By controlling the belt tension in the belt transmission, the adjacent arm 11 can be made to fit together. Moreover, the arc-shaped curved surface design is conducive to the relative rotation between the two, and the contact stress distribution of the arc surface is more uniform than that of the bearing.

[0038] The bottom of the robotic arm 1 is provided with a mounting base 14. One end of the mounting base 14 can be fixed to a wall, treatment bed or mobile support. The other end of the mounting base 14 is rotatably connected to the first arm section 11 and driven by a base motor 15. The base motor 15 is fixedly installed on the mounting base 14. The output shaft of the base motor 15 is set along the axial direction of the arm section 11 to drive the robotic arm 1 to rotate as a whole, improve positioning flexibility and adapt to the needs of different moxibustion scenarios.

[0039] Working process: The moxa stick is inserted through the guide hopper 24 or the material collection port 25, or both. The clamping nozzle 28 automatically clamps and fixes it. The robotic arm 1 is used for positioning and adjustment. The robotic arm 1 adjusts the angle of each arm 11 through the drive motor 13 so that the heat therapy head 2 is accurately positioned to the moxibustion site. Then the heat collection cover 26 focuses the heat of the moxa stick, the leakage cavity 27 avoids heat accumulation, and the outer baffle 23 protects and ensures safety. The ash of the burned moxa stick is collected through the material collection port 25. Multiple guide hoppers 24 and corresponding clamping components can install multiple moxa sticks at the same time to achieve multi-point synchronous treatment.

[0040] Specifically, this solution achieves precise positioning through the flexible movement of a multi-arm robotic arm, combined with the innovative structural design of the heat therapy head. The guide hopper and material collection port enable convenient installation of moxa sticks and automatic collection of moxa ash. The outer baffle provides safety protection, and the bowl-shaped heat-gathering cover effectively focuses heat energy to improve the efficiency of heat therapy. The design of the leakage cavity ensures that heat is reasonably dissipated and avoids accumulation. The overall structure retains the efficacy of traditional moxibustion while solving problems such as insufficient precision, poor safety, and low efficiency of manual operation, realizing intelligent, safe, and precise moxibustion treatment.

Claims

1. A thermotherapy moxibustion robotic arm, comprising a robotic arm (1) and a thermotherapy head (2), wherein the robotic arm (1) comprises a plurality of arm parts (11) connected in sequence, and the thermotherapy head (2) comprises a shell (21) and a head cover body (22) disposed inside the shell (21), wherein an outer baffle (23) is disposed on the outer side of the shell (21), characterized in that, The heat therapy head (2) is installed on the arm (3) at the end of the robotic arm (1). The outer mesh (23) is integrally fixed with a guide bucket (24) for connecting the two sides of the outer mesh (23). The middle of the outer mesh (23) is recessed downward and a material collection port (25) is provided in the recess. The guide bucket (24) is located above the head cover body (22). The head cover body (22) is provided with several clamping components. The moxa stick passes through the guide bucket (24) or the material collection port (25) through the outer mesh (23) and is clamped by the corresponding clamping components. The outer side of the headgear body (22) is provided with a heat-gathering cover (26), which has a bowl-shaped concave structure. The heat-gathering cover (26) is located inside the outer shell (21) and there is a leakage cavity (27) between them. The bottom of the outer shell (21) is connected to the robotic arm (1).

2. The robotic arm for thermotherapy and moxibustion according to claim 1, characterized in that, The clamping assembly includes two clamping mouths (28) arranged symmetrically. The clamping mouths (28) are rotatably connected to the head cover body (22) via a rotating shaft. Each rotating shaft is provided with an opening coil spring (29) for squeezing the corresponding clamping mouth (28) to make it clamped.

3. A thermotherapy moxibustion robotic arm according to claim 1 or 2, characterized in that, Multiple guide buckets (24) can be provided, and each guide bucket (24) is symmetrically distributed around the center of the material outlet (25). Each material outlet (25) and each guide bucket (24) has a corresponding clamping component.

4. The robotic arm for thermotherapy and moxibustion according to claim 1, characterized in that, Holes (241) are evenly provided on the wall surface of the guide bucket (24).

5. The robotic arm for thermotherapy and moxibustion according to claim 1, characterized in that, The outer shell (21) is provided with a dust outlet (211) for connecting the leakage cavity (27) and the outside.

6. The robotic arm for thermotherapy and moxibustion according to claim 1, characterized in that, The adjacent arms (11) rotate relative to each other through an electric assembly. The arm (11) is provided with a mounting cavity (12). The electric assembly includes a drive motor (13) installed in the mounting cavity (12). The output shaft of the drive motor (13) is fixedly connected to the adjacent arm (11).

7. The robotic arm for thermotherapy and moxibustion according to claim 5, characterized in that, The output shaft of the drive motor (13) extends along the axial direction of the corresponding arm (11), or is arranged tangentially to the axis of the arm (11).

8. The robotic arm for thermotherapy and moxibustion according to claim 1, characterized in that, At least one drive motor (13) output shaft is arranged along the axial extension direction of the corresponding arm (11) and tangentially to the axis of the arm (11).

9. The robotic arm for thermotherapy and moxibustion according to claim 1, characterized in that, The outer casing (21) is rotatably mounted to the last stage arm (11) and is fixedly connected to the output shaft of the drive motor (13) mounted thereon.

10. The robotic arm for thermotherapy and moxibustion according to claim 1, characterized in that, The robotic arm (1) also includes a mounting base (14) for fixing the robotic arm (1). The mounting base (14) is rotatably connected to an arm (11). A base motor (15) is provided in the mounting base (14). The output shaft of the base motor (15) is fixedly connected to the corresponding arm (11) and is arranged along the axial direction of the arm (11).

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