A robotic arm-type moxibustion therapy device

Abstract

This application provides a robotic arm-type moxibustion therapy device, which includes: a human-computer interaction module, a human body sensing module, an actuator, a power supply system, and a control system. The human-computer interaction module receives instructions and provides feedback on the system status, the human body sensing module controls the safe distance for moxibustion, and the power supply system provides power. During operation, the control system controls the moxibustion head to perform moxibustion according to the instructions from the human-computer interaction module, while the human body sensing module detects environmental parameters and sends them to the control system to adjust the position of the moxibustion head. This application can improve the safety, effectiveness, and user experience of moxibustion therapy.

Description

Technical Field

[0001] This application relates to the field of medical devices, and more particularly to a robotic arm-type moxibustion therapy device. Background Technology

[0002] In the field of traditional Chinese medicine physiotherapy, moxibustion, as a treatment method with a long history and remarkable efficacy, is gradually being mechanized and automated with the development of modern medical technology.

[0003] However, current moxibustion therapy devices on the market still have many shortcomings in terms of interaction methods, human body perception, functional modules and control systems, making it difficult to meet users' high standards for the safety, effectiveness and convenience of moxibustion therapy. Utility Model Content

[0004] In view of this, the present application provides a robotic arm-type moxibustion therapy device, which can improve the safety, effectiveness and user experience of moxibustion therapy.

[0005] The technical solution of this application embodiment is implemented as follows:

[0006] This application provides a robotic arm-type moxibustion therapy device, which includes: a human-computer interaction module, a human body sensing module, an actuator, a power supply system, and a control system;

[0007] The human-computer interaction module is used to receive control commands and provide feedback on system status; the human body sensing module is used to control the safe distance for moxibustion; the actuator includes a robotic arm and a moxibustion head mounted on the robotic arm; the power system is used to provide power.

[0008] During operation, the control system receives interactive instructions sent by the human-machine interaction module and controls the moxibustion head on the robotic arm to perform moxibustion on the human body. During the moxibustion process, the human body sensing module sends the detected moxibustion environment parameters to the control system to adjust the position of the moxibustion head.

[0009] In one possible implementation, the human-computer interaction module includes at least one of a touch screen component, a remote sensing component, and a remote controller;

[0010] The touchscreen component is used for interface display and input of control commands, and the touchscreen component is equipped with a physical lock button; the joystick component is used to control the movement of the robotic arm; the remote controller is used to send remote control commands to the control system.

[0011] In one possible implementation, the human body sensing module includes: a distance sensor and a first temperature sensor;

[0012] The distance sensor is used to detect the distance parameter between the moxibustion head and the human body, and the first temperature sensor is used to detect the temperature parameter of the moxibustion site.

[0013] The control system receives the distance parameter and the temperature parameter, and adjusts the position of the moxibustion head in real time to keep the parameters within a preset safe range.

[0014] In one possible implementation, the moxibustion head includes: a moxibustion ignition module;

[0015] The moxibustion ignition module is used to heat the moxa stick / moxa cone in the moxibustion head. The moxibustion ignition module includes an alloy electric heating wire and a second temperature sensor.

[0016] The surface of the alloy electric heating wire is coated with an insulating ceramic coating. The second temperature sensor is used to detect the ignition temperature. When the ignition temperature exceeds the ignition temperature threshold, a power-off alarm is triggered.

[0017] In one possible implementation, the moxibustion head further includes: a moxibustion smoke removal module;

[0018] The moxibustion smoke purification module is used to collect and purify the smoke generated by moxa sticks / moxa cones. The moxibustion smoke purification module includes a honeycomb ceramic carrier three-way catalytic converter, and the catalytic reaction temperature of the honeycomb ceramic carrier three-way catalytic converter is regulated by a heating device and a third temperature sensor.

[0019] In one possible implementation, the moxibustion head further includes: a moxibustion ash removal module;

[0020] The moxibustion ash removal module is used to clean and collect the ash produced after the burning of moxa sticks / moxa cones. The moxibustion ash removal module includes a nylon spiral roller brush and an infrared sensor. The nylon spiral roller brush is driven by a micro motor, and the infrared sensor is used to detect the thickness of the ash. When the thickness of the ash reaches a thickness threshold, the nylon spiral roller brush is activated.

[0021] In one possible implementation, the control system includes an ARM main control unit running an embedded Linux system, which is used for data processing, control command generation, and module coordination.

[0022] In one possible implementation, the control system further includes: an STM32 data acquisition unit, the STM32 data acquisition unit via SPI / I... 2 The C protocol connects to the human body sensing module, and the STM32 data acquisition unit is used for sensor signal acquisition and preprocessing.

[0023] In one possible implementation, the control system further includes an STM32 drive unit, which integrates PWM control circuitry and protection mechanisms, and is used for drive control of the actuator.

[0024] In one possible implementation, the control system establishes communication with the dual STM32 units via an RS485 bus to realize sensor data fusion processing, actuator drive control, and human-machine interaction command parsing, and is configured with a fault detection and alarm mechanism to monitor the working status of each module in real time.

[0025] The embodiments of this application have the following beneficial effects:

[0026] By integrating human-computer interaction, human body sensing, actuators, power supply systems, and control systems, the automation and intelligence of moxibustion therapy have been achieved, significantly improving the efficiency and user experience of moxibustion therapy while ensuring the safety of the treatment process. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the robotic arm-type moxibustion therapy device provided in the embodiments of this application;

[0029] Figure 2 This is a system topology diagram of the robotic arm-type moxibustion therapy device provided in the embodiments of this application. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0031] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0032] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0033] In the following description, the terms "first, second, third" are used merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0034] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application and is not intended to limit this application.

[0036] See Figure 1 , Figure 1 This is a schematic diagram of the robotic arm-type moxibustion therapy device provided in the embodiments of this application, which will be combined with... Figure 1 Please provide an explanation.

[0037] like Figure 1 As shown, this application provides a robotic arm-type moxibustion therapy device, which includes: a human-computer interaction module, a human body sensing module, an actuator, a power system, and a control system.

[0038] The human-computer interaction module is used to receive control commands and provide feedback on system status; the human body sensing module is used to control the safe distance for moxibustion; the actuator includes a robotic arm and a moxibustion head mounted on the robotic arm; the power system is used to provide power.

[0039] During operation, the control system receives interactive instructions sent by the human-machine interaction module and controls the moxibustion head on the robotic arm to perform moxibustion on the human body. During the moxibustion process, the human body sensing module sends the detected moxibustion environment parameters to the control system to adjust the position of the moxibustion head.

[0040] The human-computer interaction module employs a touchscreen component, a joystick component, and a remote control to enable user command input and system status feedback. The human body sensing module consists of distance and temperature sensors, which monitor the distance between the moxibustion head and the human body, as well as the temperature of the moxibustion site, in real time to ensure the safety and effectiveness of the moxibustion process. The actuator includes a robotic arm and a moxibustion head mounted on it. The robotic arm has multiple degrees of freedom, enabling precise positioning and movement of the moxibustion head. The power system provides 220V AC mains input and outputs 24V and 48V DC power through a power conversion circuit, providing a stable and reliable power supply to all modules. The control system is responsible for data processing, control command generation, module coordination, sensor data acquisition and preprocessing, and actuator drive control.

[0041] During operation, the user inputs control commands through the human-machine interface module. Upon receiving the commands, the control system moves the robotic arm to position the moxibustion head at the designated acupoint. During moxibustion, the human body sensing module monitors environmental parameters in real time and sends these parameters to the control system. Based on the received parameters, the control system adjusts the position of the moxibustion head in real time to ensure the moxibustion process is conducted within a safe and effective range.

[0042] In some embodiments, the human-computer interaction module includes at least one of a touch screen component, a remote sensing component, and a remote controller;

[0043] The touchscreen component is used for interface display and input of control commands, and the touchscreen component is equipped with a physical lock button; the joystick component is used to control the movement of the robotic arm; the remote controller is used to send remote control commands to the control system.

[0044] In this embodiment, the touchscreen component uses an industrial-grade touchscreen, featuring high brightness, high contrast, and scratch resistance, ensuring clear display of the operating interface in various environments. The touchscreen component is equipped with a physical locking button to prevent accidental operation. Users can input control commands via the touchscreen, such as selecting acupoints, setting treatment time, and adjusting temperature. The joystick component uses a high-precision Hall effect joystick with a three-dimensional motion limiting structure, enabling precise positioning of the robotic arm in three-dimensional space. Users control the movement of the robotic arm via the joystick component, moving the moxibustion head to the designated position. The remote control is equipped with anti-slip buttons and a low-power Bluetooth module, supporting remote control command input. Users can adjust treatment parameters, start / stop treatment, etc., via the remote control, achieving remote operation.

[0045] In some embodiments, the human body sensing module includes: a distance sensor and a first temperature sensor;

[0046] The distance sensor is used to detect the distance parameter between the moxibustion head and the human body, and the first temperature sensor is used to detect the temperature parameter of the moxibustion site.

[0047] The control system receives the distance parameter and the temperature parameter, and adjusts the position of the moxibustion head in real time to keep the parameters within a preset safe range.

[0048] In this embodiment, the distance sensor employs a combined infrared and ultrasonic measurement scheme, arranged in a non-uniform array around the moxibustion head to detect the distance between the moxibustion head and the human skin in real time. When the detected distance is less than a safe threshold, the control system adjusts the position of the moxibustion head to prevent burns. The first temperature sensor includes a contact thermocouple and a non-contact infrared temperature measurement unit, used to detect the surface temperature of the moxibustion site and the ambient temperature, respectively. Based on the received temperature parameters, the control system adjusts the power of the moxibustion head in real time to ensure that the moxibustion process is carried out within a suitable temperature range.

[0049] In some embodiments, the moxibustion head includes: a moxibustion ignition module;

[0050] The moxibustion ignition module is used to heat the moxa stick / moxa cone in the moxibustion head. The moxibustion ignition module includes an alloy electric heating wire and a second temperature sensor.

[0051] The surface of the alloy electric heating wire is coated with an insulating ceramic coating. The second temperature sensor is used to detect the ignition temperature. When the ignition temperature exceeds the ignition temperature threshold, a power-off alarm is triggered.

[0052] In this embodiment, the alloy heating wire is made of a high-temperature resistant alloy material and coated with an insulating ceramic coating to achieve efficient electrothermal conversion and electrical isolation. When energized, the alloy heating wire generates heat to heat the moxa stick / cone, simulating the thermal effect of traditional moxibustion. The second temperature sensor uses an NTC thermistor and is equipped with an ambient temperature compensation circuit for accurate detection of the ignition temperature. When the ignition temperature exceeds a preset threshold, the control system cuts off the power and activates an audible and visual alarm to ensure the safety of the ignition process.

[0053] In some embodiments, the moxibustion head further includes: a moxibustion smoke purification module;

[0054] The moxibustion smoke purification module is used to collect and purify the smoke generated by moxa sticks / moxa cones. The moxibustion smoke purification module includes a honeycomb ceramic carrier three-way catalytic converter, and the catalytic reaction temperature of the honeycomb ceramic carrier three-way catalytic converter is regulated by a heating device and a third temperature sensor.

[0055] The honeycomb ceramic carrier three-way catalytic converter, as the core component of the smoke purification module, converts harmful substances in the smoke produced by burning moxa sticks / pillars into harmless substances through a catalytic reaction. A heating device regulates the catalytic reaction temperature, ensuring the three-way catalytic converter operates at its optimal temperature. A temperature sensor detects the catalytic reaction temperature and feeds this information back to the control system. Based on the received temperature information, the control system adjusts the power of the heating device to maintain the catalytic reaction temperature within a preset range.

[0056] In some embodiments, the moxibustion head further includes: a moxibustion ash removal module;

[0057] The moxibustion ash removal module is used to clean and collect the ash produced after the burning of moxa sticks / moxa cones. The moxibustion ash removal module includes a nylon spiral roller brush and an infrared sensor. The nylon spiral roller brush is driven by a micro motor, and the infrared sensor is used to detect the thickness of the ash. When the thickness of the ash reaches a thickness threshold, the nylon spiral roller brush is activated.

[0058] The nylon spiral roller brush is made of high-strength nylon material and features spiral bristles, effectively cleaning the ash produced after burning moxa sticks / piles. A micro motor drives the nylon spiral roller brush to rotate, achieving automatic ash cleaning. An infrared sensor detects the ash thickness. When the detected ash thickness reaches a preset threshold, the control system activates the micro motor to drive the nylon spiral roller brush for ash cleaning.

[0059] In some embodiments, the control system includes an ARM main control unit running an embedded Linux system, which is used for data processing, control command generation, and module coordination.

[0060] In some embodiments, the control system further includes: an STM32 data acquisition unit, the STM32 data acquisition unit being configured via SPI / I... 2 The C protocol connects to the human body sensing module, and the STM32 data acquisition unit is used for sensor signal acquisition and preprocessing.

[0061] In some embodiments, the control system further includes an STM32 drive unit, which integrates a PWM control circuit and a protection mechanism, and is used for drive control of the actuator.

[0062] In some embodiments, the control system establishes communication with dual STM32 units via an RS485 bus to realize sensor data fusion processing, actuator drive control, and human-machine interaction command parsing, and configures a fault detection and alarm mechanism to monitor the working status of each module in real time.

[0063] This embodiment details the specific implementation of the control system. The control system includes an ARM main control unit, an STM32 data acquisition unit, and an STM32 driver unit. The ARM main control unit uses a high-performance ARM processor, runs an embedded Linux system, and is responsible for core functions such as data processing, control command generation, and module coordination. The ARM main control unit communicates with the two STM32 units via an RS485 bus to realize sensor data fusion processing, actuator drive control, and human-machine interface command parsing. The STM32 data acquisition unit communicates via SPI / I... 2 The C protocol connects to the human body sensing module, responsible for the acquisition and preprocessing of sensor signals. The STM32 data acquisition unit adopts multi-threaded programming to process multiple sensor data in parallel, improving acquisition efficiency. The STM32 driver unit integrates PWM control circuitry and protection mechanisms, responsible for the drive control of the actuators. The STM32 driver unit features dedicated drive circuits designed for power supplies, heating wires, motors, and other devices, providing stable and reliable drive signals. Simultaneously, the STM32 driver unit also incorporates a drive protection mechanism; when overcurrent, overvoltage, or other abnormal conditions are detected, the drive signal is immediately cut off to protect the equipment.

[0064] The RS485 bus communication protocol allows the control system to communicate with the dual STM32 units via an RS485 bus. The RS485 bus communication protocol offers advantages such as strong anti-interference capabilities and long transmission distances, ensuring the stability and reliability of data transmission. The control system is equipped with a comprehensive fault detection and alarm mechanism, monitoring the operating status of each module in real time. When an abnormality is detected, such as sensor failure, actuator jamming, or power failure, the control system will immediately trigger an alarm and take corresponding protective measures, such as cutting off the power supply and stopping the robotic arm's movement, to ensure the system's safety and stability. Simultaneously, the control system also enables remote monitoring and system upgrades via a network interface, facilitating remote management and maintenance by users.

[0065] Please see Figure 2 , Figure 2 This is a system topology diagram of the robotic arm-type moxibustion therapy device provided in the embodiments of this application, such as... Figure 2 As shown, the therapy head module includes a heating wire, a distance sensor, and a temperature sensor. The heating wire generates heat when energized, simulating the thermal effect of traditional moxibustion, and acts on acupoints. The distance sensor monitors the distance between the therapy head and the skin in real time, ensuring the moxibustion process is conducted within a safe distance to prevent burns. The temperature sensor accurately measures the temperature of the heating wire and feeds this information back to the control system for precise temperature control, preventing excessively high or low temperatures from affecting the treatment effect. It connects to the control board via the RS485 communication protocol, receiving control commands (such as heating power, working time, etc.) and feeding back status information such as temperature and distance to the control board. The heating wire is powered by a 24V power supply from the power driver module.

[0066] The power supply module includes a 220V AC mains input and a power conversion circuit (converting 220V AC mains to 24V and 48V DC), providing a stable and reliable power supply for the entire moxibustion robot system and ensuring the normal operation of each module. The 220V AC mains power is converted into 24V and 48V DC power through the power conversion circuit. The 24V power supplies low-voltage modules such as the heating wire and control board of the therapy head module; the 48V power supplies high-voltage modules such as the motor of the motion execution module.

[0067] The user interaction module includes a USB interface, an HDMI interface, a 5V power supply, and audio output. It provides an interactive interface between the user and the moxibustion robot, allowing the user to set parameters (such as treatment time and temperature), monitor status (such as current treatment progress and temperature), and receive audio feedback. It connects to the control board via USB and HDMI interfaces for data transmission (such as user-input commands) and display output (such as the treatment interface and status information). The 5V power supply powers the module itself.

[0068] The control board (AD+3.3 / 5V) includes a microcontroller (such as ARM or STM32), a power button, an AD conversion module, etc. As the core control unit of the moxibustion robot, it is responsible for:

[0069] Data processing: Receives signals from the physiotherapy head module (temperature, distance), user interaction module (user commands), etc., and processes and analyzes them.

[0070] Control command generation: Based on the processed data and preset programs, control commands are generated to control the working status of the physiotherapy head module (heating power), motion execution module (physiotherapy head position), etc.

[0071] System management: Manages the system's startup, shutdown, fault detection, alarm functions, etc.

[0072] The system receives analog signals from the temperature sensor and other components of the therapy head module via an AD conversion module, converts them into digital signals for processing. It connects to the safety module (emergency stop button) and motion execution module (motor drive) via an I / O interface to send control commands and receive status signals. It connects to the user interaction module via a USB / HDMI interface for human-machine interaction. The power button connects directly to the control board for starting and stopping the system.

[0073] The safety module includes an emergency stop button and I / O interfaces. It ensures the moxibustion robot can quickly stop operating in emergencies, protecting user safety. The emergency stop button is connected to the control board via the I / O interface. When the user presses the emergency stop button, the control board immediately cuts off power, stopping all modules and ensuring system safety.

[0074] The moxibustion-specific module includes a three-way catalytic converter control board, providing additional control functions to meet the specific needs of moxibustion treatment. For example, the three-way catalytic converter control is related to the purification of smoke generated during moxibustion. By controlling the operation of the three-way catalytic converter, it effectively purifies moxibustion smoke, improves the treatment environment, and connects to the control board to receive control commands and execute corresponding operations, such as starting / stopping the three-way catalytic converter and adjusting the catalytic converter's operating power.

[0075] The motion execution module includes motors, transmission mechanisms (such as gears and belts), encoders, etc. It is responsible for the motion control of the moxibustion robot, such as the movement, rotation, and lifting of the treatment head, enabling the treatment head to accurately locate acupoints and adjust its position and angle according to treatment needs. It connects to the control board via an I / O interface, receiving control commands (such as motor speed, direction, and running time) and driving the motor. Encoders and other sensors may feed back information such as motor position and speed to the control board, achieving closed-loop control and improving motion accuracy.

[0076] The physiotherapy head module, user interaction module, control board, safety module, moxibustion-specific module, and motion execution module mainly communicate and transmit data through RS485 communication protocol or IO interface to issue commands and provide status feedback.

[0077] The power drive module provides power to the entire system, supplying power to the physiotherapy head module, control board, motion execution module, etc., via 24V and 48V power lines.

[0078] As the core of the system, the control board connects to and controls the working status of other modules through IO interfaces, AD conversion modules, etc., to realize the various functions of the moxibustion robot.

[0079] The topology diagram in the above embodiments provides a fully functional and clearly structured moxibustion robot system. The modules work collaboratively to achieve the function of moxibustion therapy and ensure the safety and effectiveness of the treatment process.

[0080] In summary, the embodiments of this application have the following beneficial effects:

[0081] (1) This application embodiment breaks through the traditional single interaction method and innovatively integrates three interaction modes: touch screen, joystick, and remote control. Users can freely choose according to the treatment stage and personal habits: during treatment, the temperature can be conveniently adjusted through the remote control to avoid interrupting the treatment process; when setting treatment parameters, the visual interface of the touch screen provides a more intuitive and efficient operating experience. This multimodal interaction design significantly improves the flexibility of human-computer interaction and user experience. In view of the defects of traditional button interaction that are prone to accidental touch, this application embodiment sets a physical lock button and a secondary confirmation pop-up window on the touch screen, which effectively reduces the probability of accidental operation. The joystick component adopts a damping and limiting device, which makes the acupoint selection more accurate and solves the problem of traditional manual operation relying on experience and low precision. The anti-slip, locking design and gravity sensing mechanism of the remote control further avoid the operation risk caused by unstable hand or accidental touch, and is safer than traditional remote controls.

[0082] (2) This embodiment abandons the single distance or temperature sensor commonly used in traditional moxibustion robots, and adopts a combination of distance sensor matrix and temperature sensor to achieve comprehensive, multi-parameter monitoring of the moxibustion environment. The sensor matrix can effectively eliminate the blind spots of a single sensor. By fusing data from both sensors, it can more comprehensively reflect the moxibustion status. For example, it can simultaneously analyze changes in distance and temperature, and more accurately determine whether the position or power of the moxibustion head needs to be adjusted, thereby ensuring the safety and effectiveness of the treatment process. This embodiment selects high-precision, anti-interference sensors and performs regular calibration. Redundant sensors are also used to ensure stable and accurate monitoring performance even in complex environments. This effectively reduces problems such as moxibustion position deviation and temperature runaway caused by sensor errors, further ensuring the safety and effectiveness of the treatment.

[0083] (3) Traditional open flame ignition methods pose fire hazards and have inaccurate temperature control. This application's embodiment uses an electric heating wire ignition scheme, employing high-temperature resistant alloy materials and multi-layered insulating coatings. Combined with a high-precision temperature sensor and PID algorithm, it not only completely eliminates the fire risk posed by open flames but also controls the temperature error within ±5℃, significantly improving the safety and temperature control accuracy of the ignition process. A dual over-temperature protection mechanism further reduces the possibility of fires caused by circuit abnormalities. Moxibustion smoke purification is more efficient and environmentally friendly: Traditional smoke purification technologies often use simple filtration, resulting in low purification efficiency and ineffective treatment of harmful gases. This application's embodiment uses a three-way catalytic smoke purification scheme, which can efficiently decompose harmful components in smoke at specific temperatures. Combined with a temperature control system to maintain the optimal catalytic temperature, it significantly improves the smoke purification effect, effectively improves indoor air quality, and reduces the irritation of smoke to the human respiratory tract. Simultaneously, a usage time and performance monitoring system ensures the catalyst continues to work efficiently, preventing a decrease in smoke purification effect due to catalyst failure. Traditional ash removal methods may result in incomplete ash removal or damage to the moxibustion head. This application's embodiment employs a motor-driven roller brush moxibustion head solution. The spiral nylon roller brush can fully cover the surface of the moxibustion head, achieving efficient ash removal. An infrared sensor automatically detects ash accumulation and intelligently initiates the ash removal program, which is more timely and accurate compared to manual or timed ash removal. Motor current monitoring and anti-jamming design effectively protect the motor and roller brush, extending their service life and significantly improving the stability and reliability of the ash removal module.

[0084] (4) This embodiment abandons the traditional single control chip solution commonly used in moxibustion robots and innovatively adopts an architecture of ARM main control unit paired with two STM32 microcontrollers. The ARM is responsible for overall scheduling and complex task processing, while the STM32 is responsible for data acquisition and device driving, with clear division of labor and efficient collaboration. This dual-chip architecture significantly improves the smoothness and real-time performance of the system, can quickly respond to the needs of each module, and ensures strong and stable overall performance. This embodiment has implemented a power supply isolation design in hardware to effectively prevent strong electrical interference. In software, access permission management and fault monitoring alarm mechanisms are set up to effectively resist external interference and illegal operations, and to promptly detect and handle system faults. Compared with existing control systems that lack security protection, the security protection mechanism of this embodiment is more complete and can comprehensively ensure the stable and safe operation of the moxibustion robot.

[0085] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0086] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0087] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0088] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A mechanical arm type moxibustion physiotherapy device, characterized in that, The robotic arm-type moxibustion therapy device includes: a human-computer interaction module, a human body sensing module, an actuator, a power supply system, and a control system; The human-computer interaction module is used to receive control commands and provide feedback on system status; the human body sensing module is used to control the safe distance for moxibustion; the actuator includes a robotic arm and a moxibustion head mounted on the robotic arm; the power system is used to provide power. During operation, the control system receives interactive instructions sent by the human-machine interaction module and controls the moxibustion head on the robotic arm to perform moxibustion on the human body. During the moxibustion process, the human body sensing module sends the detected moxibustion environment parameters to the control system to adjust the position of the moxibustion head.

2. The mechanical arm type moxibustion therapy device according to claim 1, characterized in that, The human-computer interaction module includes at least one of a touch screen component, a joystick component, and a remote control. The touchscreen component is used for interface display and input of control commands, and the touchscreen component is equipped with a physical lock button; the joystick component is used to control the movement of the robotic arm; the remote controller is used to send remote control commands to the control system.

3. The mechanical arm type moxibustion therapy device according to claim 1, characterized in that, The human body sensing module includes: a distance sensor and a first temperature sensor; The distance sensor is used to detect the distance parameter between the moxibustion head and the human body, and the first temperature sensor is used to detect the temperature parameter of the moxibustion site. The control system receives the distance parameter and the temperature parameter, and adjusts the position of the moxibustion head in real time to keep the parameters within a preset safe range.

4. The mechanical arm moxibustion physiotherapy device according to claim 1, characterized in that, The moxibustion head includes: a moxibustion ignition module; The moxibustion ignition module is used to heat the moxa stick / moxa cone in the moxibustion head. The moxibustion ignition module includes an alloy electric heating wire and a second temperature sensor. The surface of the alloy electric heating wire is coated with an insulating ceramic coating. The second temperature sensor is used to detect the ignition temperature. When the ignition temperature exceeds the ignition temperature threshold, a power-off alarm is triggered.

5. The mechanical arm moxibustion physiotherapy device according to claim 1, characterized in that, The moxibustion head also includes: a moxibustion smoke purification module; The moxibustion smoke purification module is used to collect and purify the smoke generated by moxa sticks / moxa cones. The moxibustion smoke purification module includes a honeycomb ceramic carrier three-way catalytic converter, and the catalytic reaction temperature of the honeycomb ceramic carrier three-way catalytic converter is regulated by a heating device and a third temperature sensor.

6. The mechanical arm moxibustion physiotherapy device according to claim 1, characterized in that, The moxibustion head also includes: a moxibustion ash removal module; The moxibustion ash removal module is used to clean and collect the ash produced after the burning of moxa sticks / moxa cones. The moxibustion ash removal module includes a nylon spiral roller brush and an infrared sensor. The nylon spiral roller brush is driven by a micro motor, and the infrared sensor is used to detect the thickness of the ash. When the thickness of the ash reaches a thickness threshold, the nylon spiral roller brush is activated.

7. The mechanical arm moxibustion physiotherapy device according to claim 1, characterized in that, The control system includes an ARM main control unit that runs an embedded Linux system and is used for data processing, control command generation, and module coordination.

8. The mechanical arm moxibustion physiotherapy device according to claim 1, characterized in that, The control system further includes an STM32 data acquisition unit, which is connected to the human body sensing module via the SPI / I²C protocol. The STM32 data acquisition unit is used for the acquisition and preprocessing of sensor signals.

9. The mechanical arm moxibustion physiotherapy device according to claim 1, characterized in that, The control system further includes an STM32 drive unit, which integrates PWM control circuitry and protection mechanisms, and is used for drive control of the actuator.

10. The mechanical arm moxibustion physiotherapy device according to claim 1, characterized in that, The control system establishes communication with the dual STM32 units via an RS485 bus to realize sensor data fusion processing, actuator drive control, and human-machine interaction command parsing. It is also configured with a fault detection and alarm mechanism to monitor the working status of each module in real time.

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