CN212214195U - Intelligent moxibustion therapy machine based on machine vision - Google Patents
Intelligent moxibustion therapy machine based on machine vision Download PDFInfo
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- CN212214195U CN212214195U CN202020049127.3U CN202020049127U CN212214195U CN 212214195 U CN212214195 U CN 212214195U CN 202020049127 U CN202020049127 U CN 202020049127U CN 212214195 U CN212214195 U CN 212214195U
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Abstract
The utility model provides an intelligence moxa-moxibustion therapy machine based on machine vision, including base motion final controlling element, be connected with class SCARA formula arm on the base motion final controlling element, the execution end of class SCARA formula arm is equipped with treatment final controlling element and machine vision device, machine vision device passes through image signal analytical equipment and is connected with central processing unit electricity, central processing unit control connection base motion final controlling element, class SCARA formula arm and treatment final controlling element, and respectively with data storage and progress record module, the human-computer interaction module electricity is connected. The utility model also provides a working method of the intelligent moxibustion therapy machine, which can determine the position of the acupuncture point needing to be applied with therapy before therapy, and the moxibustion therapy process replaces manual operation, thereby reducing the working time of people in moxibustion therapy; the utility model provides an equipment can realize the automation of moxa-moxibustion treatment and the intelligent regulation and control of treatment in-process, can improve the operating efficiency of moxa-moxibustion treatment.
Description
Technical Field
The utility model relates to a medical health care equipment field especially relates to an intelligence moxa-moxibustion therapy machine based on machine vision.
Background
Moxibustion, a moxibustion method in acupuncture therapy of traditional Chinese medicine, uses folium artemisiae argyi as a raw material to be made into moxa particles or moxa sticks to be burnt, stimulates special acupuncture points on meridians of a human body through generated heat effect and fumigation, and stimulates the channel qi activity of the acupuncture points to assist the human body to condition the physiological and biochemical functions of the human body, thereby achieving a treatment method for prevention and treatment. The moxibustion is applied to acupoints on meridians of human body, and different acupoints correspond to different therapeutic purposes, and different treatment methods such as mild moxibustion, sparrow pecking moxibustion, rotary moxibustion, indirect moxibustion, etc. all correspond to different therapeutic effects. Traditional artifical moxa-moxibustion treatment needs the doctor to judge the human acupuncture point of the person of receiving moxibustion, and traditional artifical moxa-moxibustion treatment needs artifical handheld moxa stick or utensil bow back to bend over the waist to operate in the operation process, and long-time operation is unfavorable for that the operator is healthy. Some moxibustion devices fixed on the skin of a human body generally can only treat certain specific parts and cannot conveniently change the treatment parts, so that the applicability is not high, and the treatment effect is limited. And the medicine is directly fixed on the surface of the skin of a human body, excessive heat generated in the treatment process cannot be dissipated in time, and the risk of pain, local red swelling of the skin and even scald is given to a patient.
Chinese patent publication No. CN107080690A describes an intelligent moxibustion robot and an operation method thereof. The utility model discloses an intelligence moxibustion robot belongs to the medical care field, aims at providing an intelligence moxibustion robot's technical scheme to realize moxibustion treatment device's intellectuality and improve the security.
The key points of the technical scheme comprise: (1) the control mechanism automatically identifies a target, and realizes that the moxibustion device is automatically turned to the target object; (2) the smoke exhaust device comprises a cover body and a smoke exhaust pipe, and is used for guiding smoke dust in the moxibustion treatment process and selecting indoor discharge or outdoor discharge after filtration. (3) The moxibustion device comprises a detection device and a regulation and control device, wherein the detection device comprises a CCD camera and an acupuncture point patch which is attached to the skin of a patient, and the distance of a target object and the state of the target can be detected by the aid of a distance sensor and a temperature sensor; the regulation and control equipment comprises a linear push rod and a rotating module, wherein the spatial positions of the linear push rod and the rotating module are X, Y and Z axes, and the rotating module on the Z axis controls five degrees of freedom, so that the spatial movement, braking and stopping of the cover body provided with the moxibustion head and a plurality of sensors are realized.
The working method comprises the following steps: when beginning to carry out an acupuncture point treatment at every turn, identification system seeks the acupuncture point subsides of pasting on skin automatically, control system aims at the acupuncture point with the moxa-moxibustion head, regulation and control equipment drive moxa-moxibustion head carries out the moxibustion of different modes and treats, automatically regulated moxa-moxibustion head and the intelligent control of position in order to realize the temperature of skin, automatically collect moxa stick burning smoke and dust, filter back indoor emission and outdoor emission according to the demand, regulation and control device can stop the drive immediately when running simultaneously and meetting the obstacle, prevent to cause danger.
However, the solutions disclosed in the above documents have the following problems: 1. before the moxibustion instrument is used for treatment, doctors are required to manually judge the acupuncture points of a patient and paste acupuncture point pastes one by one, the operation is relatively complicated, and the effect of moxibustion treatment can be influenced by pasting markers on the acupuncture points to be treated; 2. when the machine works, a camera is required to be called to search the acupoint plaster stuck on the skin of a patient before treating each acupoint, so that repeated judgment or missed judgment is easy to occur; 3. the crane-type body structure causes low space utilization rate, occupies a large space during working, particularly in height, and causes reduced environmental adaptability.
Disclosure of Invention
In order to overcome the problems, the utility model provides an automatic intelligent moxibustion therapy machine based on machine vision for realizing moxibustion therapy.
The utility model adopts the technical proposal that: an intelligent moxibustion therapy machine based on machine vision comprises a base motion executing device C, wherein a SCARA-like mechanical arm B is connected to the base motion executing device C, a treatment executing device A and a machine vision device A-10 used for collecting human body contour image information and height information of a human body surface relative to a reference surface are arranged at an executing end of the SCARA-like mechanical arm B, the machine vision device A-10 is electrically connected with a central processing unit through an image signal analyzing device, and the central processing unit is respectively connected with the base motion executing device C, the SCARA-like mechanical arm B and the treatment executing device A in a control mode and is respectively electrically connected with a data storage and progress recording module and a human-computer interaction module;
the base motion performing device C includes: the device comprises a base frame C-1, a base moving wheel C-2 and a first linear guide rail C-3 which is horizontally arranged; the base moving wheel C-2 is arranged inside the first linear guide rail C-3 and can roll along the first linear guide rail C-3, the base frame C-1 is arranged above the base moving wheel C-2, and the base moving wheel C-2 is connected with the base frame C-1 through a bearing and a rotating shaft; a moving driving motor is arranged in the base frame C-1 and is in transmission connection with the rotating shaft; a positioning mark C-4 is arranged on the first linear guide rail C-3, and a positioning sensor C-5 matched with the positioning mark C-4 is arranged at the center of the bottom of the base frame C-1;
defining the moving direction of the base frame on the first linear guide rail as the left-right direction, the direction vertical to the left-right direction on the horizontal plane as the front-back direction, and the direction vertical to both the left-right direction and the front-back direction as the vertical direction;
the SCARA-like mechanical arm B comprises: a mechanical arm small arm component B-1, a mechanical arm large arm component B-2, a first stepping motor B-3 and a mechanical arm base B-6; a second linear guide rail B-5 is vertically arranged on the front surface of the base frame C-1, a first stepping motor B-3 is vertically arranged at the top end of the rear side of the second linear guide rail B-5, the screw rod module B-4 comprises a first screw rod and a first screw rod nut which is meshed with the outside of the first screw rod in a transmission manner, and the first stepping motor B-3 is connected with one end of the first screw rod through a coupling in a transmission manner; the rear part of the mechanical arm base B-6 is slidably sleeved on the second linear guide rail B-5, and the rear end of the rear part of the mechanical arm base B-6 is fixedly connected with the first screw rod nut; the axis of the first screw rod is parallel to the axis of the second linear guide rail B-5, and the mechanical arm base B-6 can move up and down along the vertical direction through the second linear guide rail B-5;
the mechanical arm big arm component B-2 can be horizontally and rotatably arranged on the mechanical arm base B-6, the mechanical arm small arm component B-1 can be horizontally and rotatably arranged at the end part of the mechanical arm big arm component B-2, and the treatment executing device A is arranged at the end part of the mechanical arm small arm component B-1; a driving assembly driving the large arm component B-2 of the mechanical arm and the small arm component B-1 of the mechanical arm to rotate is coaxially arranged in the front inner cavity of the mechanical arm base B-6;
the treatment execution apparatus a includes: a stepping motor and screw rod module A-7, a third linear guide rail A-8, a moxibustion clamp base A-4 and a therapeutic apparatus housing A-1; the stepping motor and screw rod module A-7 are vertically arranged at the end part of the arm component B-1, the third linear guide rail A-8 is vertically arranged behind the stepping motor and screw rod module A-7, and the top end of the third linear guide rail A-8 is fixedly connected with the arm component B-1; the stepping motor and screw rod module A-7 comprises a second stepping motor and a second screw rod, the second stepping motor is vertically arranged at the top end of the arm small arm component B-1, and an output shaft of the second stepping motor penetrates through the arm small arm component B-1 and is in transmission connection with the top end of the second screw rod;
the middle part of the moxibustion clamp base A-4 is connected to the second screw rod through threads, the rear part of the moxibustion clamp base A-4 is connected with the third linear guide rail A-8 in a sliding manner, and the front part of the moxibustion clamp base A-4 is provided with a moxibustion stick clamping hole and a moxibustion stick clamp A-5 for clamping a moxibustion stick; a moxibustion stick A-6 is arranged in the moxibustion stick clamping hole, and a moxibustion stick clamp A-5 is arranged on the right side above the moxibustion stick clamping hole; the moxibustion stick clamp A-5 comprises a clamp body matched with the moxibustion stick A-6 and a fixed end hinged with the clamp body, the fixed end is fixedly connected with the moxibustion clamp base A-4, and a clamp spring A-9 is arranged between the rear end of the clamp body and the fixed end; the clamping edge of the clamp body, which is contacted with the moxibustion stick A-6, is arc-shaped, and the arc shape is matched with the excircle of the moxibustion stick A-6; the moxibustion stick clamp A-5 clamps the moxibustion stick A-6 in the moxibustion stick clamping hole;
a therapeutic apparatus outer cover A-1 is horizontally arranged below the moxibustion clamp base A-4, the middle part of the therapeutic apparatus outer cover A-1 is connected to the second screw rod through threads, the rear part of the therapeutic apparatus outer cover A-1 is connected with the third linear guide rail A-8 in a sliding mode, and the front part of the therapeutic apparatus outer cover A-1 is provided with an ash filtering inner container A-2 used for filtering the ash of the moxibustion sticks; the front part of the therapeutic apparatus outer cover A-1 and the ash filtering inner container A-2 are both hemispherical, the ash filtering inner container A-2 is positioned in the front part of the therapeutic apparatus outer cover A-1, the top end opening of the therapeutic apparatus outer cover A-1 is provided with a therapeutic apparatus upper cover A-3, and the therapeutic apparatus upper cover A-3 is provided with a through hole for the moxibustion strip to pass through; the bottom of the ash filtering liner A-2 is of a net structure capable of isolating ash; a stroke limiting plate is horizontally arranged at the bottom end of the third linear guide rail (A-8), a machine vision device A-10 and a temperature sensor are arranged on the lower surface of the stroke limiting plate, and the machine vision device A-10 comprises a CCD camera and a laser range finder; the temperature sensor is electrically connected with the central processing unit through the information analysis processing module;
the moxibustion stick clamp base A-4 and the therapeutic apparatus outer cover A-1 move synchronously on the third guide rail.
The utility model has the advantages that: the positions of acupuncture points needing to be treated can be determined before treatment, and the moxibustion treatment process replaces manual operation, so that the working time of people in the moxibustion treatment is reduced; the utility model provides an equipment can realize the automation of moxa-moxibustion treatment and the intelligent regulation and control of treatment in-process, can improve the operating efficiency of moxa-moxibustion treatment.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of the end of the arm forearm member of the present invention.
Fig. 3 is a schematic structural diagram of the SCARA-like mechanical arm of the present invention.
Fig. 4 is a schematic structural diagram of the base motion actuator of the present invention.
Fig. 5 is a schematic view of the positioning of the base frame on the first linear guide rail according to the present invention.
Fig. 6 is a flow chart of the present invention.
Fig. 7 is a flow chart of the intelligent temperature control method of the present invention.
Description of reference numerals: A. a treatment performing device; a-1, a therapeutic apparatus housing; a-2, filtering the ash liner; a-3, an upper cover of the therapeutic apparatus; a-4, a moxibustion stick clamp base; a-5, a moxa stick clamp; a-6, moxa sticks; a-7, a stepping motor and a screw rod module; a-8, a third linear guide rail; a-9, a clamp spring; a-10 machine vision devices; B. a SCARA-like type mechanical arm; b-1, a mechanical arm small arm component; b-2, a large arm component of the mechanical arm; b-3, a stepping motor set; b-4, a screw rod module; b-5, a second linear guide rail; b-6, a mechanical arm base; C. a base motion actuator; c-1, a base frame; c-2, a base moving wheel; c-3, a first linear guide rail. C-4, positioning marks; c-5, positioning sensors.
Detailed Description
The invention will be further described with reference to specific examples, but the scope of protection of the invention is not limited thereto:
referring to the attached drawings, the intelligent moxibustion therapy machine based on machine vision comprises a base movement execution device C, wherein a SCARA-like mechanical arm B is connected to the base movement execution device C, a treatment execution device A and a machine vision device A-10 used for collecting human body contour image information and height information of a human body surface relative to a reference surface are arranged at an execution end of the SCARA-like mechanical arm B, the machine vision device A-10 is electrically connected with a central processing unit through an image signal analysis device, and the central processing unit is respectively connected with the base movement execution device C, the SCARA-like mechanical arm B and the treatment execution device A in a control mode and is respectively electrically connected with a data storage and progress recording module and a human-computer interaction module;
the base motion performing device C includes: a base frame C-1, a base moving wheel C-2 and a first linear guide rail C-3; the base moving wheel C-2 is arranged inside the first linear guide rail C-3 and can roll along the first linear guide rail C-3, the base frame C-1 is arranged above the base moving wheel C-2, and the base moving wheel C-2 is connected with the base frame C-1 through a bearing and a rotating shaft; a moving driving motor is arranged in the base frame C-1 and is in transmission connection with the rotating shaft; a positioning mark C-4 is arranged on the first linear guide rail C-3, and a positioning sensor C-5 matched with the positioning mark C-4 is arranged at the center of the bottom of the base frame C-1;
defining the moving direction of the base frame on the first linear guide rail as the left-right direction, the direction vertical to the left-right direction on the horizontal plane as the front-back direction, and the direction vertical to both the left-right direction and the front-back direction as the vertical direction;
the SCARA-like mechanical arm B comprises: a mechanical arm small arm component B-1, a mechanical arm large arm component B-2, a first stepping motor B-3 and a mechanical arm base B-6; a second linear guide rail B-5 is vertically arranged on the front surface of the base frame C-1, a first stepping motor B-3 is vertically arranged at the top end of the rear side of the second linear guide rail B-5, the screw rod module B-4 comprises a first screw rod and a first screw rod nut which is meshed with the outside of the first screw rod in a transmission manner, and the first stepping motor B-3 is connected with one end of the first screw rod through a coupling in a transmission manner; the rear part of the mechanical arm base B-6 is slidably sleeved on the second linear guide rail B-5, and the rear end of the rear part of the mechanical arm base B-6 is fixedly connected with the first screw rod nut; the axis of the first screw rod is parallel to the axis of the second linear guide rail B-5, and the mechanical arm base B-6 can move up and down along the vertical direction through the second linear guide rail B-5;
the mechanical arm big arm component B-2 can be horizontally and rotatably arranged on the mechanical arm base B-6, the mechanical arm small arm component B-1 can be horizontally and rotatably arranged at the end part of the mechanical arm big arm component B-2, and the treatment executing device A is arranged at the end part of the mechanical arm small arm component B-1; a driving assembly driving the large arm component B-2 of the mechanical arm and the small arm component B-1 of the mechanical arm to rotate is coaxially arranged in the front inner cavity of the mechanical arm base B-6;
the treatment execution apparatus a includes: a stepping motor and screw rod module A-7, a third linear guide rail A-8, a moxibustion clamp base A-4 and a therapeutic apparatus housing A-1; the stepping motor and screw rod module A-7 are vertically arranged at the end part of the arm component B-1, the third linear guide rail A-8 is vertically arranged behind the stepping motor and screw rod module A-7, and the top end of the third linear guide rail A-8 is fixedly connected with the arm component B-1; the stepping motor and screw rod module A-7 comprises a second stepping motor and a second screw rod, the second stepping motor is vertically arranged at the top end of the arm small arm component B-1, and an output shaft of the second stepping motor penetrates through the arm small arm component B-1 and is in transmission connection with the top end of the second screw rod;
the middle part of the moxibustion clamp base A-4 is connected to the second screw rod through threads, the rear part of the moxibustion clamp base A-4 is connected with the third linear guide rail A-8 in a sliding manner, and the front part of the moxibustion clamp base A-4 is provided with a moxibustion stick clamping hole and a moxibustion stick clamp A-5 for clamping a moxibustion stick; a moxibustion stick A-6 is arranged in the moxibustion stick clamping hole, and a moxibustion stick clamp A-5 is arranged on the right side above the moxibustion stick clamping hole; the moxibustion stick clamp A-5 comprises a clamp body matched with the moxibustion stick A-6 and a fixed end hinged with the clamp body, the fixed end is fixedly connected with the moxibustion clamp base A-4, and a clamp spring A-9 is arranged between the rear end of the clamp body and the fixed end; the clamping edge of the clamp body, which is contacted with the moxibustion stick A-6, is arc-shaped, and the arc shape is matched with the excircle of the moxibustion stick A-6; the moxibustion stick clamp A-5 clamps the moxibustion stick A-6 in the moxibustion stick clamping hole;
a therapeutic apparatus outer cover A-1 is arranged below the moxibustion clamp base A-4 in the vertical direction in parallel, the middle part of the therapeutic apparatus outer cover A-1 is connected to the second screw rod through threads, the rear part of the therapeutic apparatus outer cover A-1 is connected with the third linear guide rail A-8 in a sliding mode, and the front part of the therapeutic apparatus outer cover A-1 is provided with an ash filtering inner container A-2 used for filtering moxa stick ash; the front part of the therapeutic apparatus outer cover A-1 and the ash filtering inner container A-2 are both hemispherical, the ash filtering inner container A-2 is positioned in the front part of the therapeutic apparatus outer cover A-1, the top end opening of the therapeutic apparatus outer cover A-1 is provided with a therapeutic apparatus upper cover A-3, and the therapeutic apparatus upper cover A-3 is provided with a through hole for the moxibustion strip to pass through; the bottom of the ash filtering liner A-2 is of a net structure capable of isolating ash; a stroke limiting plate is horizontally arranged at the bottom end of the third linear guide rail A-8, a machine vision device A-10 and a temperature sensor are arranged on the lower surface of the stroke limiting plate, and the machine vision device A-10 comprises a CCD camera and a laser range finder; the temperature sensor is electrically connected with the central processing unit through the information analysis processing module;
the moxibustion stick clamp base A-4 and the therapeutic apparatus outer cover A-1 move synchronously on the third guide rail.
A working method of the intelligent moxibustion therapy machine comprises the following steps:
and 6, the data storage and progress recording module stores the current progress data so as to facilitate monitoring and evaluation by a doctor, and can read the progress after restarting the unexpected power failure and continue treatment.
The acupuncture points to be applied with treatment in the step 1 are selected by a doctor in a human-computer interaction module of the intelligent moxibustion therapy machine;
the method for acquiring the human body contour image in the step 2 comprises the following steps: the SCARA-like mechanical arm drives the machine vision device to be in a plane higher than a reference surface by a certain height, the height is larger than the height of a human body relative to the reference surface, and image information acquisition and human body surface height information acquisition are carried out according to a specified path; the characteristics of high sensitivity, light interference resistance, small distortion and vibration resistance of the CCD camera are utilized to stably and effectively acquire image information, and the height information of the body surface of the human body is accurately acquired by utilizing the laser range finder.
The method for analyzing and processing the human body contour image information and the human body surface height information transmitted by the machine vision device by the information analysis processing module in the step 3 comprises the following steps: for image information, filtering images of different parts of a human body obtained in the acquisition process by using an image processing program in an opencv computer vision library to remove strong noise points, carrying out light intensity value averaging processing to enable the brightness of the images to be as close as possible, and finally carrying out image information integration to obtain data suitable for a central processing unit to carry out acupuncture point identification and treatment execution path planning; for the processing of the height information of the human body surface, the height information is recorded, simultaneously, the plane position coordinate information where the height measurer is located is added, all the height information and the corresponding plane position coordinate information are integrated to obtain the description of the three-dimensional data of the human body surface, and finally, the feature information finally obtained through the machine vision device is fitted with the existing human body model data to obtain the accurate description of the three-dimensional data of the human body surface.
The calculation contents of the moxibustion treatment path planning and action execution contents in the step 4 comprise: before treatment of each acupoint, the similar SCARA type mechanical arm drives the treatment executing device to move forwards through an optimal path; in the treatment process, the treatment execution device executes intelligent temperature control; the treatment mode on a certain acupoint is embodied as simulating different moxibustion techniques of doctors by driving a treatment execution device like a SCARA type mechanical arm.
The intelligent temperature control method comprises the following steps:
step 4.1, in the treatment process, the temperature sensor monitors the body surface temperature of the treated part in real time and compares the body surface temperature with a set reasonable temperature domain:
if the body surface temperature is lower than the lower limit of the reasonable temperature, feeding back an A-type signal to the information analysis processing module;
if the body surface temperature is higher than the reasonable upper temperature limit, feeding back a B-type signal to the information analysis processing module;
if the body surface temperature is in a reasonable temperature range, feeding back a C-type signal to the information analysis processing module;
and 4.2, the information analysis processing module adjusts the action instruction of the treatment execution device according to the received feedback signal type and value:
receiving the A-type signal, adjusting the moxibustion stick clamp base downwards according to the value, and reducing the height distance between the therapeutic apparatus outer cover and the body surface of the human body within a safe range;
receiving the B-type signal, adjusting the moxibustion stick clamp base according to the value, and increasing the height distance between the therapeutic apparatus outer cover and the human body surface on the premise of keeping the therapeutic effect;
receiving the C-type signal, executing according to the previous action instruction to maintain the body surface temperature in a reasonable temperature range, and realizing the simultaneous storage of safety and efficacy;
and 4.3, the treatment executing device receives and executes the adjusted action command and outputs a proper action.
The data storage and progress recording module in the step 6 uses a storage battery for power supply, and is normally incorporated into a circuit of the whole machine for charging, so that after unexpected power failure, the storage battery can maintain operation for a period of time, and key data can be conveniently and timely stored.
The embodiments described in this specification are merely illustrative of implementations of the inventive concepts, and the scope of the invention should not be considered limited to the specific forms set forth in the embodiments, but rather the scope of the invention is intended to include equivalent technical means as would be understood by those skilled in the art from the inventive concepts.
Claims (1)
1. The utility model provides an intelligence moxibustion therapy machine based on machine vision which characterized in that: the device comprises a base motion executing device (C), wherein a similar SCARA type mechanical arm (B) is connected to the base motion executing device (C), a treatment executing device (A) and a machine vision device (A-10) used for acquiring human body contour image information and height information of a human body surface relative to a reference surface are arranged at an executing end of the similar SCARA type mechanical arm (B), and the machine vision device (A-10) is electrically connected with a central processing unit through an information analysis processing module; the central processing unit respectively controls and is connected with the base motion executing device (C), the SCARA-like mechanical arm (B) and the treatment executing device (A), and is respectively and electrically connected with the data storage and progress recording module and the human-computer interaction module;
the base motion performing means (C) comprises: the device comprises a base frame (C-1), a base moving wheel (C-2) and a first linear guide rail (C-3) which is horizontally arranged; the base moving wheel (C-2) is arranged inside the first linear guide rail (C-3) and can roll along the first linear guide rail (C-3), the base frame (C-1) is arranged above the base moving wheel (C-2), and the base moving wheel (C-2) is connected with the base frame (C-1) through a bearing and a rotating shaft; a moving driving motor is arranged in the base frame (C-1) and is in transmission connection with the rotating shaft; a positioning mark (C-4) is arranged on the first linear guide rail (C-3), and a positioning sensor (C-5) matched with the positioning mark (C-4) is arranged at the center of the bottom of the base frame (C-1);
defining the moving direction of the base frame on the first linear guide rail as the left-right direction, the direction vertical to the left-right direction on the horizontal plane as the front-back direction, and the direction vertical to both the left-right direction and the front-back direction as the vertical direction;
said SCARA-like robotic arm (B) comprising: a mechanical arm small arm component (B-1), a mechanical arm large arm component (B-2), a first stepping motor (B-3) and a mechanical arm base (B-6); a second linear guide rail (B-5) is vertically arranged on the front surface of the base frame (C-1), a first stepping motor (B-3) is vertically arranged at the top end of the rear side of the second linear guide rail (B-5), the screw rod module (B-4) comprises a first screw rod and a first screw rod nut which is meshed with the outside of the first screw rod in a transmission manner, and the first stepping motor (B-3) is connected with one end of the first screw rod in a transmission manner through a coupler; the rear part of the mechanical arm base (B-6) is slidably sleeved on the second linear guide rail (B-5), and the rear end of the rear part of the mechanical arm base (B-6) is fixedly connected with the first screw rod nut; the axis of the first screw rod is parallel to the axis of the second linear guide rail (B-5), and the mechanical arm base (B-6) can move up and down along the vertical direction through the second linear guide rail (B-5);
the mechanical arm big arm component (B-2) can be horizontally and rotatably arranged on the mechanical arm base (B-6), the mechanical arm small arm component (B-1) can be horizontally and rotatably arranged at the end part of the mechanical arm big arm component (B-2), and the treatment executing device (A) is arranged at the end part of the mechanical arm small arm component (B-1); a driving assembly driving the large arm component (B-2) of the mechanical arm and the small arm component (B-1) of the mechanical arm to rotate is coaxially arranged in a front inner cavity of the mechanical arm base (B-6);
the treatment execution apparatus (A) includes: a stepping motor and screw rod module (A-7), a third linear guide rail (A-8), a moxibustion clamp base (A-4) and a therapeutic apparatus housing (A-1); the stepping motor and screw rod module (A-7) is vertically arranged at the end part of the arm component (B-1), the third linear guide rail (A-8) is vertically arranged behind the stepping motor and screw rod module (A-7), and the top end of the third linear guide rail (A-8) is fixedly connected with the arm component (B-1); the stepping motor and screw rod module (A-7) comprises a second stepping motor and a second screw rod, the second stepping motor is vertically arranged at the top end of the arm small arm component (B-1), and an output shaft of the second stepping motor penetrates through the arm small arm component (B-1) and is in transmission connection with the top end of the second screw rod;
the middle part of the moxibustion clamp base (A-4) is connected to the second screw rod through threads, the rear part of the moxibustion clamp base is in sliding connection with the third linear guide rail (A-8), and the front part of the moxibustion clamp base is provided with a moxibustion stick clamping hole and a moxibustion stick clamp (A-5) for clamping a moxibustion stick; a moxibustion strip (A-6) is arranged in the moxibustion strip clamping hole, and a moxibustion strip clamp (A-5) is arranged at the right side above the moxibustion strip clamping hole; the moxibustion stick clamp (A-5) comprises a clamp body matched with the moxibustion stick (A-6) and a fixed end hinged with the clamp body, the fixed end is fixedly connected with the moxibustion clamp base (A-4), and a clamp spring (A-9) is arranged between the rear end of the clamp body and the fixed end; the clamping edge of the clamp body, which is contacted with the moxibustion stick (A-6), is arc-shaped, and the arc shape is matched with the excircle of the moxibustion stick (A-6); the moxibustion stick clamp (A-5) clamps the moxibustion stick (A-6) in the moxibustion stick clamping hole;
a therapeutic apparatus outer cover (A-1) is arranged below the moxibustion clamp base (A-4) in parallel, the middle part of the therapeutic apparatus outer cover (A-1) is connected to the second screw rod through threads, the rear part of the therapeutic apparatus outer cover (A-1) is connected with the third linear guide rail (A-8) in a sliding mode, and the front part of the therapeutic apparatus outer cover (A-1) is provided with an ash filtering inner container (A-2) for filtering the ash of the moxibustion sticks; the front part of the therapeutic apparatus outer cover (A-1) and the ash filtering inner container (A-2) are both hemispherical, the ash filtering inner container (A-2) is positioned in the front part of the therapeutic apparatus outer cover (A-1), the top end opening of the therapeutic apparatus outer cover (A-1) is provided with a therapeutic apparatus upper cover (A-3), and the therapeutic apparatus upper cover (A-3) is provided with a through hole for the moxibustion strip to pass through; the bottom of the ash filtering liner (A-2) is of a net structure capable of isolating ash; a stroke limiting plate is horizontally arranged at the bottom end of the third linear guide rail (A-8), a machine vision device (A-10) and a temperature sensor are arranged on the lower surface of the stroke limiting plate, and the machine vision device (A-10) comprises a CCD camera and a laser range finder; the temperature sensor is electrically connected with the central processing unit through the information analysis processing module;
the moxibustion stick clamp base (A-4) and the therapeutic apparatus outer cover (A-1) move synchronously on the third guide rail.
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| CN202020049127.3U CN212214195U (en) | 2020-01-10 | 2020-01-10 | Intelligent moxibustion therapy machine based on machine vision |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111135070A (en) * | 2020-01-10 | 2020-05-12 | 浙江工业大学 | Intelligent moxibustion therapy machine based on machine vision and working method thereof |
| CN113332135A (en) * | 2021-04-26 | 2021-09-03 | 李华文 | Lifting type moxibustion instrument |
| CN114504493A (en) * | 2021-12-29 | 2022-05-17 | 深圳市倍轻松科技股份有限公司 | Intelligent moxibustion equipment and method |
-
2020
- 2020-01-10 CN CN202020049127.3U patent/CN212214195U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111135070A (en) * | 2020-01-10 | 2020-05-12 | 浙江工业大学 | Intelligent moxibustion therapy machine based on machine vision and working method thereof |
| CN113332135A (en) * | 2021-04-26 | 2021-09-03 | 李华文 | Lifting type moxibustion instrument |
| CN114504493A (en) * | 2021-12-29 | 2022-05-17 | 深圳市倍轻松科技股份有限公司 | Intelligent moxibustion equipment and method |
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